The design and control of a cable-driven rehabilitation robot, which can be configured easily for exercising different articulations such as elbows, shoulders, hips, knees and ankles without ...requiring any orthosis, are introduced. The passive, active-assisted and active-resisted exercises were designed and implemented using impedance control. The controller could switch between exercises according to the force feedback. The effectiveness of the proposed controller was demonstrated by experimental studies. The robot was tested first with a dummy extremity and then with a healthy subject mimicking various types of patients during the tests. Experimental results showed that satisfactory closed-loop performances were achieved.
The aim of this study is to develop a novel decision support system, which has never been developed yet, in order to optimize machining parameters. We combine the three distinct methods: experimental ...design and analysis, fuzzy data envelopment analysis (DEA) and fuzzy analytical hierarchy process (AHP). Firstly, a full factorial experiment including four factors and three levels is carried out. We take into account cutting speed, feed rate, depth of cut and number of cutting tool inserts as factors. The following three outputs are selected: Material Removal Rate, Machining Time and Surface Roughness. Secondly, a total of 23 experiments are determined as efficient decision-making units using fuzzy DEA with super efficiency method. Finally, a fuzzy AHP approach is conducted to rank the efficient experiments among each other. In conclusion, the results show that the Fuzzy DEA-Fuzzy AHP and the Fuzzy DEA with Super Efficiency generate clearly different rankings of experiments and Fuzzy DEA-Fuzzy AHP Approach has outperformed Fuzzy DEA with Super Efficiency Approach. The results highlight the importance of taking into account the expert opinions in the decision-making processes.
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