TY - CHAP
T1 - Towards Crutch-Free 3-D Walking Support with the Lower Body Exoskeleton Co-Ex
T2 - Self-balancing Squatting Experiments
AU - Coruk, Sinan
AU - Soliman, Ahmed Fahmy
AU - Dalgic, Oguzhan
AU - Yildirim, Mehmet C.
AU - Ugur, Deniz
AU - Ugurlu, Barkan
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - In this paper, we succinctly present the hardware properties and capabilities of the lower body exoskeleton Co-Ex, which was developed to attain self-balancing and crutch-free walking support for those experiencing ambulatory difficulties in general. To provide full 3-D walking support while containing the number of required actuators, it includes 4 active joints per leg. Custom-built series elastic actuators enable the torque sensing and controllability at each joint, enhancing the robot’s physical interaction capabilities. While limiting the number of active joints minimizes the weight and energy requirements, the underactuated leg configuration increased the computational load. The preliminary squatting experiments revealed that Co-Ex may provide crutch-free 3-D movement support.
AB - In this paper, we succinctly present the hardware properties and capabilities of the lower body exoskeleton Co-Ex, which was developed to attain self-balancing and crutch-free walking support for those experiencing ambulatory difficulties in general. To provide full 3-D walking support while containing the number of required actuators, it includes 4 active joints per leg. Custom-built series elastic actuators enable the torque sensing and controllability at each joint, enhancing the robot’s physical interaction capabilities. While limiting the number of active joints minimizes the weight and energy requirements, the underactuated leg configuration increased the computational load. The preliminary squatting experiments revealed that Co-Ex may provide crutch-free 3-D movement support.
UR - http://www.scopus.com/inward/record.url?scp=85109546621&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-69547-7_51
DO - 10.1007/978-3-030-69547-7_51
M3 - Chapter
AN - SCOPUS:85109546621
T3 - Biosystems and Biorobotics
SP - 313
EP - 317
BT - Biosystems and Biorobotics
PB - Springer Science and Business Media Deutschland GmbH
ER -