Multiobjective optimization of a cable-driven robot for wrist rehabilitation using a genetic algorithm

This paper presents a multi-objective optimization using a genetic algorithm to reduce the size of the current configuration of a cable-driven end-effector robot for wrist rehabilitation. The objective of this work is to obtain a smaller robot with good performance by employing a constrained genetic algorithm (GA) so the device can be light and wearable. The optimization was performed to study the effect of the robot dimensions and in the end, a new solution that can reduce the robot size by 35% and increase the performance by 1.8% was found.