Hip Rehabilitation Mechanism Optimization

Abstract

Many people have lost the ability to walk as a result of a stroke or brain damage during an accident or a sports injury. A human can be best replaced by a robot in leg physiotherapy. Designing a hip movement mechanism as a rehabilitation robot requires the calculations of the appropriate dimensions and the walking path. Kinematics and dynamics equations of the robot were formulated and based on those formulations, the optimization process has been carried out. For optimization purpose, the Nondominated Sorting Genetic Algorithm II (NSGA II) is applied. Through this method, According to the equations of normal leg's path, dimensions of the mechanism were found and then optimized. The simulation results showed the effectiveness of the developed procedure.