Design and development of a powered upper limb exoskeleton with high payload capacity for industrial operations

Name: Design and development of a powered upper limb exoskeleton with high payload capacity for industrial operations
Author: Coruk, Sinan, Yıldırım, Mehmet Can, Kansızoğlu, Ahmet Talha, Dalgıç, Oğuzhan, Uğurlu, Regaip Barkan

İsim	Design and development of a powered upper limb exoskeleton with high payload capacity for industrial operations
Yazar	Coruk, Sinan, Yıldırım, Mehmet Can, Kansızoğlu, Ahmet Talha, Dalgıç, Oğuzhan, Uğurlu, Regaip Barkan
Basım Tarihi:	2020-09
Basım Yeri	- IEEE
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	2-s2.0-85093968994
Kayıt Numarası	c1b32ab7-ce8b-416b-b50b-1a43f1459efd
Lokasyon	Mechanical Engineering
Tarih	2020-09
Notlar	TÜBİTAK
Örnek Metin	This study presents the hardware development and low level controller structure of an upper-body exoskeleton that is equipped with high torque-to-weight ratio actuators. It is intended to be used in industrial applications. The exoskeleton can be adjusted for various arm sizes and can ideally be used by an operator that has a height within the range of 160 cm and 200 cm. The robot structure was comprised of 4 degrees of freedom, 3 of which are powered via custom-built series elastic actuators with high power-to-weight ratio and real-time torque control capability. The 4th joint, a prismatic joint, was added to accommodate for glenohumeral head elevation, enabling the system to attain a workspace that is suitable for industrial tasks. The exoskeleton is equipped with a two-piece end effector (E1 and E2) to enable the power augmentation tasks. In order to check torque controllability, initial experiments of the system were conducted on a joint level. As a result, 20 Hz of control bandwidth was achieved when the peak-to-peak torque inputs were 20 Nm.
DOI	10.1109/ICHMS49158.2020.9209374

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Design and development of a powered upper limb exoskeleton with high payload capacity for industrial operations

Yazar Coruk, Sinan, Yıldırım, Mehmet Can, Kansızoğlu, Ahmet Talha, Dalgıç, Oğuzhan, Uğurlu, Regaip Barkan

Basım Tarihi 2020-09

Basım Yeri - IEEE

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 2-s2.0-85093968994

Kayıt Numarası c1b32ab7-ce8b-416b-b50b-1a43f1459efd

Lokasyon Mechanical Engineering

Tarih 2020-09

Notlar TÜBİTAK

Örnek Metin This study presents the hardware development and low level controller structure of an upper-body exoskeleton that is equipped with high torque-to-weight ratio actuators. It is intended to be used in industrial applications. The exoskeleton can be adjusted for various arm sizes and can ideally be used by an operator that has a height within the range of 160 cm and 200 cm. The robot structure was comprised of 4 degrees of freedom, 3 of which are powered via custom-built series elastic actuators with high power-to-weight ratio and real-time torque control capability. The 4th joint, a prismatic joint, was added to accommodate for glenohumeral head elevation, enabling the system to attain a workspace that is suitable for industrial tasks. The exoskeleton is equipped with a two-piece end effector (E1 and E2) to enable the power augmentation tasks. In order to check torque controllability, initial experiments of the system were conducted on a joint level. As a result, 20 Hz of control bandwidth was achieved when the peak-to-peak torque inputs were 20 Nm.

DOI 10.1109/ICHMS49158.2020.9209374