Browsing by Author "Kansızoğlu, Ahmet Talha"
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Co-ex: A torque-controllable lower body exoskeleton for dependable human-robot co-existence
Yıldırım, Mehmet Can; Kansızoğlu, Ahmet Talha; Emre, Sinan; Derman, Mustafa; Çoruk, Sinan; Soliman, Ahmed Fahmy; Şendur, Polat; Uğurlu, Regaip Barkan (IEEE, 2019-06)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 ... -
A comparison study on observer-based force control of series elastic actuators
Kansızoğlu, Ahmet Talha; Sariyildiz, E.; Uğurlu, Regaip Barkan (IEEE, 2018)This paper presents a comparison study for the robust force control of series elastic actuators (SEAs). In most robotics systems, SEAs are used as an essential actuation method due to the benefits such as lower reflected ... -
Design and development of a powered upper limb exoskeleton with high payload capacity for industrial operations
Coruk, Sinan; Yıldırım, Mehmet Can; Kansızoğlu, Ahmet Talha; Dalgıç, Oğuzhan; Uğurlu, Regaip Barkan (IEEE, 2020-09)This study presents the hardware development and low level controller structure of an upper-body exoskeleton that is equipped with high torque-to-weight ratio actuators. It is intended to be used in industrial applications. ... -
High power series elastic actuator development for torque-controlled exoskeletons
Yıldırım, Mehmet Can; Kansızoğlu, Ahmet Talha; Şendur, Polat; Uğurlu, Regaip Barkan (Springer Nature, 2019)This paper presents the development procedures of a high power series elastic actuator that can be used in torque-controlled exoskeleton applications as a high-fidelity torque source. In order to provide a high torque ... -
Real-time robust control of a series elastic actuator subject to uncertainties
Kansızoğlu, Ahmet Talha (2018-12-24)Humans are able to perform highly complicated tasks in their daily activities by interacting with the environment. However, for a robotic system, these tasks are quite challenging. To overcome these problems, robotic systems ...
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