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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        "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
        "name": "Yildirim, Mehmet C."
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        "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
        "name": "Kansizoglu, Ahmet Talha"
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        "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
        "name": "Emre, Sinan"
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        "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
        "name": "Derman, Mustafa"
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        "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
        "name": "Coruk, Sinan"
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        "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
        "name": "Soliman, Ahmed Fahmy"
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        "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
        "name": "Sendur, Polat"
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        "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
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    "description": "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.", 
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      "title": "2019 IEEE 16TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR)"
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    "title": "Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-existence"
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