Browsing by Author "Yıldırım, Mehmet Can"
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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 ... -
Design and development of a powered upper limb exoskeleton with high payload capacity for industrial operations
Coruk, Sinan; Yıldırım, Mehmet Can; Kansızoğlu, Ahmet Talha; Dalgıç, Oğuzhan; Uğurlu, Regaip Barkan (IEEE, 2020-09)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. ... -
Design and kinematics of a 5-DOF parallel robot for beating heart surgery
Ersoy, Onur; Yıldırım, Mehmet Can; Ahmad, A.; Yirmibesoglu, O. D.; Koroglu, N.; Bebek, Özkan (IEEE, 2019)In this paper, mechanical and electronics design of a lightweight 5-DOF robot, Ozyegin Surgery Robot I (OSI), and it's performance of tracking the heart motion for coronary artery bypass procedure (CABG) are presented. The ... -
Development and 3D spatial calibration of a parallel robot for percutaneous needle procedures with 2D ultrasound guidance
Ahmad, Mirza Awais; Orhan, Sabri Orçun; Yıldırım, Mehmet Can; Bebek, Özkan (World Scientific, 2017-12-01)Robotic systems are being applied to medical interventions as they increase the operational accuracy. The proposed autonomous and ultrasound guided 5-DOF parallel robot can achieve such accuracy for needle biopsies, which ... -
Development of a torque-controllable lower extremity exoskeleton for crutch-free 3D walking support
Yıldırım, Mehmet Can (2018-12-24)Spinal cord paralysis is a condition, which is formed due to full or partial loss of sensorimotor and autonomous functionalities of the spinal cord. Paraplegia is a type of spinal cord injury which causes functionality ... -
Environmental force estimation for a robotic hand : compliant contact detection
Kaya, Osman; Yıldırım, Mehmet Can; Kuzuluk, Nisan; Çiçek, Emre; Bebek, Özkan; Öztop, Erhan; Uğurlu, Regaip Barkan (IEEE, 2015)This paper presents a model based compensation method to enable environmental force estimation for a robotic hand with no tactile or force sensors. To this end, we utilize multi-joint robot dynamics and disturbance observer ... -
High power series elastic actuator development for torque-controlled exoskeletons
Yıldırım, Mehmet Can; Kansızoğlu, Ahmet Talha; Şendur, Polat; Uğurlu, Regaip Barkan (Springer Nature, 2019)This paper presents the development procedures of a high power series elastic actuator that can be used in torque-controlled exoskeleton applications as a high-fidelity torque source. In order to provide a high torque ... -
A high-torque density compliant actuator design for physical robot environment interaction
Dunwoodie, E.; Mutlu, R.; Uğurlu, Regaip Barkan; Yıldırım, Mehmet Can; Uzunovic, T.; Sariyildiz, E. (IEEE, 2020)Compared to the traditional industrial robots that use rigid actuators, the advanced robotic systems are mobile and physically interact with unknown and dynamic environments. Therefore, they need intrinsically safe and ... -
An integrated design approach for a series elastic actuator: Stiffness formulation, fatigue analysis, thermal management
Yıldırım, Mehmet Can; Şendur, Polat; Bilgin, Onur; Gülek, Berk; Yapıcı, Güney Güven; Uğurlu, Regaip Barkan (IEEE, 2017-12-22)This paper presents an integrated mechanical design approach for the long-Term and repetitive use of series elastic actuators (SEAs). Already, computational models for series elastic actuator design have been developed in ... -
Mars gezgini prototipi Merih-2
Balcı, Barış; Yıldırım, Mehmet Can; Bebek, Özkan (Gazi Üniversitesi, 2018-12)Merih-2, Özyeğin Üniversitesi Rover Takımı tarafından University Rover Challenge 2016 ve European Rover Challenge 2016’ya katılmak ve Mars koşullarında görev yapmak için tasarlanan gezgindir. Sürüş için Merih-2’nin 6 adet ... -
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 ... -
Seri elastik eyleyiciler için mekanik tasarım süreçleri
Yıldırım, Mehmet Can; Şendur, Polat; Uğurlu, Regaip Barkan (Pamukkale Üniversitesi, 2019)Bu makalede tork kontrollü robot eklem tahriki için robotik literatüründe sıkça tercih edilen seri elastik eyleyici (SEE) üniteleri için geliştirilen tasarım süreçleri konu edilmiştir. Bilgisayar destekli tasarım ve benzetim ...
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