Yazar "Botsali, Fatih Mehmet" seçeneğine göre listele

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    Force Feedback Control of Lower Extremity Exoskeleton Assisting of Load Carrying Human
    (TRANS TECH PUBLICATIONS LTD, 2014) Sahin, Yusuf; Botsali, Fatih Mehmet; Kalyoncu, Mete; Tinkir, Mustafa; Onen, Umit; Yilmaz, Nihat; Baykan, Omer Kaan
    Lower extremity exoskeletons are wearable robot manipulators that integrate human intelligence with the strength of legged robots. Recently, lower extremity exoskeletons have been specifically developed for rehabilitation, military, industrial applications and rescuing, heavy-weight lifting and civil defense applications. This paper presents controller design of a lower-extremity exoskeleton for a load carrying human to provide force feedback control against to external load carried by user during walking, sitting, and standing motions. Proposed exoskeleton system has two legs which are powered and controlled by two servo-hydraulic actuators. Proportional and Integral (PI) controller is designed for force control of system. Six flexible force sensors are placed in exoskeleton shoe and two load cells are mounted between the end of the piston rod and lower leg joint. Force feedback control is realized by comparing ground reaction force and applied force of hydraulic cylinder. This paper discusses control simulations and experimental tests of lower extremity exoskeleton system.
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    Mechanical Design of Lower Extremity Exoskeleton Assisting Walking of Load Carrying Human
    (TRANS TECH PUBLICATIONS LTD, 2014) Sahin, Yusuf; Botsali, Fatih Mehmet; Kalyoncu, Mete; Tinkir, Mustafa; Onen, Umit; Yilmaz, Nihat; Cakan, Abdullah
    Exoskeletons are used in rehabilitation, military, industrial applications and rescuing, heavy-weight lifting and civil defense applications as well. This paper presents to design of a lower-extremity exoskeleton assisting walking of a load carrying human. Proposed exoskeleton system is designed to be appropriate mechanism with human lower extremity and it operates synchronously with the human realizes. The aim of exoskeleton actuator system is to provide forces against to external load carried by user during walking, sitting, and standing motions. Thus, it supports human walking and significant portion of external load carrying by the user. Also it makes possible to user spend less energy, less stress and fatigue. Proposed work involves the following design steps: kinematic synthesis of the exoskeleton, mechanical and electro-hydraulic system design.
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    Modeling and Controller Comparison for Quarter Car Suspension System by Using PID and Type-1 Fuzzy Logic
    (TRANS TECH PUBLICATIONS LTD, 2014) Cakan, Abdullah; Botsali, Fatih Mehmet; Tinkir, Mustafa
    Ensuring vehicle drive comfort and securing drive safety are the leading topics among the most interested issues for researchers in vehicle dynamics area. In this paper, a method utilizing a linear actuator is proposed for active control of the vehicle vibrations which are caused by road profile, intending to improve drive comfort and safety of road vehicles. The mathematical model belonging to the system that is evaluated as two degrees of freedom quarter car suspension system is derived by using Lagrange Equation of Motion and MATLAB/Simulink software. In addition to modeling technique, dynamic model of proposed system is created in MSC-ADAMS software and it is simulated in both Matlab and Adams programs together. Moreover two different controllers are designed, which are PID and Artificial Neural Network Based Fuzzy Logic (ANNFL) control in order to use in active vibration control simulations. Performances of the designed controllers are examined and the suitability of the designed controllers is studied by comparing their performances in case of using two different road profile functions.