Evaluation of Objective Functions for the Optimal Design of an Assistive Robot
The number of individuals with upper or lower extremities dysfunction (ULED) has considerably increased in the past few decades, resulting in a high economic burden for their families and society. Individuals with ULEDs require assistive robots to fulfill all their activities of daily living (ADLs)....
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-12-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/13/12/2206 |
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| author | Javier Dario Sanjuan De Caro Md Samiul Haque Sunny Elias Muñoz Jaime Hernandez Armando Torres Brahim Brahmi Inga Wang Jawhar Ghommam Mohammad H. Rahman |
| author_facet | Javier Dario Sanjuan De Caro Md Samiul Haque Sunny Elias Muñoz Jaime Hernandez Armando Torres Brahim Brahmi Inga Wang Jawhar Ghommam Mohammad H. Rahman |
| author_sort | Javier Dario Sanjuan De Caro |
| collection | DOAJ |
| description | The number of individuals with upper or lower extremities dysfunction (ULED) has considerably increased in the past few decades, resulting in a high economic burden for their families and society. Individuals with ULEDs require assistive robots to fulfill all their activities of daily living (ADLs). However, a theory for the optimal design of assistive robots that reduces energy consumption while increasing the workspace is unavailable. Thus, this research presents an algorithm for the optimal link length selection of an assistive robot mounted on a wheelchair to minimize the torque demands of each joint while increasing the workspace coverage. For this purpose, this research developed a workspace to satisfy a list of 18 ADLs. Then, three torque indices from the literature were considered as performance measures to minimize; the three torque measures are the quadratic average torque (QAT), the weighted root square mean (WRMS), and the absolute sum of torques (AST). The proposed algorithm evaluates any of the three torque measures within the workspace, given the robot dimensions. This proposed algorithm acts as an objective function, which is optimized using a genetic algorithm for each torque measure. The results show that all tree torque measures are suitable criteria for assistance robot optimization. However, each torque measures yield different optimal results; in the case of the QAT optimization, it produces the least workspace with the minimum overall torques of all the joints. Contrarily, the WRMS and AST optimization yield similar results generating the maximum workspace coverage but with a greater overall torque of all joints. Thus, the selection between the three methods depends on the designer’s criteria. Based on the results, the presented methodology is a reliable tool for the optimal dimensioning of assistive robots. |
| first_indexed | 2024-03-09T16:05:29Z |
| format | Article |
| id | doaj.art-bcde15fd4cc64630b56ef419e4f4f9fd |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-09T16:05:29Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-bcde15fd4cc64630b56ef419e4f4f9fd2023-11-24T16:45:59ZengMDPI AGMicromachines2072-666X2022-12-011312220610.3390/mi13122206Evaluation of Objective Functions for the Optimal Design of an Assistive RobotJavier Dario Sanjuan De Caro0Md Samiul Haque Sunny1Elias Muñoz2Jaime Hernandez3Armando Torres4Brahim Brahmi5Inga Wang6Jawhar Ghommam7Mohammad H. Rahman8Department of Mechanical Engineering, University of Wisconsin, Milwaukee, WI 53212, USAComputer Science, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USADepartment of Mechanical Engineering, University of Wisconsin, Milwaukee, WI 53212, USADepartment of Mechanical Engineering, University of Wisconsin, Milwaukee, WI 53212, USADepartment of Mechanical Engineering, University of Wisconsin, Milwaukee, WI 53212, USAElectrical Engineering Department, Collège Ahuntsic, Montreal, QC H2M 1Y8, CanadaDepartment of Rehabilitation Sciences & Technology, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USAElectrical and Computer Engineering, Sultan Qaboos University, Muscat 123, OmanDepartment of Mechanical Engineering, University of Wisconsin, Milwaukee, WI 53212, USAThe number of individuals with upper or lower extremities dysfunction (ULED) has considerably increased in the past few decades, resulting in a high economic burden for their families and society. Individuals with ULEDs require assistive robots to fulfill all their activities of daily living (ADLs). However, a theory for the optimal design of assistive robots that reduces energy consumption while increasing the workspace is unavailable. Thus, this research presents an algorithm for the optimal link length selection of an assistive robot mounted on a wheelchair to minimize the torque demands of each joint while increasing the workspace coverage. For this purpose, this research developed a workspace to satisfy a list of 18 ADLs. Then, three torque indices from the literature were considered as performance measures to minimize; the three torque measures are the quadratic average torque (QAT), the weighted root square mean (WRMS), and the absolute sum of torques (AST). The proposed algorithm evaluates any of the three torque measures within the workspace, given the robot dimensions. This proposed algorithm acts as an objective function, which is optimized using a genetic algorithm for each torque measure. The results show that all tree torque measures are suitable criteria for assistance robot optimization. However, each torque measures yield different optimal results; in the case of the QAT optimization, it produces the least workspace with the minimum overall torques of all the joints. Contrarily, the WRMS and AST optimization yield similar results generating the maximum workspace coverage but with a greater overall torque of all joints. Thus, the selection between the three methods depends on the designer’s criteria. Based on the results, the presented methodology is a reliable tool for the optimal dimensioning of assistive robots.https://www.mdpi.com/2072-666X/13/12/2206robot optimizationassistive roboticsworkspace analysisoptimal design |
| spellingShingle | Javier Dario Sanjuan De Caro Md Samiul Haque Sunny Elias Muñoz Jaime Hernandez Armando Torres Brahim Brahmi Inga Wang Jawhar Ghommam Mohammad H. Rahman Evaluation of Objective Functions for the Optimal Design of an Assistive Robot Micromachines robot optimization assistive robotics workspace analysis optimal design |
| title | Evaluation of Objective Functions for the Optimal Design of an Assistive Robot |
| title_full | Evaluation of Objective Functions for the Optimal Design of an Assistive Robot |
| title_fullStr | Evaluation of Objective Functions for the Optimal Design of an Assistive Robot |
| title_full_unstemmed | Evaluation of Objective Functions for the Optimal Design of an Assistive Robot |
| title_short | Evaluation of Objective Functions for the Optimal Design of an Assistive Robot |
| title_sort | evaluation of objective functions for the optimal design of an assistive robot |
| topic | robot optimization assistive robotics workspace analysis optimal design |
| url | https://www.mdpi.com/2072-666X/13/12/2206 |
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