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- W4200571549 abstract "Parallel mechanisms (PMs) are commonly used for developing haptic devices due to low inertia, high rigidity and precision. However, limited workspace impedes their application for task-oriented robotic therapy which generally requires large motion ranges. To solve this problem, first, a PM- based reconfigurable asymmetric 6-DOF haptic interface was presented, and then a two-stage optimization method was proposed to make the robot implement two kinds of task-specific workspaces including gross motor tasks (GMTs) and fine motor tasks (FMTs). Optimization of this robot was conducted to pursue a compact size and high accuracy. The global conditioning index (GCI) and the occupied area of the robot were selected as the evaluation indices, where the GCI was derived using a dimensionally homogeneous Jacobian matrix. A multi-objective optimization method based on the genetic algorithm (GA) was utilized. The actual design parameters were finally defined from solutions of the Pareto front. The proposed two-stage optimization method provides a feasible solution for determining task-specific robotic workspace of the reconfigurable mechanism." @default.
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- W4200571549 date "2021-09-27" @default.
- W4200571549 modified "2023-09-28" @default.
- W4200571549 title "Two-Stage Optimization of a Reconfigurable Asymmetric 6-DOF Haptic Robot for Task-Specific Workspace" @default.
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- W4200571549 doi "https://doi.org/10.1109/iros51168.2021.9636251" @default.
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