Nature-Inspired Intelligent Synthesis of a Spherical Mechanism for Passive Ankle Rehabilitation Using Differential Evolution
نویسندگان
چکیده
The ankle rehabilitation in certain injuries requires passive movements to aid the prompt recovery of movement. In last years, parallel robots with multiple degrees freedom have been most studied for providing such a controlled way. Nevertheless, high cost does not make it viable home healthcare. Then, this paper presents an optimization approach where spherical mechanism one-degree-of-freedom is proposed as low-cost device provide exercise plantar flexion/dorsiflexion and adduction/abduction movements. formulated mono-objective constraint problem relative motion angle mechanism, Grashof criterion, force transmission, routine are included. link lengths parameterized Cartesian coordinates found by two representative differential evolution variants. statistical analysis optimizers indicates that $DE/rand/1/bin$ finds, on average, more promising solutions through algorithm executions than notation="LaTeX">$DE/best/1/bin$ . numerical simulation results CAD model illustrate obtained indicating percentage error between desired path curve generated coupler point interval notation="LaTeX">$[{0.036,0.437}]\%$ Manufacturing 3D printer validates verifies resulting mechanism.
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2023
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2023.3279820