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

Dublin Core

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  <dc:creator>Yildirim, Mehmet C.</dc:creator>
  <dc:creator>Kansizoglu, Ahmet Talha</dc:creator>
  <dc:creator>Emre, Sinan</dc:creator>
  <dc:creator>Derman, Mustafa</dc:creator>
  <dc:creator>Coruk, Sinan</dc:creator>
  <dc:creator>Soliman, Ahmed Fahmy</dc:creator>
  <dc:creator>Sendur, Polat</dc:creator>
  <dc:creator>Ugurlu, Barkan</dc:creator>
  <dc:date>2019-01-01</dc:date>
  <dc: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.</dc:description>
  <dc:identifier>https://aperta.ulakbim.gov.trrecord/70085</dc:identifier>
  <dc:identifier>oai:zenodo.org:70085</dc:identifier>
  <dc:rights>info:eu-repo/semantics/openAccess</dc:rights>
  <dc:rights>http://www.opendefinition.org/licenses/cc-by</dc:rights>
  <dc:title>Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-existence</dc:title>
  <dc:type>info:eu-repo/semantics/conferencePaper</dc:type>
  <dc:type>publication-conferencepaper</dc:type>
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