DESIGN, PRODUCE AND CONTROL OF A 2-DOF UPPER LIMB EXOSKELETAL ROBOT

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dc.contributor.authorYavuz, A.
dc.contributor.authorAkdogan, E.
dc.contributor.authorAktan, M. E.
dc.contributor.authorKoru, A. T.
dc.contributor.authorAktan, Mehmet Emin
dc.date.accessioned2025-10-18T09:58:14Z
dc.date.created2019
dc.date.issued2019
dc.departmentFakülteler, Mühendislik Mimarlık ve Tasarım Fakültesi, Makine Mühendisliği Bölümü
dc.description.abstractExoskeletal robots are used as high-tech products in the military, health and industrial applications. The integration of robots and humans offers new opportunities for the creation of new assistive technologies that can be used in biomedical, industrial and military applications. This paper presents the mechanical design, modeling and simulation of 2 degrees of freedom (DOF) upper limb exoskeletal robot. The system can be used both for supporting load lifting and for rehabilitation of upper limbs. A load cell was used to measure the applied load. Encoders were used to measure the shoulder and elbow joint angles. An electromyograph was developed to measure muscular activation. In this study, simulation was conducted with the PID position control, however the system hardware is applicable for a force control architecture.
dc.description.sponsorshipTUBITAK under the project name EMG Based Control of an Arm Exo skeletal System [2241B]
dc.description.sponsorshipThe development of the robotic system is supported by TUBITAK 2241B under the project name EMG Based Control of an Arm Exo skeletal System.
dc.identifier.doi10.18186/thermal.532267
dc.identifier.endpage130
dc.identifier.issn2148-7847
dc.identifier.issue2
dc.identifier.orcidAktan, Mehmet Emin/0000-0001-7058-8362
dc.identifier.orcidKoru, Ahmet Taha/0000-0001-8191-2324
dc.identifier.orcidAKDOGAN, ERHAN/0000-0003-1223-2725;
dc.identifier.startpage119
dc.identifier.trdizinid1109924
dc.identifier.urihttps://doi.org/10.18186/thermal.532267
dc.identifier.urihttps://search.trdizin.gov.tr/tr/yayin/detay/1109924
dc.identifier.urihttps://hdl.handle.net/11772/19582
dc.identifier.volume5
dc.identifier.wosWOS:000461153100012
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakTR-Dizin
dc.language.isoen
dc.publisherYildiz Technical Univ
dc.relation.ispartofJournal of Thermal Engineering
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzWoS_20251016
dc.subjectExoskeletal Robot
dc.subjectEmg
dc.subjectBiomechatronics
dc.titleDESIGN, PRODUCE AND CONTROL OF A 2-DOF UPPER LIMB EXOSKELETAL ROBOT
dc.title.alternativeDESIGN, PRODUCE AND CONTROL OF A 2-DOF UPPER LIMB EXOSKELETAL ROBOT
dc.typeArticle
dspace.entity.typePublication
relation.isAuthorOfPublicatione96b0940-cdd6-479c-acc0-0b060a6af6d0
relation.isAuthorOfPublication.latestForDiscoverye96b0940-cdd6-479c-acc0-0b060a6af6d0

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