Browsing by Author "Derman, Mustafa"

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    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.
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    A custom brace design to connect a user limb to an exoskeleton link with minimal discomfort
    (IEEE, 2021) Çevik, Süleyman Can; Derman, Mustafa; Ünal, Ramazan; Uğurlu, Regaip Barkan; Bebek, Özkan; Mechanical Engineering; ÜNAL, Ramazan; UĞURLU, Regaip Barkan; BEBEK, Özkan; Çevik, Süleyman Can; Derman, Mustafa
    Exoskeletons are increasingly helping people with different applications. Regardless of what they were built for, exoskeletons have a common discomfort problem from the misalignment of robot and human joints. In this paper, a fixation design for a lower extremity exoskeleton is presented. A method was proposed to determine necessary passive degrees of freedom of the designed brace system and to identify the parameters affecting interaction forces and moments between human and exoskeleton. The proposed method was validated by analyzing the human-machine interface statically and dynamically. The results show that the problem of undesired interaction forces due to misalignment may be solved theoretically with the proposed design.
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    Master ThesisPublicationMetadata only
    Design, development and force control implementation for a wearable exoskeleton with high power-to-weight ratio
    Derman, Mustafa; Uğurlu, Regaip Barkan; Uğurlu, Regaip Barkan; Bebek, Özkan; Öniz, Y.; Department of Mechanical Engineering
    Physical rehabilitation has a crucial role in the recovery and preservation of physical function, mobility, and overall health after an injury or disability. Exoskeletons can serve as useful tools in physical rehabilitation by providing a safe and controlled environment for patients to perform functional movements. This thesis proposes a design methodology and validation processes for a lower body exoskeleton with active hip, knee, and ankle joints. Four different designs were presented and qualitatively compared their joint range, torque controllability, weight, and wearability. Using a human-robot coupled simulation model, actuator torques and loading on mechanical links were obtained. The final design was evaluated in the MSC Adams environment concerning two different dynamic motions. Subsequently, the exoskeleton was manufactured and assembled after the final design was verified. To verify the locomotion methods, a robot model constrained in the sagittal plane was created using the RaiSim simulator. The dynamic model of the exoskeleton was calculated using the Lagrangian method, and CTC was also applied. Various controller methods were implemented to validate the exoskeleton and the SEAs, and their position-tracking performances were compared. Furthermore, the torque controllability of the actuator was verified.
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    Simulation-based design and locomotion control implementation for a lower body exoskeleton
    (IEEE, 2022) Derman, Mustafa; Soliman, Ahmed Fahmy; Kuru, Alihan; Çevik, Süleyman Can; Ünal, Ramazan; Bebek, Özkan; Uğurlu, Regaip Barkan; Mechanical Engineering; ÜNAL, Ramazan; BEBEK, Özkan; UĞURLU, Regaip Barkan; Derman, Mustafa; Soliman, Ahmed Fahmy; Kuru, Alihan; Çevik, Süleyman Can
    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 satisfying design constraints, we made use of simulation tools to recursively update the initial mechanical design for a finer solution. To this end, a coupled human-exoskeleton model was constructed in MSC ADAMS environment using an average human model and the initial design of the robot. Following this step, dynamic walking control simulations were carried out to determine actuator torques and loading. Using the loading data obtained via simulation experiments, certain mechanical links were optimized such that the portions with no stress concentration were removed without violating safety. Finally, two distinct control implementations were conducted: i) stand-to-sit motion, ii) dynamic walking. As a result, we obtained dynamically consistent motion behavior for both cases, adequately validating the proposed methodology.