Browsing by Author "Coruk, Sinan"

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Benchmarking torque control strategies for a torsion-based series elastic actuator
(IEEE, 2022-06) Uğurlu, Regaip Barkan; Sarıyıldız, E.; Kansızoğlu, Ahmet Talha; Özçınar, Erim Can; Coruk, Sinan; Mechanical Engineering; UĞURLU, Regaip Barkan; Kansızoğlu, Ahmet Talha; Özçınar, Erim Can; Coruk, Sinan
The diversity in torque-controlled actuators has enabled researchers to address numerous physical human-robot interaction applications with enhanced safety, dependability, and interaction capability [1]. Yet, only a few torque-controlled actuators meet the challenging application requirements of mobility, improved torque/mass ratio, and structural integrability. To this end, series elastic actuators (SEAs) could meet these requirements [2], and they are extensively employed in state-of-the-art robot platforms [3]-[5]. As a result, SEA development is garnering interest in line with the growing need in related subfields in robotics.
Open Access
Design and development of a powered upper limb exoskeleton with high payload capacity for industrial operations
(IEEE, 2020-09) Coruk, Sinan; Yıldırım, Mehmet Can; Kansızoğlu, Ahmet Talha; Dalgıç, Oğuzhan; Uğurlu, Regaip Barkan; Mechanical Engineering; UĞURLU, Regaip Barkan; Coruk, Sinan; Yıldırım, Mehmet Can; Kansızoğlu, Ahmet Talha; Dalgıç, Oğuzhan
This study presents the hardware development and low level controller structure of an upper-body exoskeleton that is equipped with high torque-to-weight ratio actuators. It is intended to be used in industrial applications. The exoskeleton can be adjusted for various arm sizes and can ideally be used by an operator that has a height within the range of 160 cm and 200 cm. The robot structure was comprised of 4 degrees of freedom, 3 of which are powered via custom-built series elastic actuators with high power-to-weight ratio and real-time torque control capability. The 4th joint, a prismatic joint, was added to accommodate for glenohumeral head elevation, enabling the system to attain a workspace that is suitable for industrial tasks. The exoskeleton is equipped with a two-piece end effector (E1 and E2) to enable the power augmentation tasks. In order to check torque controllability, initial experiments of the system were conducted on a joint level. As a result, 20 Hz of control bandwidth was achieved when the peak-to-peak torque inputs were 20 Nm.
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Development of a torque-controllable upper limb exoskeleton for industrial applications
Coruk, Sinan; Uğurlu, Regaip Barkan; Uğurlu, Regaip Barkan; Bebek, Özkan; Barkana, D. E.; Department of Mechanical Engineering; Coruk, Sinan
Chronic upper body pain and injuries are undesirable physical disorders that result from regular exposure to external forces that strain the musculoskeletal system. These symptoms reduce both the quality of life and employability of the person. Although these disorders are mostly seen in people working in heavy industry and factory workers, they can also be seen in anyone who works physically. The use of upper limb exoskeletons has been seen as a practical solution to prevent the aforementioned ailments. These systems have two basic approaches to prevent chronic upper body pain, depending on the nature of the physical work done. The first of these is to prevent the factory worker from being forced ergonomically while working; the second is to reduce external forces on the musculoskeletal system by providing strength support to the factory worker who lifts heavy loads. In this context, companies operating in many industrial areas, have provided different types of upper limb exoskeletons for their employees to use. Although these developed exoskeletons achieve their intended purpose, they have not been highly accepted by their users. While there are many different and individual reasons for this unacceptance, the most cited reasons are potential users' safety concerns and other types of difficulties in the expense of the system's promised conveniences, such as reduced mobility and increased time to get the work done. The main purpose of this thesis is to develop an upper limb exoskeleton with a robust actuator structure and innovative human-robot interface, which is intended to have high user acceptance, while supporting factory workers against the external forces they are exposed to in their work environment. During the thesis, a 4 degrees of freedom left arm exoskeleton was developed; an innovative sensor structure with a high weight/data input ratio has been developed for the aforementioned exoskeleton, which can read and process the limb force response from 16 different points in real time and thus perform intention estimation. The aforementioned exoskeleton is equipped with the developed sensor structure and driven by enhanced Series Elastic Actuators (SEA) for high-fidelity torque control.
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Towards crutch-free 3-D walking support with the lower body exoskeleton Co-Ex: Self-balancing squatting experiments
(Springer, 2022) Coruk, Sinan; Soliman, Ahmed Fahmy; Dalgıç, Oğuzhan; Yıldırım, M. C.; Uğur, Deniz; Uğurlu, Regaip Barkan; Mechanical Engineering; UĞURLU, Regaip Barkan; Coruk, Sinan; Soliman, Ahmed Fahmy; Dalgıç, Oğuzhan; Uğur, Deniz
In this paper, we succinctly present the hardware properties and capabilities of the lower body exoskeleton Co-Ex, which was developed to attain self-balancing and crutch-free walking support for those experiencing ambulatory difficulties in general. To provide full 3-D walking support while containing the number of required actuators, it includes 4 active joints per leg. Custom-built series elastic actuators enable the torque sensing and controllability at each joint, enhancing the robot’s physical interaction capabilities. While limiting the number of active joints minimizes the weight and energy requirements, the underactuated leg configuration increased the computational load. The preliminary squatting experiments revealed that Co-Ex may provide crutch-free 3-D movement support.