Towards crutch-free 3-D walking support with the lower body exoskeleton Co-Ex: Self-balancing squatting experiments

Name: Towards crutch-free 3-D walking support with the lower body exoskeleton Co-Ex: Self-balancing squatting experiments
Author: Coruk, Sinan, Soliman, Ahmed Fahmy, Dalgıç, Oğuzhan, Yıldırım, M. C., Uğur, Deniz, Uğurlu, Regaip Barkan

İsim	Towards crutch-free 3-D walking support with the lower body exoskeleton Co-Ex: Self-balancing squatting experiments
Yazar	Coruk, Sinan, Soliman, Ahmed Fahmy, Dalgıç, Oğuzhan, Yıldırım, M. C., Uğur, Deniz, Uğurlu, Regaip Barkan
Basım Tarihi:	2022
Basım Yeri	- Springer
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	2195-3562
Kayıt Numarası	55faa14c-8192-4b84-a753-3877806eefdd
Lokasyon	Mechanical Engineering
Tarih	2022
Örnek Metin	In this paper, we succinctly present the hardware properties and capabilities of the lower body exoskeleton Co-Ex, which was developed to attain self-balancing and crutch-free walking support for those experiencing ambulatory difficulties in general. To provide full 3-D walking support while containing the number of required actuators, it includes 4 active joints per leg. Custom-built series elastic actuators enable the torque sensing and controllability at each joint, enhancing the robot’s physical interaction capabilities. While limiting the number of active joints minimizes the weight and energy requirements, the underactuated leg configuration increased the computational load. The preliminary squatting experiments revealed that Co-Ex may provide crutch-free 3-D movement support.
DOI	10.1007/978-3-030-69547-7_51
Cilt	27

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Towards crutch-free 3-D walking support with the lower body exoskeleton Co-Ex: Self-balancing squatting experiments

Yazar Coruk, Sinan, Soliman, Ahmed Fahmy, Dalgıç, Oğuzhan, Yıldırım, M. C., Uğur, Deniz, Uğurlu, Regaip Barkan

Basım Tarihi 2022

Basım Yeri - Springer

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 2195-3562

Kayıt Numarası 55faa14c-8192-4b84-a753-3877806eefdd

Lokasyon Mechanical Engineering

Tarih 2022

Örnek Metin In this paper, we succinctly present the hardware properties and capabilities of the lower body exoskeleton Co-Ex, which was developed to attain self-balancing and crutch-free walking support for those experiencing ambulatory difficulties in general. To provide full 3-D walking support while containing the number of required actuators, it includes 4 active joints per leg. Custom-built series elastic actuators enable the torque sensing and controllability at each joint, enhancing the robot’s physical interaction capabilities. While limiting the number of active joints minimizes the weight and energy requirements, the underactuated leg configuration increased the computational load. The preliminary squatting experiments revealed that Co-Ex may provide crutch-free 3-D movement support.

DOI 10.1007/978-3-030-69547-7_51

Cilt 27