Browsing by Author "Çoruk, Sinan"

Filter results by typing the first few letters
Now showing 1 - 1 of 1
  • Thumbnail Image
    Conference ObjectPublicationOpen Access
    Co-ex: A torque-controllable lower body exoskeleton for dependable human-robot co-existence
    (IEEE, 2019-06) Yıldırım, Mehmet Can; Kansızoğlu, Ahmet Talha; Emre, Sinan; Derman, Mustafa; Çoruk, Sinan; Soliman, Ahmed Fahmy; Şendur, Polat; Uğurlu, Regaip Barkan; Mechanical Engineering; ŞENDUR, Polat; UĞURLU, Regaip Barkan; Yıldırım, Mehmet Can; Kansızoğlu, Ahmet Talha; Emre, Sinan; Derman, Mustafa; Çoruk, Sinan; Soliman, Ahmed Fahmy
    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 configuration was primarily determined. In order for the exoskeleton to possess advanced characteristics, the following design criteria were investigated: i) all the actuators (hip/knee/ankle) were deployed around the waist area to decrease leg weight and improve wearability, ii) custom-built series elastic actuators were used to power system for high fidelity torque-controllability, iii) 3D walking support is potentially enabled with reduced power requirements. As a result, we built the first actual prototype to experimentally verify the aforementioned design specifications. Furthermore, the preliminary torque control experiments indicated the viability of torque control.