Reconfigurable Mechanical System Design for Tracking an Ankle Trajectory Using an Evolutionary Optimization Algorithm

Calva-Yáñez, María Barbara; Niño-Suárez, Paola Andrea; Portilla-Flores, Edgar Alfredo; Aponte-Rodriguez, Jorge Alexander; Santiago-Valentn, Eric

doi:10.1109/access.2017.2692681

Cited by 17 publications

(14 citation statements)

References 25 publications

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“…Calva-Yáñez et al [16] designed a gait rehabilitation system for children using a fourbar linkage mechanism. The indirect search algorithm Sequential Quadratic Programming (SQP) and the direct one given by Differential Evolution (DE) algorithm were used in the synthesis process.…”

Section: Introductionmentioning

confidence: 99%

Empirical Study of Constraint-Handling Techniques in the Optimal Synthesis of Mechanisms for Rehabilitation

2021

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Currently, rehabilitation systems with closed kinematic chain mechanisms are low-cost alternatives for treatment and health care. In designing these systems, the dimensional synthesis is commonly stated as a constrained optimization problem to achieve repetitive rehabilitation movements, and metaheuristic algorithms for constrained problems are promising methods for searching solutions in the complex search space. The Constraint Handling Techniques (CHTs) in metaheuristic algorithms have different capacities to explore and exploit the search space. However, the study of the relationship in the CHT performance of the mechanism dimensional synthesis for rehabilitation systems has not been addressed, resulting in an important gap in the literature of such problems. In this paper, we present a comparative empirical study to investigate the influence of four CHTs (penalty function, feasibility rules, stochastic-ranking, and ϵ-constraint) on the performance of ten representative algorithms that have been reported in the literature for solving mechanism synthesis for rehabilitation (four-bar linkage, eight-bar linkage, and cam-linkage mechanisms). The study involves analysis of the overall performance, six performance metrics, and evaluation of the obtained mechanism. This identified that feasibility rules usually led to efficient optimization for most analyzed algorithms and presented more consistency of the obtained results in these kinds of problems.

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Section: Introductionmentioning

confidence: 99%

Empirical Study of Constraint-Handling Techniques in the Optimal Synthesis of Mechanisms for Rehabilitation

2021

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“…The metaheuristic implemented in this work is Differential Evolution (DE). It is a simple but powerful search algorithm, which simulates the natural evolution process combined with a mechanism to generate multiple search addresses based on the distribution of solutions in an initial population [27]- [31].…”

Section: Introductionmentioning

confidence: 99%

Tuning a PD+ Controller by Means of Dynamic Optimization in a Mobile Manipulator With Coupled Dynamics

et al. 2019

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This article presents the development of a dynamic optimization method for controller tuning. This is proposed because most traditional tuning methods for complex coupled dynamic models are based on experience, and thus lacking accuracy. The case study is a Mobile Manipulator that consists of an anthropomorphic manipulator and a differential mobile platform. The system model has a trajectory generator that includes the coupled kinematic model, the Jacobian model, the coupled dynamic model, and a Proportional-Derivative plus controller. The tuning of the model is obtained by solving an optimization problem, using the Differential Evolution algorithm. This optimization approach allows to minimize simultaneously the energy consumption and the error on the trajectory tracking by the end effector. A novel strategy is applied to formulate the objective function, including constant weights for balancing the minimization effect. The objective is to avoid an energy consumption equal to zero that represents an error condition of no motion. The results of the case study and its statistical analysis are presented. The best result was modeled in Solidworks R and simulated in Matlab R. This model was exported to Simscape Multibody TM of Matlab, and its simulation produced satisfactory results, suggesting that the proposed optimization method can be a useful tool to solve real engineering problems.

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“…The optimization problem was solved by using meta-heuristic algorithms instead of gradient-based approaches because the latter are problem dependent (the convergence to a solution is only guaranteed for continuous problem); they present high sensitivity to initial condition which results in the convergence to diverse local minima in multimodal optimization problems, and they require the gradient of the performance function and/or constraints which is not always possible for realworld applications. For instance, Calva et al [8] synthesized 2 Mathematical Problems in Engineering a reconfigurable four-bar linkage to the rehabilitation gait in children with cerebral palsy. A mono-objective constrained optimization problem was formulated and solved by differential evolution (DE) and Sequential Quadratic Programming (SQP) techniques.…”

Section: Introductionmentioning

confidence: 99%

Synergistic Design of the Bipedal Lower‐Limb through Multiobjective Differential Evolution Algorithm

Pantoja-García

Villarreal-Cervantes

García-Mendoza

et al. 2019

Mathematical Problems in Engineering

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The complexity in the design of bipedal robots has motivated the use of simple mechanisms to accomplish the desired locomotion task with a minimum control effort. Nevertheless, a diverse set of conflictive design criteria must be met to develop the bipedal gait. In this paper, the synergy in the eight-bar mechanism design criteria to satisfy the bipedal lower-limb behavior is promoted by proposing a Pareto-based Nonlinear Mixed Discrete-Continuous Constrained Multiobjective Optimization Problem and by improving the search in the optimizer through the inclusion of the Multiselection Strategy into the multiobjective differential evolution algorithm, where the conflictive design objectives are the continuous path generation based on an approximation error to track twenty precision points of the bipedal gait and also the force transmission exerted when the foot reaches the ground. The manufacture of a prototype with a specific design trade-off experimentally validates the obtained synergistic design with the proposed design approach. In addition, the empirical analysis in simulation through a statistical validation indicates that the Multiselection Strategy explores and exploits the design solutions promoting the diversity, convergence, and capacity features of the obtained Pareto front with respect to other four multiobjective optimizers and consequently improves the reconfigurability in the design such that more alternatives result to the designer decision making.

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Reconfigurable Mechanical System Design for Tracking an Ankle Trajectory Using an Evolutionary Optimization Algorithm

Cited by 17 publications

References 25 publications

Empirical Study of Constraint-Handling Techniques in the Optimal Synthesis of Mechanisms for Rehabilitation

Empirical Study of Constraint-Handling Techniques in the Optimal Synthesis of Mechanisms for Rehabilitation

Tuning a PD+ Controller by Means of Dynamic Optimization in a Mobile Manipulator With Coupled Dynamics

Synergistic Design of the Bipedal Lower‐Limb through Multiobjective Differential Evolution Algorithm

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