Optimal design of a mechanism for children foot guiding

Abstract

Abstract-In this paper the result of a binational research, Mexico-Colombia, developed for the last four years is presented. This project aims to develop a robotic system to gait training for children 2 to 12 years with cerebral palsy. The concept design system and the methodology used during the development of the design process is presented. And finally, the optimal design of the ankle-foot stage is showed. The design of this stage was resolved as a dynamic optimization problem using a differential evolution algorithm with a constraint handling mechanism.