GA-based kinematical synthesis of a watt type mechanism for prosthetic knee applications

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Abstract

The synthesis of planar mechanism represents an attractive problem to be solved using evolutionary techniques as it involves an underdetermined nonlinear set of equations that grow in number as more precision points are defined to describe the desired trajectory of the coupler. This paper presents a Genetic Algorithm (GA) based approach for optimisation of the kinematical synthesis of a 6-bar Watt type mechanism for prosthetic knee applications. The desired trajectory to be described by the coupler corresponds to the trajectory of the knee during a normal gait cycle. The generated trajectory illustrates how it naturally evolves from an erratic solution to a smooth fitted curve.

Original languageEnglish
Title of host publicationProceedings of the 5th IASTED International Conference on Computational Intelligence, CI 2010
Pages113-118
Number of pages6
StatePublished - 2010
Event5th IASTED International Conference on Computational Intelligence, CI 2010 - Maui, HI, United States
Duration: 23 Aug 201025 Aug 2010

Publication series

NameProceedings of the 5th IASTED International Conference on Computational Intelligence, CI 2010

Conference

Conference5th IASTED International Conference on Computational Intelligence, CI 2010
Country/TerritoryUnited States
CityMaui, HI
Period23/08/1025/08/10

Keywords

  • 6-bar mechanism
  • Genetic algorithm
  • Mechanism synthesis
  • Prosthetic knee

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