NDLI: Manipulability inclusive principle for hip joint assistive mechanism design optimization

Content Provider	Springer Nature Link
Author	Yu, Yong Liang, Wenyuan
Copyright Year	2013
Abstract	The purpose of the design optimization for assistive mechanism is ensuring that assistive mechanism is able to satisfy assistive feasibility and realizes better assistive effect in the whole expected workspace. For this purpose, based on manipulability comparison between assisted limb and slave-active assistive mechanism, manipulability inclusive principle (MIP) is proposed as an effective and simple method to consider assistive feasibility and assistive effect in terms of kinematics. Then MIP evaluation criterions are proposed to evaluate assistive feasibility and assistive effect in mathematical ways. Concretely, weak inclusive judgment algorithm and strong inclusive judgment algorithm are proposed for judging inclusive cases to evaluate assistive feasibility, and evaluation criterion proposed for evaluating assistive effect is considered in terms of assistive efficiency, assistive ability, and assistive isotropy. The application on human hip joint parallel assistive mechanism shows that design optimization based on MIP can effectively optimize the parallel assistive mechanism to realize better assistance.
Starting Page	929
Ending Page	945
Page Count	17
File Format	PDF
ISSN	02683768
Journal	The International Journal of Advanced Manufacturing Technology
Volume Number	70
Issue Number	5-8
e-ISSN	14333015
Language	English
Publisher	Springer London
Publisher Date	2013-10-05
Publisher Place	London
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Assistive mechanism Manipulability inclusive principle Design optimization Parallel mechanism Direct kinematical Jacobian Industrial and Production Engineering Production/Logistics/Supply Chain Mechanical Engineering Computer-Aided Engineering (CAD, CAE) and Design
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Control and Systems Engineering Mechanical Engineering Computer Science Applications Software

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