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dc.contributor.authorYıldırım, Mehmet Can
dc.contributor.authorKansızoğlu, Ahmet Talha
dc.contributor.authorŞendur, Polat
dc.contributor.authorUğurlu, Regaip Barkan
dc.contributor.editorCarrozza, M. C.
dc.contributor.editorMicera, S.
dc.contributor.editorPons, J. L.
dc.date.accessioned2020-10-13T11:42:01Z
dc.date.available2020-10-13T11:42:01Z
dc.date.issued2019
dc.identifier.isbn978-3-030-01886-3en_US
dc.identifier.issn2195-3562
dc.identifier.urihttp://hdl.handle.net/10679/7011
dc.identifier.urihttp://link-springer-com-443.webvpn.fjmu.edu.cn/chapter/10.1007%2F978-3-030-01887-0_14
dc.description.abstractThis 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 output while containing its weight, the main objective was to satisfy dimensional and weight requirements within a compact structure. A three-fold design approach was implemented: (i) The torsional spring was designed using finite element analyses and its stiffness profile was experimentally tested via a torsional test machine, (ii) thermal behavior of the actuator was experimentally examined to ensure sufficient heat dissipation, (iii) the fatigue life of the spring was computed to be 9.5 years. Having manufactured the actuator, preliminary torque-control experiments were conducted. As the result, a high-fidelity torque control was achieved with a control bandwidth of up to 12 Hz.en_US
dc.description.sponsorshipTÜBİTAK
dc.language.isoengen_US
dc.publisherSpringer Natureen_US
dc.relationinfo:turkey/grantAgreement/TUBITAK/215E138
dc.relation.ispartofInternational Symposium on Wearable Robotics WeRob 2018: Wearable Robotics: Challenges and Trends Proceedings of the 4th International Symposium on Wearable Robotics, Part of the Biosystems & Biorobotics book series
dc.rightsrestrictedAccess
dc.titleHigh power series elastic actuator development for torque-controlled exoskeletonsen_US
dc.typeConference paperen_US
dc.publicationstatusPublisheden_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.volume22
dc.identifier.startpage70en_US
dc.identifier.endpage74en_US
dc.identifier.doi10.1007/978-3-030-01887-0_14en_US
dc.identifier.scopusSCOPUS:2-s2.0-85055049316
dc.contributor.ozugradstudentYıldırım, Mehmet Can
dc.contributor.ozugradstudentKansızoğlu, Ahmet Talha
dc.contributor.authorMale4
dc.relation.publicationcategoryConference Paper - International - Institutional Academic Staff and Graduate Student


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