Name
Title | ||
|---|---|---|
Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-existence |
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/ICORR.2019.8779407 | 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) |
Keywords | Field | DocType |
Biomechanical Phenomena,Equipment Design,Exoskeleton Device,Humans,Lower Extremity,Robotics,Walking | High fidelity,Torque,Simulation,Computer science,Electric power system,Exoskeleton,Solid modeling,Ankle,Human–robot interaction,Actuator | Conference |
Volume | ISSN | ISBN |
2019 | 1945-7898 | 978-1-7281-2756-9 |
Citations | PageRank | References |
0 | 0.34 | 4 |
Authors | ||
8 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mehmet C. Yildirim | 1 | 0 | 0.68 |
| Ahmet Talha Kansizoglu | 2 | 0 | 0.68 |
| Sinan Emre | 3 | 0 | 0.34 |
| Mustafa Derman | 4 | 0 | 0.34 |
| Sinan Coruk | 5 | 0 | 0.34 |
| Ahmed Fahmy Soliman | 6 | 1 | 0.75 |
| Polat Sendur | 7 | 2 | 1.45 |
| Barkan Ugurlu | 8 | 116 | 14.58 |