Co-ex: A torque-controllable lower body exoskeleton for dependable human-robot co-existence

Name: Co-ex: A torque-controllable lower body exoskeleton for dependable human-robot co-existence
Author: Yıldırım, Mehmet Can, Kansızoğlu, Ahmet Talha, Emre, Sinan, Derman, Mustafa, Çoruk, Sinan, Soliman, Ahmed Fahmy, Şendur, Polat, Uğurlu, Regaip Barkan

İsim	Co-ex: A torque-controllable lower body exoskeleton for dependable human-robot co-existence
Yazar	Yıldırım, Mehmet Can, Kansızoğlu, Ahmet Talha, Emre, Sinan, Derman, Mustafa, Çoruk, Sinan, Soliman, Ahmed Fahmy, Şendur, Polat, Uğurlu, Regaip Barkan
Basım Tarihi:	2019-06
Basım Yeri	- IEEE
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-172812755-2
Kayıt Numarası	3b88fc73-0017-4df8-9668-7ef47826f564
Lokasyon	Mechanical Engineering
Tarih	2019-06
Notlar	TÜBİTAK
Örnek Metin	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.
DOI	10.1109/ICORR.2019.8779407

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Co-ex: A torque-controllable lower body exoskeleton for dependable human-robot co-existence

Yazar Yıldırım, Mehmet Can, Kansızoğlu, Ahmet Talha, Emre, Sinan, Derman, Mustafa, Çoruk, Sinan, Soliman, Ahmed Fahmy, Şendur, Polat, Uğurlu, Regaip Barkan

Basım Tarihi 2019-06

Basım Yeri - IEEE

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-172812755-2

Kayıt Numarası 3b88fc73-0017-4df8-9668-7ef47826f564

Lokasyon Mechanical Engineering

Tarih 2019-06

Notlar TÜBİTAK

Örnek Metin 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.

DOI 10.1109/ICORR.2019.8779407