Yazar "Botsali, Fatih M." seçeneğine göre listele

Listeleniyor 1 - 2 / 2
  • Küçük Resim Yok
    Öğe
    Design and Actuator Selection of a Lower Extremity Exoskeleton
    (IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2014) Onen, Umit; Botsali, Fatih M.; Kalyoncu, Mete; Tinkir, Mustafa; Yilmaz, Nihat; Sahin, Yusuf
    Lower extremity exoskeletons are wearable robots that integrate human intelligence with the strength of legged robots. Recently, lower extremity exoskeletons have been specifically developed for transportation of disabled individuals. This paper summarizes the anthropomorphic design of a lower extremity exoskeleton named "walking supporting exoskeleton (WSE)." WSE has been developed to support some fundamental motions (walking, sitting, standing, etc.) of disabled individuals who lost leg muscular activities completely or partially. WSE has two degrees of freedom per leg which are powered by electrical actuators. This paper discusses critical design criteria considered in mechanical design and actuator selection of WSE.
  • Küçük Resim Yok
    Öğe
    Gait generation of a two-legged robot by using adaptive network based fuzzy logic control
    (IEEE, 2008) Onen, Umit; Kalyoncu, Mete; Tinkir, Mustafa; Botsali, Fatih M.
    In this paper, a control strategy is proposed for gait generation for a two-legged humanoid robot. The two-legged robot is assumed as a 3-dimensional robot with 5-links. Gait generation is performed by assuming motions in the saggital and lateral planes. Dynamic model of the robot is obtained by using MATLAB (R)/SimMechanics Toolbox. A fuzzy logic controller (FLC) is established for gait generation. The rule-base of the controller is optimized offline by using artificial neural network (NN). The neural networks are trained by using the reference joint trajectories obtained from clinical gait analysis (CGA) [13].