Force Feedback Control of Lower Extremity Exoskeleton Assisting of Load Carrying Human

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dc.contributor.authorSahin, Yusuf
dc.contributor.authorBotsali, Fatih Mehmet
dc.contributor.authorKalyoncu, Mete
dc.contributor.authorTinkir, Mustafa
dc.contributor.authorOnen, Umit
dc.contributor.authorYilmaz, Nihat
dc.contributor.authorBaykan, Omer Kaan
dc.date.accessioned2020-03-26T18:50:49Z
dc.date.available2020-03-26T18:50:49Z
dc.date.issued2014
dc.departmentSelçuk Üniversitesien_US
dc.description4th International Conference on Mechanics, Simulation and Control (ICMSC) -- JUN 21-22, 2014 -- Moscow, RUSSIAen_US
dc.description.abstractLower 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.en_US
dc.description.sponsorshipSci & Engn Insten_US
dc.description.sponsorshipScientific and Technological Research Council of TurkeyTurkiye Bilimsel ve Teknolojik Arastirma Kurumu (TUBITAK) [108M289]; Scientific Research Projects Coordinatorships of Selcuk Universityen_US
dc.description.sponsorshipThis work is supported by The Scientific and Technological Research Council of Turkey (Project No: 108M289) and The Scientific Research Projects Coordinatorships of Selcuk University.en_US
dc.identifier.doi10.4028/www.scientific.net/AMM.598.546en_US
dc.identifier.endpage550en_US
dc.identifier.isbn978-3-03835-179-5
dc.identifier.issn1660-9336en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage546en_US
dc.identifier.urihttps://dx.doi.org/10.4028/www.scientific.net/AMM.598.546
dc.identifier.urihttps://hdl.handle.net/20.500.12395/30879
dc.identifier.volume598en_US
dc.identifier.wosWOS:000348191700103en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherTRANS TECH PUBLICATIONS LTDen_US
dc.relation.ispartofADVANCED MATERIALS, MECHANICS AND INDUSTRIAL ENGINEERINGen_US
dc.relation.ispartofseriesApplied Mechanics and Materials
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.selcuk20240510_oaigen_US
dc.subjectLower-extremityen_US
dc.subjectexoskeletonen_US
dc.subjectelectro-hydraulicen_US
dc.subjectforce feedbacken_US
dc.subjectcontrolen_US
dc.titleForce Feedback Control of Lower Extremity Exoskeleton Assisting of Load Carrying Humanen_US
dc.typeConference Objecten_US

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