Recently, many promising advancements have been recorded in the field of human-exoskeleton robot interaction. As a typical physical user-robot interaction, exoskeleton robots have been developed to augment power of a healthy user or provide walking support and rehabilitation for paralyzed patient. These devices should provide flexible movement on human anatomy by using any obstacles or limiting their movement in terms of minimum interaction force law. Especially in military applications, a robotic robot placed on the back of an exoskeleton robot needs to be transported with its own weight without being felt by the user. In this study, based on a created 2D human model, which is inspired by Geyer (2010), a three dimensional (3D) human-exoskeleton robot is enhanced to drastically reduce interaction forces between them. For this purpose, the human model is created by consisting of two feet, two lower extremities and a trunk. In order to collect correct data from 3D human-exoskeleton robot model against human model, walking data of an individual male, a weight of 66.75 kg and a height of 1.90 cm, was run across a road at a speed of 1 m/s. After 2D human model created by Geyer has been developed as 3D, the exoskeleton robot model is covered on the human model and a new human-exoskeleton robot model is re-created. A walking exercise was carried out on the human-exoskeleton model without any control. Then, a defined feedback force control was applied on the human-exoskeleton model and the results are compared with uncontrolled state.
|Journal Section||Research Articles|
: January 17, 2018
|APA||Başer, Ö , Şekerci̇, B , Kızılhan, H , Kılıç, E . (2018). İNSAN VE ALT UZUV DIŞ İSKELET ROBOTUN MATLAB SIMMECHANICS ORTAMINDA MODELLENMESİ VE ETKİLEŞİM KUVVETLERİNİN MİNİMİZE EDİLMESİ KONTROL ÇALIŞMASI . Mühendislik Bilimleri ve Tasarım Dergisi , 6 (3) , 365-374 . DOI: 10.21923/jesd.379910|