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, United States Of America, 19 - 22 October 2008, pp.329-334 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/biorob.2008.4762871
  • City: Arizona
  • Country: United States Of America
  • Page Numbers: pp.329-334
  • Abdullah Gül University Affiliated: No


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.