Trajectory Planning and Simulation Study of Redundant Robotic Arm for Upper Limb Rehabilitation Based on Back Propagation Neural Network and Genetic Algorithm.

In this study, a Back Propagation (BP) neural network algorithm based on Genetic Algorithm (GA) optimization is proposed to plan and optimize the trajectory of a redundant robotic arm for the upper limb rehabilitation of patients. The feasibility of the trajectory was verified by numerical simulations. First, the collected dataset was used to train the BP neural network optimized by the GA.