Design, development, and control for the self- stabilizing bipedal exoskeleton prototype Co-Ex

Name: Design, development, and control for the self- stabilizing bipedal exoskeleton prototype Co-Ex
Author: Ugurlu, Barkan, Sendur, Polat, Ozkaynak, Burak, Cevik, Suleyman Can, Ugur, D., Yildirim, M. C., Coruk, S., Soliman, Ahmed Fahmy

İsim	Design, development, and control for the self- stabilizing bipedal exoskeleton prototype Co-Ex
Yazar	Ugurlu, Barkan, Sendur, Polat, Ozkaynak, Burak, Cevik, Suleyman Can, Ugur, D., Yildirim, M. C., Coruk, S., Soliman, Ahmed Fahmy
Basım Tarihi:	2025-02
Basım Yeri	- IEEE
Konu	Torque control, Lower body exoskeleton, Locomotion control, Balance control
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	1083-4435
Kayıt Numarası	b561294d-4e7f-4e74-9273-5779a1e1871b
Lokasyon	Mechanical Engineering
Tarih	2025-02
Notlar	TÜBİTAK
Örnek Metin	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

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Design, development, and control for the self- stabilizing bipedal exoskeleton prototype Co-Ex

Yazar Ugurlu, Barkan, Sendur, Polat, Ozkaynak, Burak, Cevik, Suleyman Can, Ugur, D., Yildirim, M. C., Coruk, S., Soliman, Ahmed Fahmy

Basım Tarihi 2025-02

Basım Yeri - IEEE

Konu Torque control, Lower body exoskeleton, Locomotion control, Balance control

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 1083-4435

Kayıt Numarası b561294d-4e7f-4e74-9273-5779a1e1871b

Lokasyon Mechanical Engineering

Tarih 2025-02

Notlar TÜBİTAK

Örnek Metin 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