Genetic Algorithm Application in Swing Phase Optimization of AK Prosthesis with Passive Dynamics and Biomechanics Considerations

Karimi, Ghasem; Jahanian, Omid

doi:10.5772/38211

Cited by 5 publications

(4 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…At the same time, the use of a second-order filter makes the strategy feasible, adjustable, and replicable, ensuring, together with the description of the safety volume, smooth transients in the trajectories as well as an analytical collision-avoidance algorithm without numerical procedures that increase the computational burden, as found in [23]. The smoothing of the collision-avoidance transients appears in the bounded rate of positions and acceleration profiles for the robot joints (see Figures 12 and 13), continuously ensuring that discontinuities, such as those shown in [4,54,55], do not arise despite the dynamic environment.…”

Section: Discussionmentioning

confidence: 96%

“…Similar algorithms present safety volumes described by a limited number of points [44,54] or based on numerical approaches [4,20]. The here-discussed proposal uses a parametric surface around the links, instead of limited volumes as discussed in [4], to define the safety volume in the computation of the collision distance for any point of the link, which makes this new approach more realistic and reliable.…”

Section: Discussionmentioning

confidence: 99%

See 1 more Smart Citation

Collision Avoidance for Redundant 7-DOF Robots Using a Critically Damped Dynamic Approach

Simas

Gregorio

2022

Robotics

View full text Add to dashboard Cite

The presence of collaborative robots in industrial environments requires that their control strategies include collision avoidance in the generation of trajectories. In general, collision avoidance is performed via additional displacements of the kinematic chain that make the robot move far from the objects that are occasionally inserted into its safety workspace. The variability of the coordinates of the collision points inside the safety volume leads to abrupt movements for the robot. This paper presents a general method for smoothing abrupt movements in robots with one degree of redundancy for collision-avoidance trajectories, employing a second-order digital filter designed with adjustable critical damping. The method is illustrated by applying it to a redundant robot with a spherical–revolute–spherical type (SRS-type) kinematic chain, which is a benchmark used to test the algorithms ideated for solving this problem. This paper also presents an alternative algorithm for the inverse kinematics of the SRS-type robot and the computational experiments that show the collision avoidance proposal’s performance and its properties through graphical results.

show abstract

Section: Discussionmentioning

confidence: 96%

Section: Discussionmentioning

confidence: 99%

Collision Avoidance for Redundant 7-DOF Robots Using a Critically Damped Dynamic Approach

Simas

Gregorio

2022

Robotics

View full text Add to dashboard Cite

show abstract

“…Table III summarizes the lower body segment lengths expressed as a fraction of body height (H). The data was gathered and adapted from Karimi and Jahanian (2012). The lower body segment masses are summarized in the Table IV.…”

Section: Swing Phasementioning

confidence: 99%

“…Lower body segment lengths expressed as a fraction of body height (H). Data were gathered and organized from(Karimi and Jahanian, 2012) …”

mentioning

confidence: 99%

Design and control of a novel all-terrains wearable vehicle

Sayed

Fanni

Raessa

et al. 2019

View full text Add to dashboard Cite

Purpose This paper aims to design and control of a novel compact transportation system called the “wearable vehicle”. The wearable vehicle allows for traversing all types of terrains while transporting one's luggage in a comfortable and efficient manner. Design/methodology/approach The proposed design consists of a lower limb exoskeleton carrying two motorized wheels and two free wheels installed alongside its feet. This paper presents a detailed description of the system with its preliminary design and finite element analysis. Moreover, the system has been optimally designed to decrease wearable vehicle’s total weight, consequently leading to a reduction in motor size. Finally, two controllers have been designed to achieve stable operation of the wearable vehicle while walking. A PD controller with gravity compensation has been designed to ensure that the wearable vehicle tracks human motion, while a PID controller has been designed to ensure that the zero moment point is close to the center of the system’s support polygon. Findings Experimental tests were carried out to check the wearable vehicle concept. The obtained results prove the feasibility of the proposed wearable vehicle from the design, dynamics and control viewpoints. Practical implications This proposed wearable vehicle’s purpose is for traveling faster with less effort than normal walking. When a human comes across a flat open ground, the wearable vehicle can be used as a vehicle. However, when a human enters crowded traffic, an unstructured area or other obstacles like stairs, the vehicle can be switched into walking mode. Originality/value The wearable vehicle has seven DOFs exoskeletons, two motorized wheels, two free wheels and a foldable seat. It is used as a vehicle via its motorized and free wheels to travel fast with minimal effort. In addition, the human can switch easily into walking mode, if there is unstructured terrain to be traversed. Furthermore, an illustration of system's mechanisms and main feature parameters are presented to become acquainted with the ultimate benefits of the new system.

show abstract

Role of Artificial Intelligence and Machine Learning in Resolving the Issues and Challenges with Prosthetic Knees

Salwan

Kant

Pandian

2019

Communications in Computer and Information Science

View full text Add to dashboard Cite

Genetic Algorithm Application in Swing Phase Optimization of AK Prosthesis with Passive Dynamics and Biomechanics Considerations

Cited by 5 publications

References 16 publications

Collision Avoidance for Redundant 7-DOF Robots Using a Critically Damped Dynamic Approach

Collision Avoidance for Redundant 7-DOF Robots Using a Critically Damped Dynamic Approach

Design and control of a novel all-terrains wearable vehicle

Role of Artificial Intelligence and Machine Learning in Resolving the Issues and Challenges with Prosthetic Knees

Contact Info

Product

Resources

About