TY - GEN
T1 - Co-ex
T2 - 16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019
AU - Yildirim, Mehmet C.
AU - Kansizoglu, Ahmet Talha
AU - Emre, Sinan
AU - Derman, Mustafa
AU - Coruk, Sinan
AU - Soliman, Ahmed Fahmy
AU - Sendur, Polat
AU - Ugurlu, Barkan
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/6
Y1 - 2019/6
N2 - In this paper, we present our research study concerning the design and development of an exoskeleton that aims to provide 3D walking support with minimum number of actuators. Following a prior simulation study, the joint configuration was primarily determined. In order for the exoskeleton to possess advanced characteristics, the following design criteria were investigated: i) all the actuators (hip/knee/ankle) were deployed around the waist area to decrease leg weight and improve wearability, ii) custom-built series elastic actuators were used to power system for high fidelity torque-controllability, iii) 3D walking support is potentially enabled with reduced power requirements. As a result, we built the first actual prototype to experimentally verify the aforementioned design specifications. Furthermore, the preliminary torque control experiments indicated the viability of torque control.
AB - In this paper, we present our research study concerning the design and development of an exoskeleton that aims to provide 3D walking support with minimum number of actuators. Following a prior simulation study, the joint configuration was primarily determined. In order for the exoskeleton to possess advanced characteristics, the following design criteria were investigated: i) all the actuators (hip/knee/ankle) were deployed around the waist area to decrease leg weight and improve wearability, ii) custom-built series elastic actuators were used to power system for high fidelity torque-controllability, iii) 3D walking support is potentially enabled with reduced power requirements. As a result, we built the first actual prototype to experimentally verify the aforementioned design specifications. Furthermore, the preliminary torque control experiments indicated the viability of torque control.
UR - https://www.scopus.com/pages/publications/85071148637
U2 - 10.1109/ICORR.2019.8779407
DO - 10.1109/ICORR.2019.8779407
M3 - Conference contribution
C2 - 31374697
AN - SCOPUS:85071148637
T3 - IEEE International Conference on Rehabilitation Robotics
SP - 605
EP - 610
BT - 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019
PB - IEEE Computer Society
Y2 - 24 June 2019 through 28 June 2019
ER -