Optimal Dimensional Synthesis of Force Feedback Lower Arm Exoskeletons (BioRob 2008). Unal, R. & Patoglu, V. In IEEE International Conference on Biomedical Robotics and Biomechatronics, 2008. abstract bibtex This paper presents multi-criteria design optimization of parallel mechanism based force feedback exoskeletons for human forearm and wrist. The optimized devices are aimed to be employed as a high fidelity haptic interfaces. Multiple design objectives are discussed and classified for the devices and the optimization problem to study the trade-offs between these criteria is formulated. Dimensional syntheses are performed for optimal global kinematic and dynamic performance, utilizing a Pareto front based framework, for two spherical parallel mechanisms that satisfy the ergonomic necessities of a human forearm and wrist. Two optimized mechanisms are compared and discussed in the light of multiple design criteria. Finally, kinematic structure and dimensions of an optimal exoskeleton are decided.
@InProceedings{Unal2008d,
booktitle = {IEEE International Conference on Biomedical Robotics and Biomechatronics},
title = {{Optimal Dimensional Synthesis of Force Feedback Lower Arm Exoskeletons (BioRob 2008)}},
author = {Ramazan Unal and Volkan Patoglu},
year = {2008},
abstract ={This paper presents multi-criteria design optimization of parallel mechanism based force feedback exoskeletons for human forearm and wrist. The optimized devices are aimed to be employed as a high fidelity haptic
interfaces. Multiple design objectives are discussed and classified for the devices and the optimization problem to study the trade-offs between these criteria is formulated. Dimensional syntheses are performed for optimal global
kinematic and dynamic performance, utilizing a Pareto front based framework, for two spherical parallel mechanisms that satisfy the ergonomic necessities of a human forearm and wrist. Two optimized mechanisms are compared and
discussed in the light of multiple design criteria. Finally, kinematic structure and dimensions of an optimal exoskeleton are decided.}
}
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