Optimal dimensional synthesis of force feedback lower arm exoskeletons
Ünal, Ramazan and Patoğlu, Volkan (2008) Optimal dimensional synthesis of force feedback lower arm exoskeletons. In: 2nd Biennial IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006), Scottsdale, Arizona, USA
Official URL: http://dx.doi.org/10.1109/BIOROB.2008.4762871
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.
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