Browsing by Author "Uğurlu, Regaip Barkan"
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3-D dynamic walking trajectory generation for a bipedal exoskeleton with underactuated legs: A proof of concept
Soliman, Ahmed Fahmy; Şendur, Polat; Uğurlu, Regaip Barkan (IEEE, 2019-06)This paper presents a framework to address three dimensional (3-D) dynamic walking for a bipedal exoskeleton with underactuated legs. To achieve this goal, the framework is constructed via a trajectory generator and an ... -
Application of a disturbance observer based controller to improve vehicle ride
Şendur, Polat; Uğurlu, Regaip Barkan (Canadian Acoustical Association, 2019)In this paper the application of a disturbance observer based control algorithm is proposed to improve the vehicle ride performance of a vehicle that has magnetorheological damper (MR Damper) suspension. The vehicle is ... -
Assessments on the improved modelling for pneumatic artificial muscle actuators
Peternel, L.; Uğurlu, Regaip Barkan; Babic, J.; Morimoto, J. (IEEE, 2015)In this paper, we present an analysis regarding the pneumatic air muscle modelling, with a particular emphasis on the exoskeleton robot control. We propose two calibration approaches for obtaining the model identification ... -
Co-ex: A torque-controllable lower body exoskeleton for dependable human-robot co-existence
Yıldırım, Mehmet Can; Kansızoğlu, Ahmet Talha; Emre, Sinan; Derman, Mustafa; Çoruk, Sinan; Soliman, Ahmed Fahmy; Şendur, Polat; Uğurlu, Regaip Barkan (IEEE, 2019-06)In this paper, we present our research study concerning the design and development of an exoskeleton that aims to provide 3D walking support with minimum number of actuators. Following a prior simulation study, the joint ... -
A comparison study on observer-based force control of series elastic actuators
Kansızoğlu, Ahmet Talha; Sariyildiz, E.; Uğurlu, Regaip Barkan (IEEE, 2018)This paper presents a comparison study for the robust force control of series elastic actuators (SEAs). In most robotics systems, SEAs are used as an essential actuation method due to the benefits such as lower reflected ... -
Design and modeling of a parallel robot for ultrasound guided percutaneous needle interventions
Orhan, Sabri Orçun (2015-08)Percutaneous needle operations need precise positioning in order to collect samples for diagnosis. Due to their robustness, accuracy robotic systems started to take place in medical procedures. Research that have been done ... -
Development of a torque-controllable lower extremity exoskeleton for crutch-free 3D walking support
Yıldırım, Mehmet Can (2018-12-24)Spinal cord paralysis is a condition, which is formed due to full or partial loss of sensorimotor and autonomous functionalities of the spinal cord. Paraplegia is a type of spinal cord injury which causes functionality ... -
Discussing modernizing engineering education through the Erasmus + Project Titled "Open Educational Resources on Enabling Technologies in Wearable and Collaborative Robotics (WeCoRD)
Kılıç-Bebek, Ebru; Nizamis, K.; Karapars, Gülhis Zeynep; Gökkurt, Muharrem Ali; Ünal, Ramazan; Bebek, Özkan; Vlutters, M.; Vander Poorten, E.; Borghesan, G.; Decré, W.; Aertbelien, E.; Borisova, O.; Borisov, I.; Kolyubin, S.; Kodal, M. I.; Uğurlu, Regaip BarkanThe Erasmus + project titled “Open Educational Resources on Enabling Technologies in Wearable and Collaborative Robotics (WeCoRD)", can serve as a model to establish strategic international and multidisciplinary partnerships ... -
Environmental force estimation for a robotic hand : compliant contact detection
Kaya, Osman; Yıldırım, Mehmet Can; Kuzuluk, Nisan; Çiçek, Emre; Bebek, Özkan; Öztop, Erhan; Uğurlu, Regaip Barkan (IEEE, 2015)This paper presents a model based compensation method to enable environmental force estimation for a robotic hand with no tactile or force sensors. To this end, we utilize multi-joint robot dynamics and disturbance observer ... -
An experimental study of a bluetooth communication system for robot motion control
Dalgiç, Oğuzhan; Tekin, Ahmet; Uğurlu, Regaip Barkan (IEEE, 2019)This paper presents a method that aims to reduce the complex cabling problem in robotics applications, so as to prevent difficulties in troubleshooting processes and failures in case of cable breaks. Examples in the ... -
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 ... -
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 ... -
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 ... -
Real-time robust control of a series elastic actuator subject to uncertainties
Kansızoğlu, Ahmet Talha (2018-12-24)Humans are able to perform highly complicated tasks in their daily activities by interacting with the environment. However, for a robotic system, these tasks are quite challenging. To overcome these problems, robotic systems ... -
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 ... -
Sliding mode control of a solenoid actuator for SCR system
Küntüz, Mehmet Polat (2019-08-19)Electromechanical solenoid actuators are widely used in industrial applications that require fast and linear motion. High velocities can be achieved in small stroke lengths consequently the motion results with high-velocity ...
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