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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{
  "@context": "https://schema.org/", 
  "@id": 70085, 
  "@type": "ScholarlyArticle", 
  "creator": [
    {
      "@type": "Person", 
      "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
      "name": "Yildirim, Mehmet C."
    }, 
    {
      "@type": "Person", 
      "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
      "name": "Kansizoglu, Ahmet Talha"
    }, 
    {
      "@type": "Person", 
      "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
      "name": "Emre, Sinan"
    }, 
    {
      "@type": "Person", 
      "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
      "name": "Derman, Mustafa"
    }, 
    {
      "@type": "Person", 
      "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
      "name": "Coruk, Sinan"
    }, 
    {
      "@type": "Person", 
      "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
      "name": "Soliman, Ahmed Fahmy"
    }, 
    {
      "@type": "Person", 
      "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
      "name": "Sendur, Polat"
    }, 
    {
      "@type": "Person", 
      "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
      "name": "Ugurlu, Barkan"
    }
  ], 
  "datePublished": "2019-01-01", 
  "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.", 
  "headline": "Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-existence", 
  "identifier": 70085, 
  "image": "https://aperta.ulakbim.gov.tr/static/img/logo/aperta_logo_with_icon.svg", 
  "license": "http://www.opendefinition.org/licenses/cc-by", 
  "name": "Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-existence", 
  "url": "https://aperta.ulakbim.gov.tr/record/70085"
}