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dc.contributor.authorYıldırım, Mehmet Can
dc.contributor.authorKansızoğlu, Ahmet Talha
dc.contributor.authorEmre, Sinan
dc.contributor.authorDerman, Mustafa
dc.contributor.authorÇoruk, Sinan
dc.contributor.authorSoliman, Ahmed Fahmy
dc.contributor.authorŞendur, Polat
dc.contributor.authorUğurlu, Regaip Barkan
dc.date.accessioned2020-09-30T11:35:30Z
dc.date.available2020-09-30T11:35:30Z
dc.date.issued2019-06
dc.identifier.isbn978-172812755-2
dc.identifier.issn1945-7898en_US
dc.identifier.urihttp://hdl.handle.net/10679/6975
dc.identifier.urihttps://ieeexplore.ieee.org/document/8779407
dc.description.abstractIn 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 configuration was primarily determined. In order for the exoskeleton to possess advanced characteristics, the following design criteria were investigated: i) all the actuators (hip/knee/ankle) were deployed around the waist area to decrease leg weight and improve wearability, ii) custom-built series elastic actuators were used to power system for high fidelity torque-controllability, iii) 3D walking support is potentially enabled with reduced power requirements. As a result, we built the first actual prototype to experimentally verify the aforementioned design specifications. Furthermore, the preliminary torque control experiments indicated the viability of torque control.en_US
dc.description.sponsorshipTÜBİTAK
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relationinfo:turkey/grantAgreement/TUBITAK/215E138
dc.relation.ispartof2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)
dc.rightsrestrictedAccess
dc.titleCo-ex: A torque-controllable lower body exoskeleton for dependable human-robot co-existenceen_US
dc.typeConference paperen_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID(ORCID 0000-0003-2212-7419 & YÖK ID 274138) Şendur, Polat
dc.contributor.authorID(ORCID 0000-0002-9124-7441 & YÖK ID 241209) Uğurlu, Barkan
dc.contributor.ozuauthorŞendur, Polat
dc.contributor.ozuauthorUğurlu, Regaip Barkan
dc.identifier.startpage605en_US
dc.identifier.endpage610en_US
dc.identifier.doi10.1109/ICORR.2019.8779407en_US
dc.identifier.scopusSCOPUS:2-s2.0-85071148637
dc.contributor.ozugradstudentYıldırım, Mehmet Can
dc.contributor.ozugradstudentKansızoğlu, Ahmet Talha
dc.contributor.ozugradstudentEmre, Sinan
dc.contributor.ozugradstudentDerman, Mustafa
dc.contributor.ozugradstudentÇoruk, Sinan
dc.contributor.ozugradstudentSoliman, Ahmed Fahmy
dc.contributor.authorMale8
dc.relation.publicationcategoryConference Paper - International - Institutional Academic Staff and Graduate Student


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