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

Title	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
Publication Date:	2022
Publication Place	- IEEE
Subject	Exoskeleton, Human-robot interaction, Rehabilitation robots
Type	Document
Language	English
Digital	Yes
Manuscript	No
Library:	Özyeğin University
Library Asset ID	978-166549770-1
Record ID	1a2ff6bc-cebf-45d2-8f26-83fef888a006
Library Location	Mechanical Engineering
Date	2022
Notes	TÜBİTAK
Sample Text	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

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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

Publication Date 2022

Publication Place - IEEE

Subject Exoskeleton, Human-robot interaction, Rehabilitation robots

Type Document

Language English

Digital Yes

Manuscript No

Library Özyeğin University

Library Asset ID 978-166549770-1

Record ID 1a2ff6bc-cebf-45d2-8f26-83fef888a006

Library Location Mechanical Engineering

Date 2022

Notes TÜBİTAK

Sample Text 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.