.png){kind=icon}
返回
Reconfigurable Mechanical System Design for Tracking an Ankle Trajectory Using an Evolutionary Optimization Algorithm
.png){kind=icon}
OA
AI
DOI：10.1109/ACCESS.2017.2692681.png)
.png){kind=icon}
.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
This paper presents a procedure for designing a mechanical training and rehabilitation gait system centered on ankle trajectories for children with cerebral palsy or any other psycho-motor limitation. With the aim of developing a reconfigurable device adjustable to the anthropometric characteristics of the user, an analytic model for the generation of ankle trajectories was elaborated, taking as a base the experimental data reported in literature. A dimensional synthesis for a mechanism to follow the drop type trajectories was carried out as a constrained numerical optimization problem that was solved with both the mathematical programming method and an evolutive algorithm, sequential quadratic programming (SQP) and differential evolution (DE), respectively. The comparative analysis of the results from both methods for this case study shows that DE outperforms SQP because of the limited feasibility space derived from the problem constrains and boundaries. The best result from DE was simulated with a computer-aided design package using a real size model for manufacturing.
Keyword:
Trajectory tracking
optimization
four-bar mechanism
differential evolution
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
3.6
论文数:
9.8W
被引数:
29.4W
机构
引用论文
.png){kind=icon}
The H2 robotic exoskeleton for gait rehabilitation after stroke: early findings from a clinical study用于中风后步态康复的H2机器人外骨骼: 临床研究的早期发现OAAI
OAAI分享收藏分享收藏
查看更多内容