Multicriteria Design Optimization of a Parallel Ankle Rehabilitation Robot: Fuzzy Dominated Sorting Evolutionary Algorithm Approach

Prashant K. Jamwal, Shahid Hussain

Research output: Contribution to journalArticle

7 Citations (Scopus)

Abstract

Parallel robots, owing to their increased stiffness, accuracy, and compactness, are preferred over their serial counterparts in applications involving higher torques and precision such as robot-assisted physical therapy. However, their design is complex and calls for obtaining a tradeoff between several conflicting objectives such as the minimization of actuator forces versus the maximization of workspace while maintaining a close to unity condition number, etc. While evolutionary algorithms have been proposed in the literature for simultaneous optimization of many objectives, they have been found to be inefficient in dealing with a large number of objectives. We propose a fuzzy logic-based sorting approach in this paper which effectively replaces the concept of nondominated sorting and provides a better discrimination between solutions and clear termination logic. The proposed sorting algorithm has been evaluated against the existing nondominated sorting genetic algorithm II in the pretext of design optimization of a parallel ankle rehabilitation robot. The proposed fuzzy-based approach is able to provide a better discrimination among solutions and, thereby an improved parallel ankle robot design.

Original languageEnglish
Article number7287774
Pages (from-to)589-597
Number of pages9
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume46
Issue number5
DOIs
Publication statusPublished - May 1 2016

Fingerprint

Sorting
Evolutionary algorithms
Patient rehabilitation
Robots
Physical therapy
Fuzzy logic
Actuators
Torque
Genetic algorithms
Stiffness
Design optimization

Keywords

  • Evolutionary algorithms (EAs)
  • fuzzy logic
  • multicriteria optimization
  • Parallel robots

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

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