Browsing by Author "Uğurlu, Regaip Barkan"
Now showing items 41-53 of 53
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Simulation-based design and locomotion control implementation for a lower body exoskeleton
Derman, Mustafa; Soliman, Ahmed Fahmy; Kuru, Alihan; Çevik, Süleyman Can; Ünal, Ramazan; Bebek, Özkan; Uğurlu, Regaip Barkan (IEEE, 2022)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 ... -
Sliding mode control of a solenoid actuator for SCR system
Küntüz, Mehmet Polat (2019-08-19)Electromechanical solenoid actuators are widely used in industrial applications that require fast and linear motion. High velocities can be achieved in small stroke lengths consequently the motion results with high-velocity ... -
A soft+rigid hybrid exoskeleton concept in scissors-pendulum mode: A suit for human state sensing and an exoskeleton for assistance
Uğurlu, Regaip Barkan; Acer, M.; Barkana, D. E.; Gocek, I.; Kucukyilmaz, A.; Arslan, Y. Z.; Basturk, H.; Samur, E.; Ugur, E.; Ünal, Ramazan; Bebek, Özkan (IEEE, 2019-06)In this paper, we present a novel concept that can enable the human aware control of exoskeletons through the integration of a soft suit and a robotic exoskeleton. Unlike the state-of-the-art exoskeleton controllers which ... -
A stability analysis for the acceleration-based robust position control of robot manipulators via disturbance observer
Sarıyıldız, E.; Sekiguchi, H.; Nozaki, T.; Uğurlu, Regaip Barkan; Ohnishi, K. (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 ... -
Stable control of force, position, and stiffness for robot joints powered via pneumatic muscles
Uğurlu, Regaip Barkan; Forni, P.; Doppmann, C.; Sarıyıldız, E.; Morimoto, J. (IEEE, 2019-12)This paper proposes a novel controller framework for antagonistically driven pneumatic artificial muscle (PAM) actuators. The proposed controller can be stably configured in both torque-stiffness control and position-stiffness ... -
Tepki kuvveti gözetleyici tabanlı tork kontrolü
Özçınar, Erim Can; Uğurlu, Regaip Barkan (Gazi Üniversitesi, 2021-12)In this article, a reaction force observer-based torque controller was designed and experimentally implemented to a non-backdrivable actuator unit. Torque control is of importance when considering physical human-robot ... -
Topology optimization-based design and development of a compact actuator with a high torque-to-weight ratio for quadrupeds
Akın, Barış; Özçınar, Erim Can; Balcı, Barış; Emre, Sinan; Şendur, Polat; Bebek, Özkan; Ünal, Ramazan; Uğurlu, Regaip Barkan (IEEE, 2022)This paper presents the design, development, and testing procedures for a compact actuator with a high torque-to-weight ratio, generally aimed to actuate legged robots, e.g., quadrupeds. The main goal of designing the ... -
Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller
Uğurlu, Regaip Barkan; Forni, P.; Doppmann, C.; Morimoto, J. (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
Doppmann, C.; Uğurlu, Regaip Barkan; Hamaya, M.; Teramae, T.; Noda, T.; Morimoto, J. (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 ... -
Towards crutch-free 3-D walking support with the lower body exoskeleton Co-Ex: Self-balancing squatting experiments
Coruk, Sinan; Soliman, Ahmed Fahmy; Dalgıç, Oğuzhan; Yıldırım, M. C.; Uğur, Deniz; Uğurlu, Regaip Barkan (Springer, 2022)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 ... -
Transdisciplinarity as a learning challenge: Student experiences and outcomes in an innovative course on wearable and collaborative robotics
Kılıç-Bebek, Ebru; Nizamis, K.; Vlutters, M.; Bebek, Özkan; Karapars, Gülhis Zeynep; Ünal, Ramazan; Yılmaz, Deniz; Uğurlu, Regaip BarkanContribution: This study provides evidence for the benefit of short online courses for transdisciplinary competence development of graduate students. It shows the significant challenges students face while learning, and ... -
Variable ankle stiffness improves balance control: experiments on a bipedal exoskeleton
Uğurlu, Regaip Barkan; Doppmann, C.; Hamaya, M.; Forni, P.; Teramae, T.; Noda, T.; Morimoto, J. (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 ... -
ZMP-based online jumping pattern generation for a one-legged robot
Uğurlu, Regaip Barkan; Kawamura, A. (IEEE, 2010-05-01)This paper is aimed at presenting a method to generate online jumping patterns, which can be applied to one legged jumping robots and optionally to humanoid robots. Our proposed method is based on ensuring the overall ...
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