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

This 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 configuration...

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Veröffentlicht in:	Robotica 2019-12, Vol.37 (12), p.2073-2086
Hauptverfasser:	Zeiaee, Amin, Soltani-Zarrin, Rana, Langari, Reza, Tafreshi, Reza
Format:	Artikel
Sprache:	eng
Schlagworte:	Classification Configurations Degrees of freedom Design optimization Evolutionary algorithms Exoskeletons Genetic algorithms Kinematics Multiple objective analysis Rehabilitation Sorting algorithms
Online-Zugang:	Volltext
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