Design of a robotic device actuated by cables for human lower limb rehabilitation using self-adaptive differential evolution and robust optimization / Dispositivo robótico atuado por cabos para reabilitação do membro inferior humano utilizando evolução diferencial auto-adaptável e otimização robusta

In engineering designed systems it is commonly considered that mathematical models, variables, and parameters are sufficiently reliable, i.e., there are no errors in modeling and estimation. However, the systems to be optimized can be sensitive to small changes in the designed variables causing significant changes in the objective function. Robust optimization is an approach for modeling optimization problems under uncertainty in which the modeler aims to find decisions that are optimal for the worst-case realization of the uncertainties within a given set of values. In this contribution, a self-adaptive heuristic optimization method, namely the Self-Adaptive Differential Evolution (SADE), is evaluated. Differently from the canonical Differential Evolution algorithm (DE), the SADE strategy is able to update the required parameters such as population size, crossover parameter, and perturbation rate, dynamically. This is done by considering a defined convergence rate on the evolution process of the algorithm in order to reduce the number of evaluations of the objective function. For illustration purposes, the SADE strategy is associated with the Mean Effective Concept (MEC) for insertion robustness, is applied to minimize forces applied in cables used for the rehabilitation of the human lower limbs by determining the positioning of motors. The results show that the methodology that was proposed (SADE+MEC) appears as an interesting strategy for the treatment of robust optimization problems.

No projeto de sistemas de engenharia é comum considerar que os modelos, as variáveis e os parâmetros são confiáveis, isto é, não apresentam erros de modelagem e de estimação. Entretanto, os sistemas a serem otimizados podem ser sensíveis a pequenas alterações nas variáveis de projeto causando significativas modificações no vetor de objetivos. Otimização robusta é uma abordagem para modelagem de problemas de otimização sob incerteza em que o modelador tem como objetivo encontrar decisões que são ideais para o pior caso de realização das incertezas dentro de um determinado conjunto de valores. Neste trabalho, um método de otimização heurística auto-adaptável, nomeada Self-Adaptive Differential Evolution (SADE), é avaliada. Diferentemente do algoritmo de Evolução Diferencial, a estratégia SADE é capaz de atualizar os parâmetros necessários, tais como o tamanho da população, o parâmetro de passagem e taxa de perturbação, de forma dinâmica. Isto é feito considerando uma taxa de convergência definido no processo de evolução do algoritmo, a fim de reduzir o número de avaliações da função objetivo. Para fins de ilustração, a estratégia SADE associado ao conceito de média efetiva, para inserção da robustez, é aplicada para minimizar as forças aplicadas nos cabos da estrutura robótica utilizada para a reabilitação dos membros inferiores humanos, determinando o posicionamento dos atuadores. Os resultados mostram que o método proposto neste trabalho configura-se como uma estratégia interessante para o tratamento de problemas de otimização robustos.

Piezoelectric driving of vibration conveyors: an experimental assessment.

Vibratory feeders or vibratory conveyors have been widely used for the transport and orientation of individual parts and bulk materials in many branches of industrial activity. From the designer's standpoint, the current endeavor is to conceive efficient vibratory feeders, satisfying constraints of power consumption, vibration transmission and noise emission. Moreover, the interest in the reduction of maintenance cost is always present. In this context, this paper investigates experimentally the concept of vibratory conveying based on the use of piezoelectric materials for motion generation. A small-size prototype of a linear conveyor, in which lead-zirconate-titanate (PZT) patches are bonded to the resilient elements, is described. One of the main design goals is that the prototype is intended to be fed directly from the electric network, aiming at avoiding the use of electronic equipment for driving. To comply with this feature and, at the same time, enable to adjust the transport velocity, a mechanical device has been conceived in such a way that the first natural frequency of the conveyor can be changed. It is shown that the transport velocity is determined by the proximity between the excitation frequency and the first natural frequency of the conveyor. The experimental tests performed to characterize the dynamic behavior of the prototype are described and the range of transport velocities is determined.

Cable-based parallel manipulator for rehabilitation of shoulder and elbow movements.

In this paper a cable-based system is presented for rehabilitation of the shoulder and elbow movements. Cable-based manipulators have very good kinematic and dynamic characteristics, and they also show other properties such as: transportability and low-cost construction, which make them also suitable for medical applications and rehabilitation. The general robotics structure consists of four cables that allow the movement of vertical flexion-extension, abduction-adduction and horizontal flexion-extension with different limits of movement and speed of the shoulder. The structure can also perform the elbow movements of the flexion-extension. The development of this robotic device is justified by the large number of people with upper limb problems. These problems are due of stroke, polio, arthritis, recovery after accidents or trauma and can be applied to movements of physical therapy. The kinematics model of cable-based parallel robots is obtained similarly to the model obtained from traditional parallel structures. The graphical simulations of the cable-based parallel structure for rehabilitation of the movements of the human arm are presented showing the viability of the proposed structure. Finally preliminary experimental tests are presented.