Kinematic Design Optimization of an Eight Degree-of-Freedom Upper-Limb Exoskeleton

Amin Zeiaee, Rana Soltani-Zarrin, Reza Langari, Reza Tafreshi

Research output: Contribution to journalArticle

Abstract

SUMMARYThis paper studies the problem of optimizing the kinematic structure of an eight degree-of-freedom upper-limb rehabilitation exoskeleton. The objective of optimization is achieving minimum volume and maximum dexterity in the workspace of daily activities specified by a set of upper-arm configurations. To formulate the problem, a new index is proposed for effective characterization of kinematic dexterity for wearable robots. Additionally, a set of constraints are defined to ensure that the optimal design can cover the desired workspace of the exoskeleton, while singular configurations and physical interferences are avoided. The formulated multi-objective optimization problem is solved using an evolutionary algorithm (Non-dominated Sorting Genetic Algorithm II) and the weighted sum approach. Among the resulted optimal points, the point with least sensitivity with respect to the variations of design variables is chosen as the final design.

Original languageEnglish
JournalRobotica
DOIs
Publication statusPublished - 1 Jan 2019

Fingerprint

Workspace
Degrees of freedom (mechanics)
Kinematics
Degree of freedom
Configuration
Sorting algorithm
Rehabilitation
Multiobjective Optimization Problems
Multiobjective optimization
Weighted Sums
Sorting
Evolutionary algorithms
Patient rehabilitation
Evolutionary Algorithms
Robot
Genetic algorithms
Interference
Genetic Algorithm
Cover
Robots

Keywords

  • Design optimization
  • Exoskeletons
  • Kinematic design
  • Kinematic dexterity
  • Workspace maximization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

Cite this

Kinematic Design Optimization of an Eight Degree-of-Freedom Upper-Limb Exoskeleton. / Zeiaee, Amin; Soltani-Zarrin, Rana; Langari, Reza; Tafreshi, Reza.

In: Robotica, 01.01.2019.

Research output: Contribution to journalArticle

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