Browsing Faculty of Engineering by Author "Uğurlu, Regaip Barkan"
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High power series elastic actuator development for torque-controlled exoskeletons
Yıldırım, Mehmet Can; Kansızoğlu, Ahmet Talha; Şendur, Polat; Uğurlu, Regaip Barkan (Springer Nature, 2019)This paper presents the development procedures of a high power series elastic actuator that can be used in torque-controlled exoskeleton applications as a high-fidelity torque source. In order to provide a high torque ... -
A high-torque density compliant actuator design for physical robot environment interaction
Dunwoodie, E.; Mutlu, R.; Uğurlu, Regaip Barkan; Yıldırım, Mehmet Can; Uzunovic, T.; Sariyildiz, E. (IEEE, 2020)Compared to the traditional industrial robots that use rigid actuators, the advanced robotic systems are mobile and physically interact with unknown and dynamic environments. Therefore, they need intrinsically safe and ... -
An integrated design approach for a series elastic actuator: Stiffness formulation, fatigue analysis, thermal management
Yıldırım, Mehmet Can; Şendur, Polat; Bilgin, Onur; Gülek, Berk; Yapıcı, Güney Güven; Uğurlu, Regaip Barkan (IEEE, 2017-12-22)This paper presents an integrated mechanical design approach for the long-Term and repetitive use of series elastic actuators (SEAs). Already, computational models for series elastic actuator design have been developed in ... -
Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid
Kormushev, P.; Uğurlu, Regaip Barkan; Caldwell, D. G.; Tsagarakis, N. G. (Springer Nature, 2019-01)Modern humanoid robots include not only active compliance but also passive compliance. Apart from improved safety and dependability, availability of passive elements, such as springs, opens up new possibilities for improving ... -
On the EMG-based torque estimation for humans coupled with a force-controlled elbow exoskeleton
Ullauri, J. B.; Petenel, L.; Uğurlu, Regaip Barkan; Yamada, Y.; Morimoto, J. (IEEE, 2015)Exoskeletons are successful at supporting human motion only when the necessary amount of power is provided at the right time. Exoskeleton control based on EMG signals can be utilized to command the required amount of support ... -
Optimal stiffness tuning for a lower body exoskeleton with spring-supported passive joints
Yıldırım, Mehmet Can; Şendur, Polat; Soliman, Ahmed Fahmy; Uğurlu, Regaip Barkan (IEEE, 2018-10-09)This paper presents a framework to optimally tune the stiffness values of spring-supported passive joints that are included in lower body exoskeletons. First, a dynamic model of a combined human-exoskeleton system was ... -
Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on roboCat-1 and hyQ
Uğurlu, Regaip Barkan; Havoutis, I.; Semini, C.; Kayamori, K.; Caldwell, D. G.; Narikiyo, T. (Springer Science+Business Media, 2015-04)In this paper, we introduce a method that synergistically combines an analytical pattern generator and a feedback controller frame, which are developed for the purpose of synthesizing dynamic quadrupedal trot-walking ... -
Preview control-based jumping and spot-jogging trajectory generation for quadruped robots
Özkaynak, İbrahim Burak; Uğurlu, Regaip Barkan (IEEE, 2023)This work presents a vertical center of mass (CoM) trajectory generation approach based on preview control for quadruped robots to accomplish agile locomotion tasks such as jumping and jogging. Conventionally, preview ... -
Proof of concept for robot-aided upper limb rehabilitation using disturbance observers
Uğurlu, Regaip Barkan; Nishimura, M.; Hyodo, K.; Kawanishi, M.; Narikiyo, T. (IEEE, 2015-02)This paper presents a wearable upper body exoskeleton system with a model-based compensation control framework to support robot-aided shoulder-elbow rehabilitation and power assistance tasks. To eliminate the need for EMG ... -
Robust locomotion control of a self-balancing and underactuated bipedal exoskeleton: Task prioritization and feedback control
Soliman, Ahmed Fahmy; Uğurlu, Regaip Barkan (IEEE, 2021-07)This letter presents a study to understand how an underactuated bipedal exoskeleton with an arbitrary human user can exhibit robust dynamic walking behavior despite severe parameter uncertainty and external disturbances. ... -
Seri elastik eyleyiciler için mekanik tasarım süreçleri
Yıldırım, Mehmet Can; Şendur, Polat; Uğurlu, Regaip Barkan (Pamukkale Üniversitesi, 2019)Bu makalede tork kontrollü robot eklem tahriki için robotik literatüründe sıkça tercih edilen seri elastik eyleyici (SEE) üniteleri için geliştirilen tasarım süreçleri konu edilmiştir. Bilgisayar destekli tasarım ve benzetim ... -
Shoulder glenohumeral elevation estimation based on upper arm orientation
Hamdan, Sara; Öztop, Erhan; Furukawa, J.-I.; Morimoto, J.; Uğurlu, Regaip Barkan (IEEE, 2018-10-26)In this paper, the shoulder glenohumeral displacement during the movement of the upper arm is studied. Four modeling approaches were examined and compared to estimate the humeral head elevation (vertical displacement) and ... -
Simulation-based design and locomotion control implementation for a lower body exoskeleton
Derman, Mustafa; Soliman, Ahmed Fahmy; Kuru, Alihan; Çevik, Süleyman Can; Ünal, Ramazan; Bebek, Özkan; Uğurlu, Regaip Barkan (IEEE, 2022)This paper proposes a simulation-based design and locomotion control methodology for an exoskeleton that is aimed at providing assistance to users with ambulatory difficulties. To increase the power-to-weight ratio while ... -
A soft+rigid hybrid exoskeleton concept in scissors-pendulum mode: A suit for human state sensing and an exoskeleton for assistance
Uğurlu, Regaip Barkan; Acer, M.; Barkana, D. E.; Gocek, I.; Kucukyilmaz, A.; Arslan, Y. Z.; Basturk, H.; Samur, E.; Ugur, E.; Ünal, Ramazan; Bebek, Özkan (IEEE, 2019-06)In this paper, we present a novel concept that can enable the human aware control of exoskeletons through the integration of a soft suit and a robotic exoskeleton. Unlike the state-of-the-art exoskeleton controllers which ... -
A stability analysis for the acceleration-based robust position control of robot manipulators via disturbance observer
Sarıyıldız, E.; Sekiguchi, H.; Nozaki, T.; Uğurlu, Regaip Barkan; Ohnishi, K. (IEEE, 2018-10)This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using disturbance observer (DOb). It is shown that if the nominal inertia matrix is properly ... -
Stable control of force, position, and stiffness for robot joints powered via pneumatic muscles
Uğurlu, Regaip Barkan; Forni, P.; Doppmann, C.; Sarıyıldız, E.; Morimoto, J. (IEEE, 2019-12)This paper proposes a novel controller framework for antagonistically driven pneumatic artificial muscle (PAM) actuators. The proposed controller can be stably configured in both torque-stiffness control and position-stiffness ... -
Tepki kuvveti gözetleyici tabanlı tork kontrolü
Özçınar, Erim Can; Uğurlu, Regaip Barkan (Gazi Üniversitesi, 2021-12)In this article, a reaction force observer-based torque controller was designed and experimentally implemented to a non-backdrivable actuator unit. Torque control is of importance when considering physical human-robot ... -
Topology optimization-based design and development of a compact actuator with a high torque-to-weight ratio for quadrupeds
Akın, Barış; Özçınar, Erim Can; Balcı, Barış; Emre, Sinan; Şendur, Polat; Bebek, Özkan; Ünal, Ramazan; Uğurlu, Regaip Barkan (IEEE, 2022)This paper presents the design, development, and testing procedures for a compact actuator with a high torque-to-weight ratio, generally aimed to actuate legged robots, e.g., quadrupeds. The main goal of designing the ... -
Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller
Uğurlu, Regaip Barkan; Forni, P.; Doppmann, C.; Morimoto, J. (IEEE, 2015)This paper describes a novel controller that is capable of simultaneously controlling torque and variable stiffness in real-time, for actuators with antagonistically driven pneumatic artificial muscles (PAMs). To this end, ... -
Towards balance recovery control for lower body exoskeleton robots with variable stiffness actuators: spring-loaded flywheel model
Doppmann, C.; Uğurlu, Regaip Barkan; Hamaya, M.; Teramae, T.; Noda, T.; Morimoto, J. (IEEE, 2015)This paper presents a biologically-inspired real-time balance recovery control strategy that is applied to a lower body exoskeleton with variable physical stiffness actuators at its ankle joints. For this purpose, a torsional ...
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