Browsing by Author "Barkana, D. E."
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Centroidal momentum observer: Towards whole-body robust control of legged robots subject to uncertainties
Oral, Dilay Yesildağ; Barkana, D. E.; Uğurlu, Regaip Barkan (IEEE, 2022)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 ... -
Development and evaluation of an interface for pre-operative planning of cryoablation of a kidney tumor
Barkana, D. E.; Duru, D. G.; Duru, A. D.; Açık, Alper; Özkan, M. (2013)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 ... -
Development of a torque-controllable upper limb exoskeleton for industrial applications
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 ... -
Development of the calibration scheme and system integration of the Ozyegin biopsy robot (OBR)
Ahmad, Mirza Awais (2016-08)Imaging systems can fail to visualize cancerous tissues for proper diagnosis. Needle based procedures, like biopsies, increase the chances of accurate diagnosis of tumors. These procedures also have applications in minimally ... -
Experimental analysis of the impact of the refrigerator components on conducted electromagnetic interference
As the number of electronic devices in our daily lives increases day by day, the risk of electromagnetic interference (EMI) between the devices and between the device and the grid increases. Refrigerators are the only ... -
A soft+rigid hybrid exoskeleton concept in scissors-pendulum mode: A suit for human state sensing and an exoskeleton for assistance
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 (IEEE, 2019-06)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 ...
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