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2020 | OriginalPaper | Chapter

Human Upper Limb Joint Torque Minimization Using Genetic Algorithm

Authors : Anil Kumar Gillawat, Hemant Jayantilal Nagarsheth

Published in: Recent Advances in Mechanical Engineering

Publisher: Springer Singapore

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Abstract

Minimization of joint torque has been a keen interest of researchers to predict the trajectory to achieve the desired position. Dynamic equations are used to define objective function and range of motions of human upper limb joints are set as constraints. MATLAB genetic algorithm (GA) toolbox is used to minimize the joint torques. Desired position is defined as a nonlinear constraint. Optimization problem consists of eleven objectives and thirty-one variables. Torques at joints are fed as objective function such that the magnitude of the torque is minimized. Variables used may be broadly classified into four groups: angular displacements, angular velocities, and angular accelerations comprising 10 sets each. One more variable is added as time of rotation. GA parameters are required to be predicted for the developed objective function. Analytic hierarchy process (AHP) approach is used to determine the GA parameters. The results obtained are satisfactory.

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Title: Human Upper Limb Joint Torque Minimization Using Genetic Algorithm
Authors: Anil Kumar Gillawat
Hemant Jayantilal Nagarsheth
Publisher: Springer Singapore
Book: Recent Advances in Mechanical Engineering
Print ISBN: 978-981-15-1070-0

Electronic ISBN: 978-981-15-1071-7

Copyright Year: 2020
DOI: https://doi.org/10.1007/978-981-15-1071-7_6

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