Optimal Dimensional Synthesis of a Dual Purpose Haptic Exoskeleton

  • Ramazan Unal
  • Volkan Patoglu
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5024)

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.

Keywords

Multi-criteria design optimization dimensional synthesis of exoskeletons optimal design of haptic interfaces 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Das, I., Dennis, J.E.: Normal-boundary intersection: A new method for generating the pareto surface in nonlinear multi-criteria optimization problems. SIAM Journal on Optimization 8(3), 631–665 (1996)CrossRefMathSciNetGoogle Scholar
  2. 2.
    Gosselin, C., Angeles, J.: A global performance index for kinematic optimization of robotic manipulators. Journal of Mechanical Design 113(3), 220–226 (1991)CrossRefGoogle Scholar
  3. 3.
    Gupta, A., Patoglu, V., O’Malley, M.K., Burgar, C.M.: Design, control and performance of RiceWrist: A force feedback wrist exoskeleton for rehabilitation and training. International Journal of Robotics Research 27(2), 233–251 (2008)CrossRefGoogle Scholar
  4. 4.
    Hayward, V., Choksi, J., Lanvin, G., Ramstein, C.: Design and multi-objective optimization of a linkage for a haptic interface. In: Advances in Robot Kinematics, pp. 352–359 (1994)Google Scholar
  5. 5.
    Merlet, J.: Parallel Robots, 2nd edn. Springer, Heidelberg (2006)MATHGoogle Scholar
  6. 6.
    Stocco, L., Salcudean, S.E., Sassani, F.: Fast constrained global minimax optimization of robot parameters. Robotica 16(6), 595–605 (1998)CrossRefGoogle Scholar
  7. 7.
    Tsagarakis, N., Caldwell, D.G., Medrano-Cerda, G.A.: A 7-DoF pneumatic muscle actuator powered exoskeleton. In: IEEE International Symposium on Robot and Human Interactive Communication, pp. 327–333 (1999)Google Scholar
  8. 8.
    Unal, R., Kiziltas, G., Patoglu, V.: A multi-criteria design optimization framework for haptic interfaces. In: IEEE International Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems (2008)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Ramazan Unal
    • 1
  • Volkan Patoglu
    • 1
  1. 1.Faculty of Engineering and Natural SciencesSabanci UniversityİstanbulTurkey

Personalised recommendations