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Memorias de investigación
Artículos en revistas:
Inverse kinematics of a 6 DoF human upper limb using ANFIS and ANN for anticipatory actuation in ADL-based physical Neurorehabilitation
Año:2012
Áreas de investigación
  • Medicina,
  • Ingenierías
Datos
Descripción
Objective: This research is focused in the creation and validation of a solution to the inverse kinematics problem for a 6 degrees of freedom human upper limb. This system is intended to work within a realtime dysfunctional motion prediction system that allows anticipatory actuation in physical Neurorehabilitation under the assisted-as-needed paradigm. For this purpose, a multilayer perceptron-based and an ANFIS-based solution to the inverse kinematics problem are evaluated. Materials and methods: Both the multilayer perceptron-based and the ANFIS-based inverse kinematics methods have been trained with three-dimensional Cartesian positions corresponding to the end-effector of healthy human upper limbs that execute two different activities of the daily life: ?serving water from a jar? and ?picking up a bottle?. Validation of the proposed methodologies has been performed by a 10 fold cross-validation procedure. Results: Once trained, the systems are able to map 3D positions of the end-effector to the corresponding healthy biomechanical configurations. A high mean correlation coefficient and a low root mean squared error have been found for both the multilayer perceptron and ANFIS-based methods. Conclusions: The obtained results indicate that both systems effectively solve the inverse kinematics problem, but, due to its low computational load, crucial in real-time applications, along with its high performance, a multilayer perceptron-based solution, consisting in 3 input neurons, 1 hidden layer with 3 neurons and 6 output neurons has been considered the most appropriated for the target application.
Internacional
Si
JCR del ISI
Si
Título de la revista
Expert Systems With Applications
ISSN
0957-4174
Factor de impacto JCR
1,924
Información de impacto
Datos JCR del año 2010
Volumen
39
DOI
10.1016/j.eswa.2012.02.143
Número de revista
Desde la página
9612
Hasta la página
9622
Mes
SIN MES
Ranking
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Rodrigo Perez Rodriguez (UPM)
  • Autor: Javier Solana Sanchez (UPM)
  • Autor: César Cáceres Taladriz (UPM)
  • Autor: Enrique Javier Gomez Aguilera (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Grupo de Bioingeniería y Telemedicina
  • Centro o Instituto I+D+i: Centro de tecnología Biomédica CTB
  • Departamento: Tecnología Fotónica y Bioingeniería
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