Design synthesis and optimization of a 4-SPS intrinsically compliant parallel wrist rehabilitation robotic orthosis

Abstract Neuroplasticity allows the human nervous system to adapt and relearn motor control following stroke. Rehabilitation therapy, which enhances neuroplasticity, can be made more effective if assisted by robotic tools. In this paper, a novel 4-SPS parallel robot has been developed provide recovery of wrist movements post-stroke. The mechanism presented here was inspired forearm anatomy rotational degrees freedom required for all movements. design discussed in detail along with necessary constructional, kinematic, static analyses. spatial workspace is estimated considering various dimensional application-specific constraints besides checking singular configurations. further evaluated using important performance indices such as condition number, actuator forces, stiffness. pneumatic artificial muscles exhibit varying stiffness, therefore, points are reached different overall stiffness robot. It essential assess that positive forces actuators while maintaining definite matrix. After above analysis, optimization carried out an evolutionary algorithm whereby three critical criteria optimized simultaneously optimal design.