Browsing by Author "Uğurlu, Regaip Barkan"
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3-D dynamic walking trajectory generation for a bipedal exoskeleton with underactuated legs: A proof of concept
Soliman, Ahmed Fahmy; Şendur, Polat; Uğurlu, Regaip Barkan (IEEE, 2019-06)This paper presents a framework to address three dimensional (3-D) dynamic walking for a bipedal exoskeleton with underactuated legs. To achieve this goal, the framework is constructed via a trajectory generator and an ... -
Active compliance control reduces upper body effort in exoskeleton-supported walking
Uğurlu, Regaip Barkan; Oshima, H.; Sariyildiz, E.; Narildyo, T.; Babic, J. (IEEE, 2020-04)This article presents a locomotion controller for lower limb exoskeletons so as to enable the combined robot and user system to exhibit compliant walking characteristics when interacting with the environment. This is of ... -
Application of a disturbance observer based controller to improve vehicle ride
Şendur, Polat; Uğurlu, Regaip Barkan (Canadian Acoustical Association, 2019)In this paper the application of a disturbance observer based control algorithm is proposed to improve the vehicle ride performance of a vehicle that has magnetorheological damper (MR Damper) suspension. The vehicle is ... -
Assessments on the improved modelling for pneumatic artificial muscle actuators
Peternel, L.; Uğurlu, Regaip Barkan; Babic, J.; Morimoto, J. (IEEE, 2015)In this paper, we present an analysis regarding the pneumatic air muscle modelling, with a particular emphasis on the exoskeleton robot control. We propose two calibration approaches for obtaining the model identification ... -
Benchmarking torque control strategies for a torsion-based series elastic actuator
Uğurlu, Regaip Barkan; Sarıyıldız, E.; Kansızoğlu, Ahmet Talha; Özçınar, Erim Can; Coruk, Sinan (IEEE, 2022-06)The diversity in torque-controlled actuators has enabled researchers to address numerous physical human-robot interaction applications with enhanced safety, dependability, and interaction capability [1]. Yet, only a few ... -
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 durable series elastic actuator with an optimized spring topology
Yıldırım, M. C.; Şendur, Polat; Kansızoğlu, Mehmet Taha; Uras, U.; Bilgin, Onur; Emre, Sinan; Yapıcı, Güney Güven; Arık, Mehmet; Uğurlu, Regaip Barkan (Sage, 2021-12)This paper aims to present the integrated design, development, and testing procedures for a state-of-the-art torsion-based series elastic actuator that could be reliably employed for long-term use in force-controlled robot ... -
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. ... -
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 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 ... -
Development of a torque-controllable lower extremity exoskeleton for crutch-free 3D walking support
Yıldırım, Mehmet Can (2018-12-24)Spinal cord paralysis is a condition, which is formed due to full or partial loss of sensorimotor and autonomous functionalities of the spinal cord. Paraplegia is a type of spinal cord injury which causes functionality ... -
Development of a torque-controllable upper limb exoskeleton for industrial applications
Chronic upper body pain and injuries are undesirable physical disorders that result from regular exposure to external forces that strain the musculoskeletal system. These symptoms reduce both the quality of life and ... -
Dexterous manipulation with a robotic hand
Kaya, Osman (2017-06)In robotics, flexible and the dexterous manipulation are one of the most desired type of skills. To this end, we investigate dexterous manipulation skills on an anthropomorphic robot hand. In the first part of the study, ... -
Discussing modernizing engineering education through the Erasmus + Project Titled "Open Educational Resources on Enabling Technologies in Wearable and Collaborative Robotics (WeCoRD)
Kılıç-Bebek, Ebru; Nizamis, K.; Karapars, Gülhis Zeynep; Gökkurt, Muharrem Ali; Ünal, Ramazan; Bebek, Özkan; Vlutters, M.; Vander Poorten, E.; Borghesan, G.; Decré, W.; Aertbelien, E.; Borisova, O.; Borisov, I.; Kolyubin, S.; Kodal, M. I.; Uğurlu, Regaip BarkanThe Erasmus + project titled “Open Educational Resources on Enabling Technologies in Wearable and Collaborative Robotics (WeCoRD)", can serve as a model to establish strategic international and multidisciplinary partnerships ... -
Efficient methodologies for actualizing haptic feedback in consumer electronics
Kirişken, Barbaros (2021-06-11)There are significant limitations to creating effective haptic illusions in mobile devices such as tablets and smartphones. The main limitations are that these devices are too small in size to accommodate complex actuators ... -
Environmental force estimation for a robotic hand : compliant contact detection
Kaya, Osman; Yıldırım, Mehmet Can; Kuzuluk, Nisan; Çiçek, Emre; Bebek, Özkan; Öztop, Erhan; Uğurlu, Regaip Barkan (IEEE, 2015)This paper presents a model based compensation method to enable environmental force estimation for a robotic hand with no tactile or force sensors. To this end, we utilize multi-joint robot dynamics and disturbance observer ... -
An experimental study of a bluetooth communication system for robot motion control
Dalgiç, Oğuzhan; Tekin, Ahmet; Uğurlu, Regaip Barkan (IEEE, 2019)This paper presents a method that aims to reduce the complex cabling problem in robotics applications, so as to prevent difficulties in troubleshooting processes and failures in case of cable breaks. Examples in the ... -
Force reference extraction via human interaction for a robotic polishing task: Force-induced motion
In this paper, a method to control a manipulator using force-induced trajectory is proposed. The trajectory is learned from an operator doing the polishing task using a tool attached to the robot's end-effector. The learning ... -
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 ...
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