Particle Swarm Optimization Based Design for Knee Joint of Wearable Exoskeleton Robot

  • Jia-yuan Zhu
  • Hong Zhou
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7621)


With firstly analyzing the working principle of wearable exoskeleton robot, and building a mathematical model ,this paper applies the method of Particle Swarm Optimization with MATLAB software to develop a set of optimization design system for three-hinge mechanism of knee, which substitutes artificial design system. Furthermore, this paper puts forward the optimization design method based on Particle Swarm Optimization for the three-hinge mechanism design of multi-objective and multi-constraint conditions, which can be effectively solved through simulation practice. Finally use Adams to check out the results.


Wearable Exoskeleton Robot Three-hinge mechanism Particle Swarm Optimization Optimized design 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Jia-yuan Zhu
    • 1
  • Hong Zhou
    • 1
  1. 1.General Logistics Department of CPLAQuartermaster Equipment InstituteBeijingChina

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