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Seri elastik eyleyiciler için mekanik tasarım süreçleri
(Pamukkale Üniversitesi, 2019)
Bu makalede tork kontrollü robot eklem tahriki için robotik literatüründe sıkça tercih edilen seri elastik eyleyici (SEE) üniteleri için geliştirilen tasarım süreçleri konu edilmiştir. Bilgisayar destekli tasarım ve benzetim ...
Assessments on the improved modelling for pneumatic artificial muscle actuators
(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 ...
ZMP-based online jumping pattern generation for a one-legged robot
(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 ...
Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on roboCat-1 and hyQ
(Springer Science+Business Media, 2015-04)
In this paper, we introduce a method that synergistically combines an analytical pattern generator and a feedback controller frame, which are developed for the purpose of synthesizing dynamic quadrupedal trot-walking ...
On the EMG-based torque estimation for humans coupled with a force-controlled elbow exoskeleton
(IEEE, 2015)
Exoskeletons are successful at supporting human motion only when the necessary amount of power is provided at the right time. Exoskeleton control based on EMG signals can be utilized to command the required amount of support ...
Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid
(Springer Nature, 2019-01)
Modern humanoid robots include not only active compliance but also passive compliance. Apart from improved safety and dependability, availability of passive elements, such as springs, opens up new possibilities for improving ...
Active compliance control reduces upper body effort in exoskeleton-supported walking
(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 ...
Stable control of force, position, and stiffness for robot joints powered via pneumatic muscles
(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 ...
Variable ankle stiffness improves balance control: experiments on a bipedal exoskeleton
(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 ...
Proof of concept for robot-aided upper limb rehabilitation using disturbance observers
(IEEE, 2015-02)
This paper presents a wearable upper body exoskeleton system with a model-based compensation control framework to support robot-aided shoulder-elbow rehabilitation and power assistance tasks. To eliminate the need for EMG ...
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