PRASHANT JAMWAL | Rajasthan Technical University (original) (raw)
Uploads
Papers by PRASHANT JAMWAL
Expert Systems With Applications, 2011
This paper describes the kinematics and the dynamics of a 3-DOF pneumatic muscle driven wearable ... more This paper describes the kinematics and the dynamics of a 3-DOF pneumatic muscle driven wearable parallel robot designed for ankle rehabilitation treatments. Several important performance indices are identified to accomplish the requirements of the ankle rehabilitation treatment and the wearable robot design. It is found that some of these indices are conflicting and hence in order to obtain an optimal robot design, these indices are required to be simultaneously optimized. Consequently, a multi-objective optimization scheme based on evolutionary algorithms is proposed in this paper to find a design which has optimum performance. The proposed design analysis can be generalized with modest efforts for the development of all the classes of parallel robots.
Page 1. AbstractPneumatic muscle actuators (PMA), owing to their obvious advantages over convent... more Page 1. AbstractPneumatic muscle actuators (PMA), owing to their obvious advantages over conventional linear actuators and pneumatic cylinders, have been recently used in the medical and industrial robotic applications. ...
Mechanism and Machine Theory, 2010
Robotics and Autonomous Systems, 2009
Expert Systems With Applications, 2011
This paper describes the kinematics and the dynamics of a 3-DOF pneumatic muscle driven wearable ... more This paper describes the kinematics and the dynamics of a 3-DOF pneumatic muscle driven wearable parallel robot designed for ankle rehabilitation treatments. Several important performance indices are identified to accomplish the requirements of the ankle rehabilitation treatment and the wearable robot design. It is found that some of these indices are conflicting and hence in order to obtain an optimal robot design, these indices are required to be simultaneously optimized. Consequently, a multi-objective optimization scheme based on evolutionary algorithms is proposed in this paper to find a design which has optimum performance. The proposed design analysis can be generalized with modest efforts for the development of all the classes of parallel robots.
Page 1. AbstractPneumatic muscle actuators (PMA), owing to their obvious advantages over convent... more Page 1. AbstractPneumatic muscle actuators (PMA), owing to their obvious advantages over conventional linear actuators and pneumatic cylinders, have been recently used in the medical and industrial robotic applications. ...
Mechanism and Machine Theory, 2010
Robotics and Autonomous Systems, 2009