Optimal Dimensional Synthesis of a Dual Purpose Haptic Exoskeleton. Unal, R. & Patoglu, V. Lecture Notes in Computer Science, Springer, 2008.
abstract   bibtex   
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.
@Article{Unal2008c,
	title = {{Optimal Dimensional Synthesis of a Dual Purpose Haptic Exoskeleton}},
	author = {Ramazan Unal and Volkan Patoglu},
	year = {2008},
	journal = {Lecture Notes in Computer Science, Springer},
	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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