Ulceration of the foot is one of the most common complications of diabetes mellitus and diabetes-related cause of hospitalization and lower extremity amputations. There have been proposed several treatments and utilized different devices to prevent or at least improve this. It has been shown physical therapy interventions are the most effective in the treatment of diabetic foot wounds among of all the proposed treatments, where a fully controlled motion in patients' foot is desired on a pure rotational trajectory. Therefore, parallel robots represent a good candidate for this rehabilitation purpose because of their high accuracy. This paper is devoted to designing optimal structures of three six-degree-of-freedom parallel robots (i.e. Stewart, HEXA, and INRIA Active Wrist) for the lower extremity rehabilitation by the use of the genetic algorithm and Monte Carlo method. For this purpose, several key designing parameters such as the size of the platform, the length of manipulators, actuators' parameters, and reachable workspace are considered. These designing parameters are optimized such that results in the best systems' kinematics and dynamics performance. Consequently, the advantages and disadvantages of each platform are discussed.
展开▼
机译：足溃疡是糖尿病最常见的并发症之一，也是与糖尿病有关的住院和下肢截肢的原因。已经提出了几种治疗方法，并采用了不同的装置来防止或至少改善这种情况。在所有建议的治疗方法中，已经证明物理治疗干预是治疗糖尿病足伤口最有效的方法，在这种治疗方法中，需要在纯旋转轨迹上完全控制患者脚部的运动。因此，并行机器人由于其准确性高，因此是实现此康复目的的良好选择。本文致力于通过遗传算法和蒙特卡洛方法设计三个六自由度并联机器人（即Stewart，HEXA和INRIA Active Wrist）的下肢康复最佳结构。为此，考虑了几个关键的设计参数，例如平台的大小，机械手的长度，执行器的参数以及可到达的工作空间。这些设计参数已经过优化，以使系统具有最佳的运动学和动力学性能。因此，讨论了每个平台的优缺点。
展开▼
