An optimal Stewart platform for lower extremity robotic rehabilitation

Research output: ResearchConference contribution

Abstract

In this paper, two algorithms are performed to find an optimum design of a six-degree-of-freedom Stewart platform to provide a desired pure rotational motion required in the robotic rehabilitation of the foot for patients with neuropathy. To accomplish this, first, we present the kinematic and the dynamic analysis of the Stewart platform. The dynamic equations are derived by using a customized Lagrange method. Then, physically meaningful objective variables are defined such as the size of the platform, the length of the six links, the maximum stroke of the six linear actuators, the maximum actuator force, and the reachable workspace. This is followed by using two optimization methods (Genetic Algorithm and Monte-Carlo method) to study the aforementioned objective variables, resulting in the optimal solution for the desired orientation motions. Then, the detailed investigation of the effect of changes in these objective variables on the variation of the platform design variables is studied. Finally, in a numerical example, the advantages and disadvantages of using the Genetic Algorithm and the Monte-Carlo method to find the optimal design variables for a custom cost function with weighted objective variables are revealed.

LanguageEnglish (US)
Title of host publication2017 American Control Conference, ACC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5294-5299
Number of pages6
ISBN (Electronic)9781509059928
DOIs
StatePublished - Jun 29 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Other

Other2017 American Control Conference, ACC 2017
CountryUnited States
CitySeattle
Period5/24/175/26/17

Fingerprint

Patient rehabilitation
Robotics
Monte Carlo methods
Genetic algorithms
Linear actuators
Cost functions
Dynamic analysis
Kinematics
Actuators
Optimal design
Optimum design

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Dabiri, A., Sabet, S., Poursina, M., Armstrong, D. G., & Nikravesh, P. E. (2017). An optimal Stewart platform for lower extremity robotic rehabilitation. In 2017 American Control Conference, ACC 2017 (pp. 5294-5299). [7963777] Institute of Electrical and Electronics Engineers Inc.. DOI: 10.23919/ACC.2017.7963777

An optimal Stewart platform for lower extremity robotic rehabilitation. / Dabiri, Arman; Sabet, Sahand; Poursina, Mohammad; Armstrong, David G.; Nikravesh, Parviz E.

2017 American Control Conference, ACC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 5294-5299 7963777.

Research output: ResearchConference contribution

Dabiri, A, Sabet, S, Poursina, M, Armstrong, DG & Nikravesh, PE 2017, An optimal Stewart platform for lower extremity robotic rehabilitation. in 2017 American Control Conference, ACC 2017., 7963777, Institute of Electrical and Electronics Engineers Inc., pp. 5294-5299, 2017 American Control Conference, ACC 2017, Seattle, United States, 5/24/17. DOI: 10.23919/ACC.2017.7963777
Dabiri A, Sabet S, Poursina M, Armstrong DG, Nikravesh PE. An optimal Stewart platform for lower extremity robotic rehabilitation. In 2017 American Control Conference, ACC 2017. Institute of Electrical and Electronics Engineers Inc.2017. p. 5294-5299. 7963777. Available from, DOI: 10.23919/ACC.2017.7963777
Dabiri, Arman ; Sabet, Sahand ; Poursina, Mohammad ; Armstrong, David G. ; Nikravesh, Parviz E./ An optimal Stewart platform for lower extremity robotic rehabilitation. 2017 American Control Conference, ACC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 5294-5299
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