Optimal Dimensional Synthesis of a Dual Purpose Haptic Exoskeleton

Authors:
Ramazan Unal;Volkan Patoglu
Affiliations:
Faculty of Engineering and Natural Sciences, Sabanci University, İstanbul, Turkey;Faculty of Engineering and Natural Sciences, Sabanci University, İstanbul, Turkey
Venue:
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Year:
2008

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Abstract

This paper presents multi-criteria design optimization of a 3RPS-R parallel mechanism to be employed as a dual purpose haptic exoskeleton for human forearm and wrist. The primary use for the optimized device is aimed as a high fidelity haptic interface, while the exoskeleton can also be employed as a rehabilitation device. Multiple design objectives are discussed and classified for both application scenarios, and optimization problems to study the trade-offs between these criteria are formulated. A general framework for optimization of haptic interfaces is applied to efficiently obtain the Pareto-front hyper-surfaces between conflicting criteria. Optimal dimensional synthesis of the dual purpose haptic exoskeleton is demonstrated.