Simulation-based design and locomotion control implementation for a lower body exoskeleton
dc.contributor.author | Derman, Mustafa | |
dc.contributor.author | Soliman, Ahmed Fahmy | |
dc.contributor.author | Kuru, Alihan | |
dc.contributor.author | Çevik, Süleyman Can | |
dc.contributor.author | Ünal, Ramazan | |
dc.contributor.author | Bebek, Özkan | |
dc.contributor.author | Uğurlu, Regaip Barkan | |
dc.date.accessioned | 2023-08-14T08:43:09Z | |
dc.date.available | 2023-08-14T08:43:09Z | |
dc.date.issued | 2022 | |
dc.identifier.isbn | 978-166549770-1 | |
dc.identifier.uri | http://hdl.handle.net/10679/8655 | |
dc.identifier.uri | https://ieeexplore.ieee.org/document/9816855 | |
dc.description.abstract | 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 satisfying design constraints, we made use of simulation tools to recursively update the initial mechanical design for a finer solution. To this end, a coupled human-exoskeleton model was constructed in MSC ADAMS environment using an average human model and the initial design of the robot. Following this step, dynamic walking control simulations were carried out to determine actuator torques and loading. Using the loading data obtained via simulation experiments, certain mechanical links were optimized such that the portions with no stress concentration were removed without violating safety. Finally, two distinct control implementations were conducted: i) stand-to-sit motion, ii) dynamic walking. As a result, we obtained dynamically consistent motion behavior for both cases, adequately validating the proposed methodology. | en_US |
dc.description.sponsorship | TÜBİTAK | |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.relation | info:turkey/grantAgreement/TUBITAK/118E922 | |
dc.relation.ispartof | 2022 IEEE 5th International Conference on Industrial Cyber-Physical Systems (ICPS) | |
dc.rights | restrictedAccess | |
dc.title | Simulation-based design and locomotion control implementation for a lower body exoskeleton | en_US |
dc.type | Conference paper | en_US |
dc.contributor.department | Özyeğin University | |
dc.contributor.authorID | (ORCID 0000-0002-2129-797X & YÖK ID 253458) Ünal, Ramazan | |
dc.contributor.authorID | (ORCID 0000-0003-2721-9777 & YÖK ID 43734) Bebek, Özkan | |
dc.contributor.authorID | (ORCID 0000-0002-9124-7441 & YÖK ID 241209) Uğurlu, Barkan | |
dc.contributor.ozuauthor | Ünal, Ramazan | |
dc.contributor.ozuauthor | Bebek, Özkan | |
dc.contributor.ozuauthor | Uğurlu, Regaip Barkan | |
dc.identifier.doi | 10.1109/ICPS51978.2022.9816855 | en_US |
dc.subject.keywords | Exoskeleton | en_US |
dc.subject.keywords | Human-robot interaction | en_US |
dc.subject.keywords | Rehabilitation robots | en_US |
dc.identifier.scopus | SCOPUS:2-s2.0-85135614928 | |
dc.contributor.ozugradstudent | Derman, Mustafa | |
dc.contributor.ozugradstudent | Soliman, Ahmed Fahmy | |
dc.contributor.ozugradstudent | Kuru, Alihan | |
dc.contributor.ozugradstudent | Çevik, Süleyman Can | |
dc.relation.publicationcategory | Conference Paper - International - Institutional Academic Staff, PhD Student and Graduate Student |
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