Optimal dimensional synthesis of a dual purpose haptic exoskeleton

Ünal, Ramazan and Patoğlu, Volkan (2008) Optimal dimensional synthesis of a dual purpose haptic exoskeleton. In: EuroHaptics 2008, Madrid, Spain

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Abstract

This paper presents multi-criteria design optimization of a 3RPS-R parallel mechanism to be employed as a dual purpose haptic exoskeleton for human forearm and wrist. The primary use for the optimized device is aimed as a high fidelity haptic interface, while the exoskeleton can also be employed as a rehabilitation device. Multiple design objectives are discussed and classified for both application scenarios, and optimization problems to study the trade-offs between these criteria are formulated. A general framework for optimization of haptic interfaces is applied to efficiently obtain the Pareto-front hyper-surfaces between conflicting criteria. Optimal dimensional synthesis of the dual purpose haptic exoskeleton is demonstrated.
Item Type: Papers in Conference Proceedings
Additional Information: Book: Haptics: Perception, Devices and Scenarios
Uncontrolled Keywords: Multi-criteria design optimization - dimensional synthesis of exoskeletons - optimal design of haptic interfaces
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Volkan Patoğlu
Date Deposited: 08 Oct 2008 01:25
Last Modified: 26 Apr 2022 08:45
URI: https://research.sabanciuniv.edu/id/eprint/9247

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