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.
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© 2008 Springer-Verlag Berlin Heidelberg
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Unal, R., Patoglu, V. (2008). Optimal Dimensional Synthesis of a Dual Purpose Haptic Exoskeleton. In: Ferre, M. (eds) Haptics: Perception, Devices and Scenarios. EuroHaptics 2008. Lecture Notes in Computer Science, vol 5024. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69057-3_67
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DOI: https://doi.org/10.1007/978-3-540-69057-3_67
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-69056-6
Online ISBN: 978-3-540-69057-3
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