Yujiang Xiang

In this study, a novel human-in-the-loop design method using a genetic algorithm (GA) is presented to design a low-cost and easy-to-use four-bar linkage medical device for upper limb muscle rehabilitation. The four-bar linkage can generate a variety of coupler point trajectories by using different link lengths. For this medical device, patients grab the coupler point handle and rotate the arm along the designed coupler point trajectory to exercise upper limb muscles. The design procedures include three basic steps: First, for a set of link lengths, a complete coupler point trajectory is generated from four-bar linkage kinematics; second, optimization-based motion prediction is utilized to predict arm motion (joint angle profiles) subjected to hand grasping and joint angle limit constraints; third, the predicted joint angles and given hand forces are imported into an OpenSim musculoskeletal arm model to calculate the muscle forces and activations by using the OpenSim static optimization. In the GA optimization formulation, the design variables are the four-bar link lengths. The objective function is to maximize a specific muscle’s exertion for a complete arm rotation. Finally, different four-bar configurations are designed for different muscle strength exercises. The proposed human-in-the-loop design approach successfully integrates GA with linkage kinematics, arm motion prediction, and OpenSim static optimization for four-bar linkage design for upper limb muscle strength rehabilitation.