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)


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.


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


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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

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