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A custom brace design to connect a user limb to an exoskeleton link with minimal discomfort

Title	A custom brace design to connect a user limb to an exoskeleton link with minimal discomfort
Author	Çevik, Süleyman Can, Derman, Mustafa, Ünal, Ramazan, Uğurlu, Regaip Barkan, Bebek, Özkan
Publication Date:	2021
Publication Place	- IEEE
Type	Document
Language	English
Digital	Yes
Manuscript	No
Library:	Özyeğin University
Library Asset ID	978-172814395-8
Record ID	76bd245b-a4dd-46b4-b8c5-acedd56cc8b5
Library Location	Mechanical Engineering
Date	2021
Notes	TÜBİTAK
Sample Text	Exoskeletons are increasingly helping people with different applications. Regardless of what they were built for, exoskeletons have a common discomfort problem from the misalignment of robot and human joints. In this paper, a fixation design for a lower extremity exoskeleton is presented. A method was proposed to determine necessary passive degrees of freedom of the designed brace system and to identify the parameters affecting interaction forces and moments between human and exoskeleton. The proposed method was validated by analyzing the human-machine interface statically and dynamically. The results show that the problem of undesired interaction forces due to misalignment may be solved theoretically with the proposed design.
DOI	10.1109/INDIN45523.2021.9557500

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Özyeğin University

A custom brace design to connect a user limb to an exoskeleton link with minimal discomfort

Author Çevik, Süleyman Can, Derman, Mustafa, Ünal, Ramazan, Uğurlu, Regaip Barkan, Bebek, Özkan

Publication Date 2021

Publication Place - IEEE

Type Document

Language English

Digital Yes

Manuscript No

Library Özyeğin University

Library Asset ID 978-172814395-8

Record ID 76bd245b-a4dd-46b4-b8c5-acedd56cc8b5

Library Location Mechanical Engineering

Date 2021

Notes TÜBİTAK

Sample Text Exoskeletons are increasingly helping people with different applications. Regardless of what they were built for, exoskeletons have a common discomfort problem from the misalignment of robot and human joints. In this paper, a fixation design for a lower extremity exoskeleton is presented. A method was proposed to determine necessary passive degrees of freedom of the designed brace system and to identify the parameters affecting interaction forces and moments between human and exoskeleton. The proposed method was validated by analyzing the human-machine interface statically and dynamically. The results show that the problem of undesired interaction forces due to misalignment may be solved theoretically with the proposed design.

DOI 10.1109/INDIN45523.2021.9557500