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Variable ankle stiffness improves balance control: experiments on a bipedal exoskeleton
(IEEE, 2016-02)
This paper proposes a real-time balance control technique that can be implemented to bipedal robots (exoskeletons, humanoids) whose ankle joints are powered via variable physical stiffness actuators. To achieve active ...
Proof of concept for robot-aided upper limb rehabilitation using disturbance observers
(IEEE, 2015-02)
This paper presents a wearable upper body exoskeleton system with a model-based compensation control framework to support robot-aided shoulder-elbow rehabilitation and power assistance tasks. To eliminate the need for EMG ...
A stability analysis for the acceleration-based robust position control of robot manipulators via disturbance observer
(IEEE, 2018-10)
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using disturbance observer (DOb). It is shown that if the nominal inertia matrix is properly ...
Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller
(IEEE, 2015)
This paper describes a novel controller that is capable of simultaneously controlling torque and variable stiffness in real-time, for actuators with antagonistically driven pneumatic artificial muscles (PAMs). To this end, ...
Towards balance recovery control for lower body exoskeleton robots with variable stiffness actuators: spring-loaded flywheel model
(IEEE, 2015)
This paper presents a biologically-inspired real-time balance recovery control strategy that is applied to a lower body exoskeleton with variable physical stiffness actuators at its ankle joints. For this purpose, a torsional ...
Environmental force estimation for a robotic hand : compliant contact detection
(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 ...
A comparison study on observer-based force control of series elastic actuators
(IEEE, 2018)
This paper presents a comparison study for the robust force control of series elastic actuators (SEAs). In most robotics systems, SEAs are used as an essential actuation method due to the benefits such as lower reflected ...
Mars gezgini prototipi Merih-2
(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 ...
Professor Bengt Sundén on his 70th birthday
(Elsevier, 2019-10)
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Co-ex: A torque-controllable lower body exoskeleton for dependable human-robot co-existence
(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 ...
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