Inverse kinematics of a 6 DoF human upper limb using ANFIS and ANN for anticipatory actuation in ADL-based physical Neurorehabilitation

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.

Mapping the visual landscape quality in Europe using physical attributes

he inclusion of environmental care data in the decision-making process should be based on the results obtained after scienti?cally evaluating different environmental variables. Herein, a European landscape geographic model is presented. This landscape map would allow the environmental care variable ?visual landscape?, along with other information related to vegetation, geology, soils, cultural variables, etc., to be integrated into the planning process. The methodology used is not new since it has already been tested in Spain by the authors. Nevertheless, the model was adapted to cope with the much more extensive territory of the European Union. This meant dealing with computational dif?culties, and a lack of information. The result of this work is a raster map (100 m cell size) that evaluates landscape quality in Europe by dividing the area into seven visual quality classes. This is a practical tool for territorial development that will facilitate the environmental assessment of plans, such as infrastructure plans, within a strategic pan-European framework.