MULTIOBJECTIVE OPTIMIZATION OF A CABLE-DRIVEN ROBOT FOR WRIST REHABILITATION USING A GENETIC ALGORITHM

ANDREA BOTTA; GIUSEPPE QUAGLIA; YUKIO TAKEDA

doi:10.57272/jciftomm.6.0_5

Vol. 6 (2023)

DOI https://doi.org/10.57272/jciftomm.6.0_5

会議情報

主催: Japanese Council of IFToMM

会議名: The 6th Jc-IFToMM International Symposium (in conjunction with The 29th Jc-IFToMM Symposium on Theory of Machines and Mechanisms)

開催地: Tokyo, Japan

開催日: 2023/05/12 -

MULTIOBJECTIVE OPTIMIZATION OF A CABLE-DRIVEN ROBOT FOR WRIST REHABILITATION USING A GENETIC ALGORITHM

*ANDREA BOTTA, GIUSEPPE QUAGLIA, YUKIO TAKEDA

著者情報

会議録・要旨集オープンアクセス

p. 5-12

詳細

抄録

This paper presents a multi-objective optimization using a genetic algorithm to reduce the size of the current configuration of a cable-driven end-effector robot for wrist rehabilitation. The objective of this work is to obtain a smaller robot with good performance by employing a constrained genetic algorithm (GA) so the device can be light and wearable. The optimization was performed to study the effect of the robot dimensions and in the end, a new solution that can reduce the robot size by 35% and increase the performance by 1.8% was found.

責任著者(Corresponding author)

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