Simulation-based design and locomotion control implementation for a lower body exoskeleton

Name: Simulation-based design and locomotion control implementation for a lower body exoskeleton
Author: Derman, Mustafa, Soliman, Ahmed Fahmy, Kuru, Alihan, Çevik, Süleyman Can, Ünal, Ramazan, Bebek, Özkan, Uğurlu, Regaip Barkan

İsim	Simulation-based design and locomotion control implementation for a lower body exoskeleton
Yazar	Derman, Mustafa, Soliman, Ahmed Fahmy, Kuru, Alihan, Çevik, Süleyman Can, Ünal, Ramazan, Bebek, Özkan, Uğurlu, Regaip Barkan
Basım Tarihi:	2022
Basım Yeri	- IEEE
Konu	Exoskeleton, Human-robot interaction, Rehabilitation robots
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-166549770-1
Kayıt Numarası	1a2ff6bc-cebf-45d2-8f26-83fef888a006
Lokasyon	Mechanical Engineering
Tarih	2022
Notlar	TÜBİTAK
Örnek Metin	This paper proposes a simulation-based design and locomotion control methodology for an exoskeleton that is aimed at providing assistance to users with ambulatory difficulties. To increase the power-to-weight ratio while satisfying design constraints, we made use of simulation tools to recursively update the initial mechanical design for a finer solution. To this end, a coupled human-exoskeleton model was constructed in MSC ADAMS environment using an average human model and the initial design of the robot. Following this step, dynamic walking control simulations were carried out to determine actuator torques and loading. Using the loading data obtained via simulation experiments, certain mechanical links were optimized such that the portions with no stress concentration were removed without violating safety. Finally, two distinct control implementations were conducted: i) stand-to-sit motion, ii) dynamic walking. As a result, we obtained dynamically consistent motion behavior for both cases, adequately validating the proposed methodology.
DOI	10.1109/ICPS51978.2022.9816855

Kaynağa git Özyeğin Üniversitesi

Aramaya Dön

Özyeğin Üniversitesi

Kaynağa git

Simulation-based design and locomotion control implementation for a lower body exoskeleton

Yazar Derman, Mustafa, Soliman, Ahmed Fahmy, Kuru, Alihan, Çevik, Süleyman Can, Ünal, Ramazan, Bebek, Özkan, Uğurlu, Regaip Barkan

Basım Tarihi 2022

Basım Yeri - IEEE

Konu Exoskeleton, Human-robot interaction, Rehabilitation robots

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-166549770-1

Kayıt Numarası 1a2ff6bc-cebf-45d2-8f26-83fef888a006

Lokasyon Mechanical Engineering

Tarih 2022

Notlar TÜBİTAK

Örnek Metin This paper proposes a simulation-based design and locomotion control methodology for an exoskeleton that is aimed at providing assistance to users with ambulatory difficulties. To increase the power-to-weight ratio while satisfying design constraints, we made use of simulation tools to recursively update the initial mechanical design for a finer solution. To this end, a coupled human-exoskeleton model was constructed in MSC ADAMS environment using an average human model and the initial design of the robot. Following this step, dynamic walking control simulations were carried out to determine actuator torques and loading. Using the loading data obtained via simulation experiments, certain mechanical links were optimized such that the portions with no stress concentration were removed without violating safety. Finally, two distinct control implementations were conducted: i) stand-to-sit motion, ii) dynamic walking. As a result, we obtained dynamically consistent motion behavior for both cases, adequately validating the proposed methodology.