On the Optimal Design of LAWEX for a Safe Upper Arm Rehabilitation Exercising

On the Optimal Design of LAWEX for a Safe Upper Arm Rehabilitation Exercising

This paper addresses the optimal synthesis problem of a cable driven parallel robot: LAWEX. A formulation of an optimization problem with 3 different objective functions for a specific task is proposed and then solved using the multi-objective genetic algorithm method. In more details, the LAWEX rob...

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Hauptverfasser: Hamida, Ines Ben, Laribi, Med Amine, Mlika, Abdelfattah, Romdhane, Lotfi, Zeghloul, Saïd, Carbone, Giuseppe
Format: Buchkapitel
Sprache:eng
Schlagworte:
Cable driven parallel robot
Computer Science
Dimensional synthesis
Optimization problem
Robotics
Safety
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Beschreibung
Zusammenfassung:This paper addresses the optimal synthesis problem of a cable driven parallel robot: LAWEX. A formulation of an optimization problem with 3 different objective functions for a specific task is proposed and then solved using the multi-objective genetic algorithm method. In more details, the LAWEX robot is optimised to perform a specific rehabilitation exercise of upper arm in terms of compactness, safety and energy comsuption.
ISSN:2211-0984
2211-0992
DOI:10.1007/978-3-030-75271-2_33