Co-ex: A torque-controllable lower body exoskeleton for dependable human-robot co-existence
dc.contributor.author | Yıldırım, Mehmet Can | |
dc.contributor.author | Kansızoğlu, Ahmet Talha | |
dc.contributor.author | Emre, Sinan | |
dc.contributor.author | Derman, Mustafa | |
dc.contributor.author | Çoruk, Sinan | |
dc.contributor.author | Soliman, Ahmed Fahmy | |
dc.contributor.author | Şendur, Polat | |
dc.contributor.author | Uğurlu, Regaip Barkan | |
dc.date.accessioned | 2020-09-30T11:35:30Z | |
dc.date.available | 2020-09-30T11:35:30Z | |
dc.date.issued | 2019-06 | |
dc.identifier.isbn | 978-172812755-2 | |
dc.identifier.issn | 1945-7898 | en_US |
dc.identifier.uri | http://hdl.handle.net/10679/6975 | |
dc.identifier.uri | https://ieeexplore.ieee.org/document/8779407 | |
dc.description.abstract | 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. | en_US |
dc.description.sponsorship | TÜBİTAK | |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.relation | info:turkey/grantAgreement/TUBITAK/215E138 | |
dc.relation.ispartof | 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) | |
dc.rights | openAccess | |
dc.title | Co-ex: A torque-controllable lower body exoskeleton for dependable human-robot co-existence | en_US |
dc.type | Conference paper | en_US |
dc.description.version | Post print | |
dc.contributor.department | Özyeğin University | |
dc.contributor.authorID | (ORCID 0000-0003-2212-7419 & YÖK ID 274138) Şendur, Polat | |
dc.contributor.authorID | (ORCID 0000-0002-9124-7441 & YÖK ID 241209) Uğurlu, Barkan | |
dc.contributor.ozuauthor | Şendur, Polat | |
dc.contributor.ozuauthor | Uğurlu, Regaip Barkan | |
dc.identifier.startpage | 605 | en_US |
dc.identifier.endpage | 610 | en_US |
dc.identifier.wos | WOS:000570975800100 | |
dc.identifier.doi | 10.1109/ICORR.2019.8779407 | en_US |
dc.identifier.scopus | SCOPUS:2-s2.0-85071148637 | |
dc.contributor.ozugradstudent | Yıldırım, Mehmet Can | |
dc.contributor.ozugradstudent | Kansızoğlu, Ahmet Talha | |
dc.contributor.ozugradstudent | Emre, Sinan | |
dc.contributor.ozugradstudent | Derman, Mustafa | |
dc.contributor.ozugradstudent | Çoruk, Sinan | |
dc.contributor.ozugradstudent | Soliman, Ahmed Fahmy | |
dc.relation.publicationcategory | Conference Paper - International - Institutional Academic Staff and Graduate Student |
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