1 Ocak 2019 Konferans bildirisi Açık Erişim

Yildirim, Mehmet C.; Kansizoglu, Ahmet Talha; Emre, Sinan; Derman, Mustafa; Coruk, Sinan; Soliman, Ahmed Fahmy; Sendur, Polat; Ugurlu, Barkan

Citation Style Language JSON

{
  "URL": "https://aperta.ulakbim.gov.tr/record/70085", 
  "abstract": "In 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.", 
  "author": [
    {
      "family": "Yildirim", 
      "given": " Mehmet C."
    }, 
    {
      "family": "Kansizoglu", 
      "given": " Ahmet Talha"
    }, 
    {
      "family": "Emre", 
      "given": " Sinan"
    }, 
    {
      "family": "Derman", 
      "given": " Mustafa"
    }, 
    {
      "family": "Coruk", 
      "given": " Sinan"
    }, 
    {
      "family": "Soliman", 
      "given": " Ahmed Fahmy"
    }, 
    {
      "family": "Sendur", 
      "given": " Polat"
    }, 
    {
      "family": "Ugurlu", 
      "given": " Barkan"
    }
  ], 
  "id": "70085", 
  "issued": {
    "date-parts": [
      [
        2019, 
        1, 
        1
      ]
    ]
  }, 
  "title": "Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-existence", 
  "type": "paper-conference"
}