Browsing by Author "Bebek, Özkan"
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An active brace for controlled transdermal drug delivery for adjustable physical therapy
Erol, Levent; Bebek, Özkan; Karagöz, Ayşe; Başım, Gül Bahar (IEEE, 2014)This study presents an active brace which is a cost efficient precision-controlled advanced therapy medicinal product for time and rate controlled transdermal drug delivery (TDD) through the use of drug containing nanoparticles ... -
Adaptive inverse kinematics of a 9-DOF surgical robot for effective manipulation
Sunal, Begüm; Öztop, Erhan; Bebek, Özkan (IEEE, 2019)In a robotic-assisted surgical system, fine and precise movement is essential. However, when the user wishes to cover a wider area during tele-operation, the configuration designed for precise motion may restrict the user ... -
Adaptive shared control with human intention estimation for human agent collaboration
Amirshirzad, Negin; Uğur, E.; Bebek, Özkan; Öztop, Erhan (IEEE, 2022)In this paper an adaptive shared control frame-work for human agent collaboration is introduced. In this framework the agent predicts the human intention with a confidence factor that also serves as the control blending ... -
Automated flow rate control of extrusion for 3D concrete printing incorporating rheological parameters
Ahi, Oğulcan; Ertunç, Özgür; Bundur, Zeynep Başaran; Bebek, Özkan (Elsevier, 2024-04)The use of inline quality assessment technologies is of great importance in meeting the consistent extrusion requirements of 3D concrete printing (3DCP) applications. This paper presents a system to regulate extrusion speed ... -
Calibration of 2D ultrasound in 3D space for robotic biopsies
Ahmad, A.; Çavuşoğlu, M. C.; Bebek, Özkan (IEEE, 2015)Freehand Ultrasound technique is widely used in intraoperative biopsy procedures for detecting the volumes of interest. Freehand ultrasound probe is faster and flexible with 6 degrees of freedom. Thats why the imaging ... -
A comparative evaluation of sepiolite and nano-montmorillonite on the rheology of cementitious materials for 3D printing
Aydın, Eylül Mina; Kara, Ahmet Burhan; Bundur, Zeynep Başaran; Özyurt, N.; Bebek, Özkan; Gulgun, M. A. (Elsevier, 2022-10-03)Through the last decade, methods of digital manufacturing of concrete gained a significant interest compared to conventional concrete. The main challenge in additive manufacturing (3D printing) is to design a highly ... -
Contact force distribution using centroidal momentum feedback for quadruped locomotion
Özçınar, Erim Can; Bebek, Özkan; Uğurlu, Regaip Barkan (IEEE, 2023)This paper proposes a method to distribute contact forces to eliminate undesired torso orientation fluctuations and regulate heading during dynamic quadruped trot-walking motion. The proposed method makes use of centroidal ... -
A custom brace design to connect a user limb to an exoskeleton link with minimal discomfort
Çevik, Süleyman Can; Derman, Mustafa; Ünal, Ramazan; Uğurlu, Regaip Barkan; Bebek, Özkan (IEEE, 2021)Exoskeletons are increasingly helping people with different applications. Regardless of what they were built for, exoskeletons have a common discomfort problem from the misalignment of robot and human joints. In this paper, ... -
Design and development of a torsion-based series elastic actuator with nested encoders for a wearable exoskeleton robot
Kuru, Alihan; Uğurlu, Regaip Barkan; Bebek, Özkan (IEEE, 2022)This paper presents the design of a high torque-to-mass ratio series elastic actuator (SEA) for wearable powered exoskeletons. Nonbackdrivable actuators are ideal for applications that require high torque. Commonly, active ... -
Design and development of torsion spring based series elastic actuator with nested encoders for wearable exoskeleton robot
his thesis proposes a series elastic actuator design to power an assistive exoskele ton for the paraplegic or stroke patient whom incapable to walk or provide any motion at lower extremity portion of the body. Commonly, ... -
Design and implementation of a robust control scheme for a smart joint
Jabeen, Saher (2017-01)The invention of biomedical tools has made medical treatments more convenient; however, manual insertion of these tools requires years of practice and erroneous insertion into the body may cause ruptures and bleeding. ... -
Design and kinematics of a 5-DOF parallel robot for beating heart surgery
Ersoy, Onur; Yıldırım, Mehmet Can; Ahmad, A.; Yirmibesoglu, O. D.; Koroglu, N.; Bebek, Özkan (IEEE, 2019)In this paper, mechanical and electronics design of a lightweight 5-DOF robot, Ozyegin Surgery Robot I (OSI), and it's performance of tracking the heart motion for coronary artery bypass procedure (CABG) are presented. The ... -
Design and modeling of a parallel robot for ultrasound guided percutaneous needle interventions
Orhan, Sabri Orcun; Yildirim, Mehmet Can; Bebek, Özkan (IEEE, 2015)Necessity of precise positioning in percutaneous needle operations enables robotic systems to take part in medical procedures. Researches that have been done until today showed robotic systems increase the accuracy of ... -
Design and modeling of a parallel robot for ultrasound guided percutaneous needle interventions
Orhan, Sabri Orçun (2015-08)Percutaneous needle operations need precise positioning in order to collect samples for diagnosis. Due to their robustness, accuracy robotic systems started to take place in medical procedures. Research that have been done ... -
Design of a parallel robot for needle-based interventions on small animals
Bebek, Özkan; Hwang, M. J.; Çavuşoğlu, M. C. (IEEE, 2013-02)In this paper, a novel 5-degrees-of-freedom robot for performing needle-based interventions on small animal subjects is presented. The robot can realize dexterous alignment of the needle using two parallel mechanisms, and ... -
Design of a solenoid based prototype injector for evaluation of electromagnetic parameters
Yağcı, Ayhan; Quresh, Muhammad Sarmad; Kuntuz, Mehmet Polat; Bebek, Özkan (IEEE, 2019)Injector is a pump and valve mechanism, that sprays liquid intermittently to intended volume. In this research, evaluation of the electromagnetic properties of a solenoid actuator used in the prototype injector systems has ... -
Designing redundant cable-driven parallel robots for additive manufacturing using end-effector compliance index
Kara, Burhan; Qureshi, Muhammad Sarmad; Bundur, Zeynep Başaran; Bebek, Özkan (IEEE, 2023)This paper presents a methodology for optimizing cable anchor points for cable-driven parallel robots (CDPRs) for specific additive manufacturing tasks. Much of a CDPR's workspace is generally not used for printing tasks. ... -
Development and 3D spatial calibration of a parallel robot for percutaneous needle procedures with 2D ultrasound guidance
Ahmad, Mirza Awais; Orhan, Sabri Orçun; Yıldırım, Mehmet Can; Bebek, Özkan (World Scientific, 2017-12-01)Robotic systems are being applied to medical interventions as they increase the operational accuracy. The proposed autonomous and ultrasound guided 5-DOF parallel robot can achieve such accuracy for needle biopsies, which ... -
Development and control of a parallel endoscopic surgical robot platform for beating heart procedures
Ersoy, Onur (2021-06-16)Minimally Invasive Robotic Surgery focuses on performing surgeries using advanced robotic tools through small incisions. Taking advantage of these advanced tools and control methods, challenging surgeries such as ... -
Development of 3-D chemical mechanical polishing process for nanostructuring of bioimplant surfaces
Özdemir, Zeynep; Orhan, Orçun; Bebek, Özkan; Başım, Gül Bahar (ECS, 2014)This study focuses on the development of a three dimensional chemical mechanical polishing (CMP) process to induce smoothness or controlled nano-roughness on the bio-implant material surfaces, particularly for an application ...
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