A soft+rigid hybrid exoskeleton concept in scissors-pendulum mode: A suit for human state sensing and an exoskeleton for assistance

Name: A soft+rigid hybrid exoskeleton concept in scissors-pendulum mode: A suit for human state sensing and an exoskeleton for assistance
Author: Uğurlu, Regaip Barkan, Acer, M., Barkana, D. E., Gocek, I., Kucukyilmaz, A., Arslan, Y. Z., Basturk, H., Samur, E., Ugur, E., Ünal, Ramazan, Bebek, Özkan

İsim	A soft+rigid hybrid exoskeleton concept in scissors-pendulum mode: A suit for human state sensing and an exoskeleton for assistance
Yazar	Uğurlu, Regaip Barkan, Acer, M., Barkana, D. E., Gocek, I., Kucukyilmaz, A., Arslan, Y. Z., Basturk, H., Samur, E., Ugur, E., Ünal, Ramazan, Bebek, Özkan
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	fb008034-48e9-4c8d-9f48-23c093b9e114
Lokasyon	Mechanical Engineering
Tarih	2019-06
Örnek Metin	In this paper, we present a novel concept that can enable the human aware control of exoskeletons through the integration of a soft suit and a robotic exoskeleton. Unlike the state-of-the-art exoskeleton controllers which mostly rely on lumped human-robot models, the proposed concept makes use of the independent state measurements concerning the human user and the robot. The ability to observe the human state independently is the key factor in this approach. In order to realize such a system from the hardware point of view, we propose a system integration frame that combines a soft suit for human state measurement and a rigid exoskeleton for human assistance. We identify the technological requirements that are necessary for the realization of such a system with a particular emphasis on soft suit integration. We also propose a template model, named scissor pendulum, that may encapsulate the dominant dynamics of the human-robot combined model to synthesize a controller for human state regulation. A series of simulation experiments were conducted to check the controller performance. As a result, satisfactory human state regulation was attained, adequately confirming that the proposed system could potentially improve exoskeleton-aided applications.
DOI	10.1109/ICORR.2019.8779394

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A soft+rigid hybrid exoskeleton concept in scissors-pendulum mode: A suit for human state sensing and an exoskeleton for assistance

Yazar Uğurlu, Regaip Barkan, Acer, M., Barkana, D. E., Gocek, I., Kucukyilmaz, A., Arslan, Y. Z., Basturk, H., Samur, E., Ugur, E., Ünal, Ramazan, Bebek, Özkan

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 fb008034-48e9-4c8d-9f48-23c093b9e114

Lokasyon Mechanical Engineering

Tarih 2019-06

Örnek Metin In this paper, we present a novel concept that can enable the human aware control of exoskeletons through the integration of a soft suit and a robotic exoskeleton. Unlike the state-of-the-art exoskeleton controllers which mostly rely on lumped human-robot models, the proposed concept makes use of the independent state measurements concerning the human user and the robot. The ability to observe the human state independently is the key factor in this approach. In order to realize such a system from the hardware point of view, we propose a system integration frame that combines a soft suit for human state measurement and a rigid exoskeleton for human assistance. We identify the technological requirements that are necessary for the realization of such a system with a particular emphasis on soft suit integration. We also propose a template model, named scissor pendulum, that may encapsulate the dominant dynamics of the human-robot combined model to synthesize a controller for human state regulation. A series of simulation experiments were conducted to check the controller performance. As a result, satisfactory human state regulation was attained, adequately confirming that the proposed system could potentially improve exoskeleton-aided applications.

DOI 10.1109/ICORR.2019.8779394