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dc.contributor.authorCoruk, Sinan
dc.contributor.authorYıldırım, Mehmet Can
dc.contributor.authorKansızoğlu, Ahmet Talha
dc.contributor.authorDalgıç, Oğuzhan
dc.contributor.authorUğurlu, Regaip Barkan
dc.date.accessioned2021-03-24T11:07:36Z
dc.date.available2021-03-24T11:07:36Z
dc.date.issued2020-09
dc.identifier.urihttp://hdl.handle.net/10679/7404
dc.identifier.urihttps://ieeexplore.ieee.org/document/9209374
dc.description.abstractThis 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. The exoskeleton can be adjusted for various arm sizes and can ideally be used by an operator that has a height within the range of 160 cm and 200 cm. The robot structure was comprised of 4 degrees of freedom, 3 of which are powered via custom-built series elastic actuators with high power-to-weight ratio and real-time torque control capability. The 4th joint, a prismatic joint, was added to accommodate for glenohumeral head elevation, enabling the system to attain a workspace that is suitable for industrial tasks. The exoskeleton is equipped with a two-piece end effector (E1 and E2) to enable the power augmentation tasks. In order to check torque controllability, initial experiments of the system were conducted on a joint level. As a result, 20 Hz of control bandwidth was achieved when the peak-to-peak torque inputs were 20 Nm.en_US
dc.description.sponsorshipTÜBİTAK
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relationinfo:turkey/grantAgreement/TUBITAK/116C014
dc.relation.ispartof2020 IEEE International Conference on Human-Machine Systems (ICHMS)
dc.rightsrestrictedAccess
dc.titleDesign and development of a powered upper limb exoskeleton with high payload capacity for industrial operationsen_US
dc.typeConference paperen_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.doi10.1109/ICHMS49158.2020.9209374en_US
dc.identifier.scopusSCOPUS:2-s2.0-85093968994
dc.contributor.ozugradstudentCoruk, Sinan
dc.contributor.ozugradstudentYıldırım, Mehmet Can
dc.contributor.ozugradstudentKansızoğlu, Ahmet Talha
dc.contributor.ozugradstudentDalgıç, Oğuzhan
dc.contributor.authorMale5
dc.relation.publicationcategoryConference Paper - International - Institutional Academic Staff and Graduate Student


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