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, 2023 . [7] L. Yiyang , J. Xi , B. Hongfei , W. Zhining , and S. Liangliang , “ A general robot inverse kinematics solution method based on improved PSO algorithm ,” IEEE Access , vol. 9 , pp. 32341 – 32350 , 2021 . [8] H. Nobahari

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body (i.e., with and without additional load). Individuals wore an immobilizer boot with a robotic ankle-foot prosthetic emulator to imitate an amputation. The prosthetic emulator was programmed to follow five ankle stiffness conditions based on human

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, system and challenges ,” Int. J. Computer Appl. , vol. 14 , no. 1 , pp. 19 – 27 , 2011 . [15] G. H. Nasir and K. Jármai , “ Kinematic-based structural optimization of robots ,” Pollack Period. , vol. 14 , no. 3 , pp. 213 – 222 , 2019 . [16

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,” Appl. Soft Comput. , Paper no. 106392 , 2020 . [11] H. N. Ghafil and K. Jármai , “ Kinematic-based structural optimization of robots ,” Pollack Period. , vol. 14 , no. 3 , pp. 213 – 222 , 2019 . 10.1556/606.2019.14.3.20 [12] S. Mirjalili

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wearable sensors ,” Rob. Auton. Syst. , vol. 75 , Part A , pp. 50 – 59 , 2016 . 10.1016/j.robot.2014.10.012 [4

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, W. Burgard and D. Fox , Probabilistics Robotics . The MIT Press , 2005

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optimization of robots ,” Pollack Period. , vol. 14 , no. 3 , pp. 213 – 222 , 2019 . [4] X. S. Yang , Nature-inspired Metaheuristic Algorithms . Luniver Press , 2008 . [5] N. J. Cheung , X. M. Ding , and H. B. Shen , “ Adaptive firefly

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for motion control of a 3 DOFs lower limb rehabilitation robot ,” Int. J. Innovative Technol. Interdiscip. Sci. , vol. 2 , no. 4 , pp. 316 – 325 , 2019 . [6] A. Vinko , “ Monitoring and condition assessment of tramway track using in

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signals in lower extremity muscle groups during robotic gait exercises , European Journal of Science and Technology, Special Issue , 2019 , pp. 109 ‒ 118 . 10.31590/ejosat.637577 [10] Stöckel T ., Jacksteit R ., Behrens M ., Skripitz R

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1 Introduction Gears are among the most widely used mechanical components in most industrial sectors (robotics, aircraft engines, machinery, wind turbines, watches, etc.). Their operation generates vibrations that disrupt the behavior of machines

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