Design analysis of a pneumatic muscle driven wearable parallel robot for ankle joint rehabilitation

Prashant Kumar Jamwal, Shengquan Xie, Kean C. Aw

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper describes the kinematics and the dynamics of a 3-DOF pneumatic muscle driven wearable parallel robot designed for ankle rehabilitation treatments. Several important performance indices are identified to accomplish the requirements of the ankle rehabilitation treatment and the wearable robot design. It is found that some of these indices are conflicting and hence in order to obtain an optimal robot design, these indices are required to be simultaneously optimized. Consequently, a multi-objective optimization scheme based on evolutionary algorithms is proposed in this paper to find a design which has optimum performance. The proposed design analysis can be generalized with modest efforts for the development of all the classes of parallel robots.

Original languageEnglish
Title of host publicationProceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010
Pages403-408
Number of pages6
DOIs
Publication statusPublished - Oct 8 2010
Event2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010 - QingDao, China
Duration: Jul 15 2010Jul 17 2010

Publication series

NameProceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010

Other

Other2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010
CountryChina
CityQingDao
Period7/15/107/17/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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