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

3 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 - 2010
Externally publishedYes
Event2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010 - QingDao, China
Duration: Jul 15 2010Jul 17 2010

Other

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

Fingerprint

Patient rehabilitation
Pneumatics
Muscle
Robots
Multiobjective optimization
Evolutionary algorithms
Kinematics

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Jamwal, P. K., Xie, S., & Aw, K. C. (2010). Design analysis of a pneumatic muscle driven wearable parallel robot for ankle joint rehabilitation. In Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010 (pp. 403-408). [5551990] https://doi.org/10.1109/MESA.2010.5551990

Design analysis of a pneumatic muscle driven wearable parallel robot for ankle joint rehabilitation. / Jamwal, Prashant Kumar; Xie, Shengquan; Aw, Kean C.

Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010. 2010. p. 403-408 5551990.

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

Jamwal, PK, Xie, S & Aw, KC 2010, Design analysis of a pneumatic muscle driven wearable parallel robot for ankle joint rehabilitation. in Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010., 5551990, pp. 403-408, 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010, QingDao, China, 7/15/10. https://doi.org/10.1109/MESA.2010.5551990
Jamwal PK, Xie S, Aw KC. Design analysis of a pneumatic muscle driven wearable parallel robot for ankle joint rehabilitation. In Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010. 2010. p. 403-408. 5551990 https://doi.org/10.1109/MESA.2010.5551990
Jamwal, Prashant Kumar ; Xie, Shengquan ; Aw, Kean C. / Design analysis of a pneumatic muscle driven wearable parallel robot for ankle joint rehabilitation. Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010. 2010. pp. 403-408
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