Browsing by Author "Soliman, Ahmed Fahmy"
Now showing items 1-6 of 6
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3-D dynamic walking trajectory generation for a bipedal exoskeleton with underactuated legs: A proof of concept
Soliman, Ahmed Fahmy; Şendur, Polat; Uğurlu, Regaip Barkan (IEEE, 2019-06)This paper presents a framework to address three dimensional (3-D) dynamic walking for a bipedal exoskeleton with underactuated legs. To achieve this goal, the framework is constructed via a trajectory generator and an ... -
Co-ex: A torque-controllable lower body exoskeleton for dependable human-robot co-existence
Yıldırım, Mehmet Can; Kansızoğlu, Ahmet Talha; Emre, Sinan; Derman, Mustafa; Çoruk, Sinan; Soliman, Ahmed Fahmy; Şendur, Polat; Uğurlu, Regaip Barkan (IEEE, 2019-06)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 ... -
Optimal stiffness tuning for a lower body exoskeleton with spring-supported passive joints
Yıldırım, Mehmet Can; Şendur, Polat; Soliman, Ahmed Fahmy; Uğurlu, Regaip Barkan (IEEE, 2018-10-09)This paper presents a framework to optimally tune the stiffness values of spring-supported passive joints that are included in lower body exoskeletons. First, a dynamic model of a combined human-exoskeleton system was ... -
Robust locomotion control of a self-balancing and underactuated bipedal exoskeleton: Task prioritization and feedback control
Soliman, Ahmed Fahmy; Uğurlu, Regaip Barkan (IEEE, 2021-07)This letter presents a study to understand how an underactuated bipedal exoskeleton with an arbitrary human user can exhibit robust dynamic walking behavior despite severe parameter uncertainty and external disturbances. ... -
Simulation-based design and locomotion control implementation for a lower body exoskeleton
Derman, Mustafa; Soliman, Ahmed Fahmy; Kuru, Alihan; Çevik, Süleyman Can; Ünal, Ramazan; Bebek, Özkan; Uğurlu, Regaip Barkan (IEEE, 2022)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 ... -
Towards crutch-free 3-D walking support with the lower body exoskeleton Co-Ex: Self-balancing squatting experiments
Coruk, Sinan; Soliman, Ahmed Fahmy; Dalgıç, Oğuzhan; Yıldırım, M. C.; Uğur, Deniz; Uğurlu, Regaip Barkan (Springer, 2022)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 ...
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