Optimal Dimensional Synthesis of a Dual Purpose Haptic Exoskeleton
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.
KeywordsMulti-criteria design optimization dimensional synthesis of exoskeletons optimal design of haptic interfaces
Unable to display preview. Download preview PDF.
- 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
- 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.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