Author
Ugurlu, Barkan, Sendur, Polat, Ozkaynak, Burak, Cevik, Suleyman Can, Ugur, D., Yildirim, M. C., Coruk, S., Soliman, Ahmed Fahmy
Publication Date
2025-02
Publication Place
-
IEEE
Subject
Torque control, Lower body exoskeleton, Locomotion control, Balance control
Type
Periodical
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
1083-4435
Record ID
b561294d-4e7f-4e74-9273-5779a1e1871b
Library Location
Mechanical Engineering
Date
2025-02
Notes
TÜBİTAK
Sample Text
This article presents the design, development, and implementation of walking control for the bipedal exoskeleton prototype Co-Ex. The main objective in developing this prototype is to take a successive step toward ambulatory support via an exoskeleton with self-stabilization capability. To attain this goal, Co-Ex is equipped with 8 torque-controllable active joints to provide ambulatory support while ensuring improved environmental interaction. The development of Co-Ex led to the following three contributions: first, self-stabilization capability in 3-D against external disturbances, second, a locomotion control framework that provides dynamically balanced walking behavior in 3-D despite the underactuated leg configuration, and third, a power-aware leg design in which most actuators are deployed around the waist for reduced leg inertia. To verify the self-stabilization and locomotion capabilities of Co-Ex, we conducted a series of experiments using a dummy manikin. As a result, Co-Ex showed self-stabilization behavior against disturbances and exhibited favorable locomotion characteristics that validated the proposed approach.
DOI
10.1109/TMECH.2024.3396925
Cilt
30
