Optimal Dimensional Synthesis of Force Feedback Lower Arm Exoskeletons


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Unal R. , Patoglu V.

2nd Biennial IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008), Arizona, Amerika Birleşik Devletleri, 19 - 22 Ekim 2008, ss.329-334 identifier identifier

  • Doi Numarası: 10.1109/biorob.2008.4762871
  • Basıldığı Şehir: Arizona
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.329-334

Özet

This paper presents multi-criteria design optimization of parallel mechanism based force feedback exoskeletons for human forearm and wrist. The optimized devices are aimed to be employed as a high fidelity haptic interfaces. Multiple design objectives are discussed and classified for the devices and the optimization problem to study the trade-offs between these criteria is formulated. Dimensional syntheses are performed for optimal global kinematic and dynamic performance, utilizing a Pareto front based framework, for two spherical parallel mechanisms that satisfy the ergonomic necessities of a human forearm and wrist. Two optimized mechanisms are compared and discussed in the light of multiple design criteria. Finally, kinematic structure and dimensions of an optimal exoskeleton are decided.