Staff View: Robotic Knee Prosthesis with Cycloidal Gear and Four-Bar Mechanism Optimized Using Particle Swarm Algorithm

Robotic Knee Prosthesis with Cycloidal Gear and Four-Bar Mechanism Optimized Using Particle Swarm Algorithm

A powered transfemoral prosthesis is needed as people with transfemoral amputation show 60 percent extra metabolic cost when compared to people with no amputation. Recently, as illustrated in the literature, the most high-torque robotic knee prosthesis utilize harmonic reducers. Despite the advantag...

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Main Authors:	Al Kouzbary M., Al Kouzbary H., Liu J., Khamis T., Al-Hashimi Z., Shasmin H.N., Arifin N., Abu Osman N.A.
Other Authors:	57202956887
Format:	Article
Published:	MDPI 2023
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spelling	my.uniten.dspace-267622023-05-29T17:36:34Z Robotic Knee Prosthesis with Cycloidal Gear and Four-Bar Mechanism Optimized Using Particle Swarm Algorithm Al Kouzbary M. Al Kouzbary H. Liu J. Khamis T. Al-Hashimi Z. Shasmin H.N. Arifin N. Abu Osman N.A. 57202956887 57216612501 57223432161 57900244500 57900442600 35778974400 18133590700 8511221500 A powered transfemoral prosthesis is needed as people with transfemoral amputation show 60 percent extra metabolic cost when compared to people with no amputation. Recently, as illustrated in the literature, the most high-torque robotic knee prosthesis utilize harmonic reducers. Despite the advantage of high reduction ratio and efficiency, the harmonic drive cannot be back-driven. Therefore, the harmonic drive is not an optimal solution for prosthetic systems with direct and indirect contact with the environment. In this paper, we outline an initial design of robotic knee prosthesis. The proposed robotic knee prosthesis consists of BLDC motor, cycloidal gear with reduction ratio 13:1, four-bar mechanism, and timing belt transmission with 4:1 reduction ratio. To optimize the torque transmission and range of motion (RoM), a multiobjective optimization problem must be undertaken. The end-effector motion depends on each bar length in the four-bar mechanism. The four-bar mechanism was optimized using particle swarm optimization (PSO). To complete the optimization, a set of 50 steps was collected using wearable sensors. Then, the data of sagittal plan were processed to identify the target profile for PSO. The prototype�s computer-aided manufacturing (CAM) was completed using a MarkTwo 3D printer with carbon fiber composite. The overall design can achieve a maximum torque of 84 N.m. However, the current design lacks the elastic component (no spring is added on the actuator output), which is necessary for a functional prosthesis; this limitation will be addressed in future study. � 2022 by the authors. Final 2023-05-29T09:36:34Z 2023-05-29T09:36:34Z 2022 Article 10.3390/act11090253 2-s2.0-85138561980 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85138561980&doi=10.3390%2fact11090253&partnerID=40&md5=ac434781c47cb1867acae5f16b306dc2 https://irepository.uniten.edu.my/handle/123456789/26762 11 9 253 All Open Access, Gold MDPI Scopus
institution	Universiti Tenaga Nasional
building	UNITEN Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Tenaga Nasional
content_source	UNITEN Institutional Repository
url_provider	http://dspace.uniten.edu.my/
description	A powered transfemoral prosthesis is needed as people with transfemoral amputation show 60 percent extra metabolic cost when compared to people with no amputation. Recently, as illustrated in the literature, the most high-torque robotic knee prosthesis utilize harmonic reducers. Despite the advantage of high reduction ratio and efficiency, the harmonic drive cannot be back-driven. Therefore, the harmonic drive is not an optimal solution for prosthetic systems with direct and indirect contact with the environment. In this paper, we outline an initial design of robotic knee prosthesis. The proposed robotic knee prosthesis consists of BLDC motor, cycloidal gear with reduction ratio 13:1, four-bar mechanism, and timing belt transmission with 4:1 reduction ratio. To optimize the torque transmission and range of motion (RoM), a multiobjective optimization problem must be undertaken. The end-effector motion depends on each bar length in the four-bar mechanism. The four-bar mechanism was optimized using particle swarm optimization (PSO). To complete the optimization, a set of 50 steps was collected using wearable sensors. Then, the data of sagittal plan were processed to identify the target profile for PSO. The prototype�s computer-aided manufacturing (CAM) was completed using a MarkTwo 3D printer with carbon fiber composite. The overall design can achieve a maximum torque of 84 N.m. However, the current design lacks the elastic component (no spring is added on the actuator output), which is necessary for a functional prosthesis; this limitation will be addressed in future study. � 2022 by the authors.
author2	57202956887
author_facet	57202956887 Al Kouzbary M. Al Kouzbary H. Liu J. Khamis T. Al-Hashimi Z. Shasmin H.N. Arifin N. Abu Osman N.A.
format	Article
author	Al Kouzbary M. Al Kouzbary H. Liu J. Khamis T. Al-Hashimi Z. Shasmin H.N. Arifin N. Abu Osman N.A.
spellingShingle	Al Kouzbary M. Al Kouzbary H. Liu J. Khamis T. Al-Hashimi Z. Shasmin H.N. Arifin N. Abu Osman N.A. Robotic Knee Prosthesis with Cycloidal Gear and Four-Bar Mechanism Optimized Using Particle Swarm Algorithm
author_sort	Al Kouzbary M.
title	Robotic Knee Prosthesis with Cycloidal Gear and Four-Bar Mechanism Optimized Using Particle Swarm Algorithm
title_short	Robotic Knee Prosthesis with Cycloidal Gear and Four-Bar Mechanism Optimized Using Particle Swarm Algorithm
title_full	Robotic Knee Prosthesis with Cycloidal Gear and Four-Bar Mechanism Optimized Using Particle Swarm Algorithm
title_fullStr	Robotic Knee Prosthesis with Cycloidal Gear and Four-Bar Mechanism Optimized Using Particle Swarm Algorithm
title_full_unstemmed	Robotic Knee Prosthesis with Cycloidal Gear and Four-Bar Mechanism Optimized Using Particle Swarm Algorithm
title_sort	robotic knee prosthesis with cycloidal gear and four-bar mechanism optimized using particle swarm algorithm
publisher	MDPI
publishDate	2023
_version_	1806428132744364032
score	13.211869

Robotic Knee Prosthesis with Cycloidal Gear and Four-Bar Mechanism Optimized Using Particle Swarm Algorithm

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