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

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  <identifier identifierType="URL">https://aperta.ulakbim.gov.tr/record/70085</identifier>
  <creators>
    <creator>
      <creatorName>Yildirim, Mehmet C.</creatorName>
      <givenName>Mehmet C.</givenName>
      <familyName>Yildirim</familyName>
      <affiliation>Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey</affiliation>
    </creator>
    <creator>
      <creatorName>Kansizoglu, Ahmet Talha</creatorName>
      <givenName>Ahmet Talha</givenName>
      <familyName>Kansizoglu</familyName>
      <affiliation>Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey</affiliation>
    </creator>
    <creator>
      <creatorName>Emre, Sinan</creatorName>
      <givenName>Sinan</givenName>
      <familyName>Emre</familyName>
      <affiliation>Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey</affiliation>
    </creator>
    <creator>
      <creatorName>Derman, Mustafa</creatorName>
      <givenName>Mustafa</givenName>
      <familyName>Derman</familyName>
      <affiliation>Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey</affiliation>
    </creator>
    <creator>
      <creatorName>Coruk, Sinan</creatorName>
      <givenName>Sinan</givenName>
      <familyName>Coruk</familyName>
      <affiliation>Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey</affiliation>
    </creator>
    <creator>
      <creatorName>Soliman, Ahmed Fahmy</creatorName>
      <givenName>Ahmed Fahmy</givenName>
      <familyName>Soliman</familyName>
      <affiliation>Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey</affiliation>
    </creator>
    <creator>
      <creatorName>Sendur, Polat</creatorName>
      <givenName>Polat</givenName>
      <familyName>Sendur</familyName>
      <affiliation>Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey</affiliation>
    </creator>
    <creator>
      <creatorName>Ugurlu, Barkan</creatorName>
      <givenName>Barkan</givenName>
      <familyName>Ugurlu</familyName>
      <affiliation>Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey</affiliation>
    </creator>
  </creators>
  <titles>
    <title>Co-Ex: A Torque-Controllable Lower Body Exoskeleton For Dependable Human-Robot Co-Existence</title>
  </titles>
  <publisher>Aperta</publisher>
  <publicationYear>2019</publicationYear>
  <dates>
    <date dateType="Issued">2019-01-01</date>
  </dates>
  <resourceType resourceTypeGeneral="Text">Conference paper</resourceType>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://aperta.ulakbim.gov.tr/record/70085</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsVersionOf">10.81043/aperta.70084</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsIdenticalTo">10.81043/aperta.70085</relatedIdentifier>
  </relatedIdentifiers>
  <rightsList>
    <rights rightsURI="http://www.opendefinition.org/licenses/cc-by">Creative Commons Attribution</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="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.</description>
  </descriptions>
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