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

@article{Jamwal2016MulticriteriaDO,
  title={Multicriteria Design Optimization of a Parallel Ankle Rehabilitation Robot: Fuzzy Dominated Sorting Evolutionary Algorithm Approach},
  author={Prashant Kumar Jamwal and Shahid Hussain},
  journal={IEEE Transactions on Systems, Man, and Cybernetics: Systems},
  year={2016},
  volume={46},
  pages={589-597}
}
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… CONTINUE READING

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