Browsing by Author "Barkana, D. E."

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Centroidal momentum observer: Towards whole-body robust control of legged robots subject to uncertainties
(IEEE, 2022) Oral, Dilay Yesildağ; Barkana, D. E.; Uğurlu, Regaip Barkan; Mechanical Engineering; UĞURLU, Regaip Barkan; Oral, Dilay Yesildağ
This paper aims to provide robust dynamic motion control and eliminate parameter uncertainty in single-legged robots with a centroidal momentum-based control algorithm. In order to ensure the continuity of the movement despite external disturbances, the disturbance observer (DOB), which is frequently used in the motion control literature, is used. A one-legged robot model was simulated using MSC ADAMS, and then a centroidal momentum-based control algorithm and Zero Moment Point (ZMP)-based control algorithm were developed. The performances of the controllers were tested in the simulation environment in line with three different scenarios, unknown load, external forces and external momentum disturbances. The controllers were evaluated by comparing the selected reference orbital positions with the center of mass (CoM) positions on the x and z axes and the ZMP positions on the x-axis. The simulation results satisfactorily validated the proposed centroidal momentum observer as it performed well in all tested conditions.
Open Access
Development and evaluation of an interface for pre-operative planning of cryoablation of a kidney tumor
(2013) Barkana, D. E.; Duru, D. G.; Duru, A. D.; Açık, Alper; Özkan, M.; Psychology; AÇIK, Alper
Surgical interfaces are used for the interpretation and quantification of the patient information, and for the presentation of an integrated workflow where all available data are combined to enable optimal treatments. Human factors research provides a systematic approach to design user interfaces with safety, accuracy, satisfaction and comfort. One of the human factors research called user-centered design approach is used to develop a surgical interface for pre-operative planning of cryoablation of a kidney tumor. Two experiments of a simulated cryoablation of a tumor task have been performed with surgeons to evaluate the proposed surgical interface using subjective (questionnaires) and objective (eye tracking) methods to obtain the best surgical interface configuration.
Open Access
A soft+rigid hybrid exoskeleton concept in scissors-pendulum mode: A suit for human state sensing and an exoskeleton for assistance
(IEEE, 2019-06) 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; Mechanical Engineering; UĞURLU, Regaip Barkan; ÜNAL, Ramazan; BEBEK, Özkan
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 mostly rely on lumped human-robot models, the proposed concept makes use of the independent state measurements concerning the human user and the robot. The ability to observe the human state independently is the key factor in this approach. In order to realize such a system from the hardware point of view, we propose a system integration frame that combines a soft suit for human state measurement and a rigid exoskeleton for human assistance. We identify the technological requirements that are necessary for the realization of such a system with a particular emphasis on soft suit integration. We also propose a template model, named scissor pendulum, that may encapsulate the dominant dynamics of the human-robot combined model to synthesize a controller for human state regulation. A series of simulation experiments were conducted to check the controller performance. As a result, satisfactory human state regulation was attained, adequately confirming that the proposed system could potentially improve exoskeleton-aided applications.