Towards crutch-free 3-D walking support with the lower body exoskeleton Co-Ex: Self-balancing squatting experiments
dc.contributor.author | Coruk, Sinan | |
dc.contributor.author | Soliman, Ahmed Fahmy | |
dc.contributor.author | Dalgıç, Oğuzhan | |
dc.contributor.author | Yıldırım, M. C. | |
dc.contributor.author | Uğur, Deniz | |
dc.contributor.author | Uğurlu, Regaip Barkan | |
dc.date.accessioned | 2023-08-18T10:01:56Z | |
dc.date.available | 2023-08-18T10:01:56Z | |
dc.date.issued | 2022 | |
dc.identifier.issn | 2195-3562 | en_US |
dc.identifier.uri | http://hdl.handle.net/10679/8725 | |
dc.identifier.uri | https://link.springer.com/chapter/10.1007/978-3-030-69547-7_51 | |
dc.description.abstract | 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 difficulties in general. To provide full 3-D walking support while containing the number of required actuators, it includes 4 active joints per leg. Custom-built series elastic actuators enable the torque sensing and controllability at each joint, enhancing the robot’s physical interaction capabilities. While limiting the number of active joints minimizes the weight and energy requirements, the underactuated leg configuration increased the computational load. The preliminary squatting experiments revealed that Co-Ex may provide crutch-free 3-D movement support. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Springer | en_US |
dc.relation.ispartof | Biosystems and Biorobotics | |
dc.rights | restrictedAccess | |
dc.title | Towards crutch-free 3-D walking support with the lower body exoskeleton Co-Ex: Self-balancing squatting experiments | en_US |
dc.type | Conference paper | en_US |
dc.publicationstatus | Published | en_US |
dc.contributor.department | Özyeğin University | |
dc.contributor.authorID | (ORCID 0000-0002-9124-7441 & YÖK ID 241209) Uğurlu, Barkan | |
dc.contributor.ozuauthor | Uğurlu, Regaip Barkan | |
dc.identifier.volume | 27 | en_US |
dc.identifier.startpage | 313 | en_US |
dc.identifier.endpage | 317 | en_US |
dc.identifier.doi | 10.1007/978-3-030-69547-7_51 | en_US |
dc.identifier.scopus | SCOPUS:2-s2.0-85109546621 | |
dc.contributor.ozugradstudent | Coruk, Sinan | |
dc.contributor.ozugradstudent | Soliman, Ahmed Fahmy | |
dc.contributor.ozugradstudent | Dalgıç, Oğuzhan | |
dc.contributor.ozugradstudent | Uğur, Deniz | |
dc.relation.publicationcategory | Conference Paper - International - Institutional PhD Student, Undergraduate Student, Graduate Student and PhD Student |
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