Optimal Synthesis of the Stephenson-Ⅱ Linkage for Finger Exoskeleton Using Swarm-based Optimization Algorithms  

作　　者：Seyyed Mojtaba Varedi-Koulaei Masoud Mohammadi Mohammad Amin Malek Mohammadi Mahdi Bamdad 

机构地区：[1]Corrective Exercise and Rehabilitation Laboratory,Department of Mechanical Engineering,Shahrood University of Technology,Shahrood,3619995161,Iran [2]Department of Health Science and Technology,Aalborg University,9220,Aalborg,Denmark

出　　处：《Journal of Bionic Engineering》2023年第4期1569-1584,共16页仿生工程学报（英文版）

摘　　要：Active exoskeletons have been widely investigated to supplement and restore human hand movements,but a significant limitation is that they have a complicated design requiring multi actuators.Single Degree-Of-Freedom(DOF)planar linkage mechanisms could be used with simple control.This research represents the design and optimization of a mechanism proposed for a finger exoskeleton bionic device.One DOF six-bar linkage Stephenson-II is selected,and a motion-generation mechanism synthesis problem is defined.The design is based on the data obtained from the flexion/extension motion of the index finger through 16 precision points and 16 angles for each phalange associated with the fingertip position.After explaining the kinematic analysis of the Stephenson-II,an evaluation of swarm intelligence techniques,including PSO,GWO,and ARO algorithms for solving optimization problems,is presented.ARO algorithm demonstrates the best performance among them.Moreover,the optimized mechanism in this study has a 50% error reduction compared to the one previously designed(Bataller et al.in Mech Mach Theory 105:31-43,2016).

关 键 词：Mechanism synthesis BIONIC Finger exoskeleton PSO GWO ARO 

分 类 号：O62[理学—有机化学]