Isokinetic Rehabilitation Trajectory Planning of an Upper Extremity Exoskeleton Rehabilitation Robot Based on a Multistrategy Improved Whale Optimization Algorithm

Upper extremity exoskeleton rehabilitation robots have become a significant piece of equipment, and planning their motion trajectories is essential in patient rehabilitation. In this paper, multistrategy improved whale optimization algorithm (MWOA) proposed for trajectory upper with emphasis on isokinetic First, piecewise polynomial was used to construct rough trajectory. To make the conform human-like movement, (WOA) employed generate bounded jerk minimum running time as objective. The search performance WOA under complex constraints, including capability symmetry, by following strategies: dual-population search, new communication mechanism prevent falling into local optimum; mutation centroid opposition-based learning, improve diversity population; an adaptive inertia weight, balance exploration exploitation. Simulation analysis showed that MWOA generated shorter run-time better symmetry robustness than WOA. Finally, pilot session healthy volunteer using robot completed safely smoothly along planned MWOA. thus provides feasible scheme robots.