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dc.contributor.authorUğurlu, Regaip Barkan
dc.contributor.authorOshima, H.
dc.contributor.authorSariyildiz, E.
dc.contributor.authorNarildyo, T.
dc.contributor.authorBabic, J.
dc.date.accessioned2021-01-19T08:15:40Z
dc.date.available2021-01-19T08:15:40Z
dc.date.issued2020-04
dc.identifier.issn2168-2291en_US
dc.identifier.urihttp://hdl.handle.net/10679/7208
dc.identifier.urihttps://ieeexplore.ieee.org/document/8960446
dc.description.abstractThis 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 critical importance to reduce the excessive ground reaction forces during the walking task execution with the aim of improved environmental interaction capabilities. In robot-aided walking support for paraplegics, the user has to actively use his/her upper limbs via crutches to ensure overall balance. By virtue of this requisite, several issues may particularly arise during touchdown instants, e.g., upper body orientation fluctuates, shoulder joints are subject to excessive loading, and arms may need to exert extra forces to counterbalance these effects. In order to reduce the upper body effort via compliant locomotion, the controller is designed to manage the force/position tradeoff by using an admittance controller in each joint. For proof of concept, a series of exoskeleton-aided walking experiments were conducted with the participation of nine healthy volunteers, four of whom additionally walked on an irregular surface for further performance evaluation. The results suggest that the proposed locomotion controller is advantageous over conventional high-gain position tracking in decreasing undesired oscillatory torso motion and total arm force, adequately reducing the required upper body effort.en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.ispartofIEEE Transactions on Human-Machine Systems
dc.rightsrestrictedAccess
dc.titleActive compliance control reduces upper body effort in exoskeleton-supported walkingen_US
dc.typeArticleen_US
dc.peerreviewedyesen_US
dc.publicationstatusPublisheden_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID(ORCID 0000-0002-9124-7441 & YÖK ID 241209) Uğurlu, Barkan
dc.contributor.ozuauthorUğurlu, Regaip Barkan
dc.identifier.volume50en_US
dc.identifier.issue2en_US
dc.identifier.startpage144en_US
dc.identifier.endpage153en_US
dc.identifier.wosWOS:000522356600004
dc.identifier.doi10.1109/THMS.2019.2961969en_US
dc.subject.keywordsCompliance controlen_US
dc.subject.keywordslocomotion controlen_US
dc.subject.keywordslower body exoskeletonen_US
dc.identifier.scopusSCOPUS:2-s2.0-85078010139
dc.contributor.authorMale1
dc.relation.publicationcategoryArticle - International Refereed Journal - Institutional Academic Staff


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