ergin kilic | Suleyman Demirel University (original) (raw)

Papers by ergin kilic

Gazi Üniversitesi Fen Bilimleri Dergisi, 2017

This study aims design and production of an active wrist orthosis which could be used both for th... more This study aims design and production of an active wrist orthosis which could be used both for the rehabilitation and the continuance of daily and professional activities of patients having a tendon torn or inflammation at elbow location. Active wrist orthosis is designed as an electromechanical device which can work interacting with forearm and wrist. This device will be used to assist the wrist movements of people who should perform excessively repetitive wrist motions due to their profession and will also be used for physical therapy of diseases which are known as tennis and golfer elbow at the medicine literature. The contribution of the proposed study is to realize a mobile and an ergonomic wrist orthosis design which would have an ability of high torque support to the wrist at high speed levels and could be used for the avoidance or the treatment of tendon torn diseases occurring at the elbow location for the ones who should make repetitive wrist movements due to their vocatio...

Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi, 2014

Exoskeleton robots are wearable electromechanical structures which can work interacting with huma... more Exoskeleton robots are wearable electromechanical structures which can work interacting with human limbs. These robots are used as assistive limbs, rehabilitation and power augmentation purposes for elderly or paralyzed persons and healthy persons respectively. The similarity of the design and control between the exoskeleton robots and human body maximizes the device performance. Human body neuro-muscular system varies the stiffness of the human joints regularly and thus provides flexible and safe movement capability with minimum energy consumption. The studies on the variable stiffness actuator designs are stil moving along rapidly in the present time. The leading ones are antagonistic and pretension type variable stiffness actuators. Exoskeleton robots need to be drived energy efficiently and with less power requirements as they are mobile devices supplied by batteries. In this study, antagonistic and pretension type variable stiffness actuator designs of ankle joint are compared ...

Turkish Journal of Electrical Engineering and Computer Sciences, 2010

This paper focuses on viable position estimation schemes for timing belt drives where the positio... more This paper focuses on viable position estimation schemes for timing belt drives where the position of the carriage (load) is to be determined via reference models receiving input from a position sensor attached to the actuator of the timing belt. A detailed analysis of the transmission error sources is presented, and a number of relevant mathematical models are developed using a priori knowledge of the process. This paper demonstrates that such schemes are very effective when the drive system is not subjected to external loads and operating conditions do not change considerably i.e. ambient temperature, belt tension.

Gazi Üniversitesi Mühendislik-Mimarlık Fakültesi Dergisi, 2020

 Variable stiffness ankle exoskeleton robot  Estimation of ankle joint stiffness value over EMG... more  Variable stiffness ankle exoskeleton robot  Estimation of ankle joint stiffness value over EMG signals  Real-time implementation of EMG based ankle stiffness estimation Figure A. Impedance control of VS-AnkleExo and position control diagram of the stiffness adjustment mechanism to follow the estimated ankle stiffness value Purpose: The purpose of this study is to estimate the ankle joint stiffness with using the ankle musculoskeletal model parameters obtained via EMG signals and to show the real-time implementation of these predicted stiffness values on an ankle exoskeleton robot (VS-AnkleExo). Theory and Methods: In this study, a musculoskeletal model approach was used to describe the behavior of the ankle joint. The model consists of a joint driven by two muscles that provide plantar-flexion and dorsi-flexion movements of the ankle. In order to obtain the muscle forces that provide the necessary movements of the ankle, it was used Mykin muscle model. The parameters in the Mykin model were found by the help of measured torque and EMG data obtained with different feature extraction methods such as Root Mean Square, Mean Absolute Value, Average Amplitude Change, Difference in Absolute Standard Deviation Value, v-Order, Log Detector, Zero Crossing and Slope Sign Change. The Mykin model parameters were changed according to the feature extraction methods. Therefore, a verification experiment was carried out to decide which signal processing method is the best, and it was decided that Slope Sign Change method is the most appropriate one. Then, the stiffness estimation of the ankle joint was performed by using the biomechanical parameters found with this method. Finally, the estimated stiffness value was sent to actuation unit of AnkleExo in real-time, and the process of applying the force feedback impedance control algorithm was carried out. Results: The test results obtained with the Slope Sign Change method show that the estimated ankle joint stiffness value varies continuously between 200 Nm/rad-700 Nm/rad. Furthermore, it has been observed that the interaction torque between the user and the exoskeleton robot can be kept about 25% lower levels while VS-AnkleExo follows the ankle position by constantly changing the stiffness value in real-time. Conclusion: The estimated ankle stiffness values revealed in this study match with the ankle stiffness values found in the literature. Besides, it is seen that lower interaction torques occurred between the user and the robot during imitation of the stiffness values of the ankle in a real-time implementation of an impedance control.

Exoskeleton robots are wearable electromechanical structures which can work interacting with huma... more Exoskeleton robots are wearable electromechanical structures which can work interacting with human limbs. Theserobotsareused as assistivelimbs, rehabilitationandpoweraugmentationpurposesforelderly or paralyzedpersons andhealthypersons respectively.Human body neuro-muscular system varies the stiffness and damping of the human joints regularly and thus provides flexible and stable movement capability with minimum energy consumption. Damping coefficients and torques in the joints needs to be adjusted with the change of stiffness to provide stable behavior during walking cycles. Magneto-rheological brake are the passive actuators that can adjust the damping torques in a very short response time. However, the maximum values of damping coefficients and torques are needed for the design of MR dampers to be used in the joints of exoskeleton robots. Shamaei et. al. (2013) derived a set of statistical equations to predict thejoint stiffnessin a gait cycle for the persons with different height...

Journal of Mechanical Science and Technology, 2020

Compliant actuators are employed in exoskeleton robots instead of stiff actuators for safe human-... more Compliant actuators are employed in exoskeleton robots instead of stiff actuators for safe human-robot interaction. In parallel with this idea, we previously constructed a biomimetic compliant exoskeleton robot (BioComEx). In this study, to provide more stable and safe trajectory tracking even under disturbances, magneto-rheological (MR) brakes were added to all joints of BioComEx as variable damping actuators and a PID+D controller was proposed. To evaluate the robot and controller, first, BioComEx was hung on a platform and the controller was applied without device user under external forces. This primary test results showed that the proposed design and controller can effectively minimize disturbance effects and consequently reduce trajectory tracking oscillations. In the rest of the study, the similar control experiments were repeated with a user who has unilateral lower limb movement disorders. In these experiments, the movements of the user’s healthy leg were detected by force feedback impedance control algorithm and then were used as reference for the impaired leg with walking cycle delay in real time. The secondary test results showed that the variable impedance exoskeleton robot design with PID+D controller can ensure effective walking assistance for the impaired human legs.

Journal of Automation and Control Engineering, 2016

Lateral Epicondylitis and Medial Epicondylitis are occupational illnesses and they are frequently... more Lateral Epicondylitis and Medial Epicondylitis are occupational illnesses and they are frequently seen on people who are making excessive extension and flexion wrist movements more than 2 hours a day. Patients have to give a break in the middle of their working process because of the pain at the elbow location while performing extension and flexion wrist movements against resistive forces. To deal with this occupational disease, an active wrist orthosis device is designed first, and then, its successful operational functionality is shown in MATLAB/Simmechanics environment using a fuzzy logic controller. 

Journal of Mechanical Science and Technology, 2017

This study proposes an Electromyography (EMG) based neural network and admittance control strateg... more This study proposes an Electromyography (EMG) based neural network and admittance control strategy for an Active wrist orthosis (AWO) that is mobile, powerful and lightweight in order to avoid the occurrence and/or for the treatment of repetitive strain injuries. The device has an EMG based control strategy so that it can track the contraction of the forearm muscles of interest in real time to assist the device user during the extension and flexion wrist movements. Indeed, time-delayed artificial neural networks were trained offline to predict the forearm muscle forces based on features extracted from raw EMG signals. The predicted force values were used to calculate a reference velocity command by using an admittance model with properly adjusted parameters. A closed loop velocity control system was used to perform the desired wrist motion. Some experimental studies were performed to evaluate the assistive performance of the AWO device with the proposed control system under various disturbance loads. The experimental results show that the activation levels of the forearm muscles were considerably reduced when the AWO device was enabled.

Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2019

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2013

This study focuses on the slip prediction in a cable-drum system using artificial neural networks... more This study focuses on the slip prediction in a cable-drum system using artificial neural networks for the prospect of developing linear motion sensing scheme for such mechanisms. Both feed-forward and recurrent-type artificial neural network architectures are considered to capture the slip dynamics of cable-drum mechanisms. In the article, the network development is presented in a progressive (step-by-step) fashion for the purpose of not only making the design process transparent to the readers but also highlighting the corresponding challenges associated with the design phase (i.e. selection of architecture, network size, training process parameters, etc.). Prediction performances of the devised networks are evaluated rigorously via an experimental study. Finally, a structured neural network, which embodies the network with the best prediction performance, is further developed to overcome the drift observed at low velocity. The study illustrates that the resulting structured neural...

Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, 2017

People who perform excessive wrist movements throughout the day because of their professions have... more People who perform excessive wrist movements throughout the day because of their professions have a higher risk of developing lateral and medial epicondylitis. If proper precautions are not taken against these diseases, serious consequences such as job loss and early retirement can occur. In this study, the design and control of an active wrist orthosis that is mobile, powerful and lightweight is presented as a means to avoid the occurrence and/or for the treatment of repetitive strain injuries in an effective manner. The device has an electromyography-based control strategy so that the user's intention always comes first. In fact, the device-user interaction is mainly activated by the electromyography signals measured from the forearm muscles that are responsible for the extension and flexion wrist movements. Contractions of the muscles are detected using surface electromyography sensors, and the desired quantity of the velocity value of the wrist is extracted from a fuzzy logic controller. Then, the actuator system of the device comes into play by conveying the necessary motion support to the wrist. Experimental studies show that the presented device actually reduces the demand on the muscles involved in repetitive strain injuries while performing challenging daily life activities including extension and flexion wrist motions.

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2016

Exoskeleton robots are wearable electromechanical structures interacting with human limbs. They a... more Exoskeleton robots are wearable electromechanical structures interacting with human limbs. They are used for extending or replacing human performance in power augmentation and rehabilitation applications. The neuro-muscular system of the human body provides flexible and stable movement with minimum energy consumption by means of the compliant actuation of human joints. Similar to human body, compliant actuation can be used to maximize the performance in exoskeleton robots. In the present study, we designed a new biomimetic compliant lower limb exoskeleton robot (BioComEx). Firstly, the current exoskeleton robot designs and biomechanics of the human body joints are reviewed. Then, according to the inferences of human joint biomechanics review, ankle joint is designed as variable stiffness actuator, knee and hip joints are designed as series elastic actuators. Kinetostatic analysis of these joint mechanisms is conducted, and finally the design details of each joint and complete exoskeleton structure adapted to a human dummy model are explained.

Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics, 2015

This paper focuses on viable position estimation schemes for timing belt drives where the positio... more This paper focuses on viable position estimation schemes for timing belt drives where the position of the carriage (load) is to be calculated via reference models accepting input from a position sensor on the actuator of the timing belt. A detailed analysis on the source of transmission errors is presented a number of relevant mathematical model is are developed utilizing a priori knowledge on the process. The paper illustrates that such schemes are very effective when the drive system is not subjected to external loads as well as widely changing operating conditions such as ambient temperature, belt tension.

The accurate control of CNC machine axis requires relatively expensive direct measurement sensors... more The accurate control of CNC machine axis requires relatively expensive direct measurement sensors. In this paper, artificial neural network based position error estimators are comparatively evaluated as a part of a low-cost (but high performance) manufacturing system. Such schemes are very effective when the system is not subjected to external loads as well as widely changing operating conditions such as ambient temperature.

2013 IEEE International Conference on Mechatronics (ICM), 2013

ABSTRACT This study focuses on an integrated software and hardware platform that is capable of pe... more ABSTRACT This study focuses on an integrated software and hardware platform that is capable of performing (real-time/non-real-time) hardware-in-the-loop simulation of dynamic systems, including electrical machinery, CNC machine tools. In this approach, once the dynamics of the plant to be controlled is defined via C++ language, the resulting code is cross-compiled automatically on a PC. Executable files along with the necessary drivers are downloaded onto the composite hardware platform that consists of a Field Programmable Gate Array (FPGA) along with a powerful DSP board. The paper elaborates the overall performance of this novel hybrid HILS platform on a CNC machine tool application.

2011 IEEE International Conference on Mechatronics, 2011

Abstract This work presents a methodology for designing neural networks to predict the behavior o... more Abstract This work presents a methodology for designing neural networks to predict the behavior of nonlinear dynamical systems with the guidance of a priori knowledge on the physical systems. The traditional neural network development techniques are known to ...

2011 IEEE International Conference on Mechatronics, 2011

Abstract This study evaluates cable-drum mechanisms as linear motion sensors for certain CNC appl... more Abstract This study evaluates cable-drum mechanisms as linear motion sensors for certain CNC applications. In this work, the dynamical attributes of a generic device are studied experimentally. The conducted research indicates that despite the significant traction force ...

In this paper, an enhanced velocity and acceleration estimation method is presented based on the ... more In this paper, an enhanced velocity and acceleration estimation method is presented based on the discrete-time adaptive windowing technique that exclusively employs incremental optical position sensor readings. In a previous work proposed by, a first-order adaptive windowing method (FOAW) was shown to be optimal in the sense that it minimizes the velocity error variance while maximizing the accuracy of the

Signals and Electronic …, 2010

... Ozgur Baser, Ergin Kilic, E. Ilhan Konukseven, Melik Dolen Middle East Technical University, ... more ... Ozgur Baser, Ergin Kilic, E. Ilhan Konukseven, Melik Dolen Middle East Technical University, Mechanical Engineering Department Inonu Blvd., 06531 Ankara, Turkey e-mail: {obaser, kergin, konuk, dolen}@metu.edu.tr ... 1, 2000. [3] NL Bernstein, DA Lawrence, and LY Pao ...

Gazi Üniversitesi Fen Bilimleri Dergisi, 2017

This study aims design and production of an active wrist orthosis which could be used both for th... more This study aims design and production of an active wrist orthosis which could be used both for the rehabilitation and the continuance of daily and professional activities of patients having a tendon torn or inflammation at elbow location. Active wrist orthosis is designed as an electromechanical device which can work interacting with forearm and wrist. This device will be used to assist the wrist movements of people who should perform excessively repetitive wrist motions due to their profession and will also be used for physical therapy of diseases which are known as tennis and golfer elbow at the medicine literature. The contribution of the proposed study is to realize a mobile and an ergonomic wrist orthosis design which would have an ability of high torque support to the wrist at high speed levels and could be used for the avoidance or the treatment of tendon torn diseases occurring at the elbow location for the ones who should make repetitive wrist movements due to their vocatio...

Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi, 2014

Exoskeleton robots are wearable electromechanical structures which can work interacting with huma... more Exoskeleton robots are wearable electromechanical structures which can work interacting with human limbs. These robots are used as assistive limbs, rehabilitation and power augmentation purposes for elderly or paralyzed persons and healthy persons respectively. The similarity of the design and control between the exoskeleton robots and human body maximizes the device performance. Human body neuro-muscular system varies the stiffness of the human joints regularly and thus provides flexible and safe movement capability with minimum energy consumption. The studies on the variable stiffness actuator designs are stil moving along rapidly in the present time. The leading ones are antagonistic and pretension type variable stiffness actuators. Exoskeleton robots need to be drived energy efficiently and with less power requirements as they are mobile devices supplied by batteries. In this study, antagonistic and pretension type variable stiffness actuator designs of ankle joint are compared ...

Turkish Journal of Electrical Engineering and Computer Sciences, 2010

This paper focuses on viable position estimation schemes for timing belt drives where the positio... more This paper focuses on viable position estimation schemes for timing belt drives where the position of the carriage (load) is to be determined via reference models receiving input from a position sensor attached to the actuator of the timing belt. A detailed analysis of the transmission error sources is presented, and a number of relevant mathematical models are developed using a priori knowledge of the process. This paper demonstrates that such schemes are very effective when the drive system is not subjected to external loads and operating conditions do not change considerably i.e. ambient temperature, belt tension.

Gazi Üniversitesi Mühendislik-Mimarlık Fakültesi Dergisi, 2020

 Variable stiffness ankle exoskeleton robot  Estimation of ankle joint stiffness value over EMG... more  Variable stiffness ankle exoskeleton robot  Estimation of ankle joint stiffness value over EMG signals  Real-time implementation of EMG based ankle stiffness estimation Figure A. Impedance control of VS-AnkleExo and position control diagram of the stiffness adjustment mechanism to follow the estimated ankle stiffness value Purpose: The purpose of this study is to estimate the ankle joint stiffness with using the ankle musculoskeletal model parameters obtained via EMG signals and to show the real-time implementation of these predicted stiffness values on an ankle exoskeleton robot (VS-AnkleExo). Theory and Methods: In this study, a musculoskeletal model approach was used to describe the behavior of the ankle joint. The model consists of a joint driven by two muscles that provide plantar-flexion and dorsi-flexion movements of the ankle. In order to obtain the muscle forces that provide the necessary movements of the ankle, it was used Mykin muscle model. The parameters in the Mykin model were found by the help of measured torque and EMG data obtained with different feature extraction methods such as Root Mean Square, Mean Absolute Value, Average Amplitude Change, Difference in Absolute Standard Deviation Value, v-Order, Log Detector, Zero Crossing and Slope Sign Change. The Mykin model parameters were changed according to the feature extraction methods. Therefore, a verification experiment was carried out to decide which signal processing method is the best, and it was decided that Slope Sign Change method is the most appropriate one. Then, the stiffness estimation of the ankle joint was performed by using the biomechanical parameters found with this method. Finally, the estimated stiffness value was sent to actuation unit of AnkleExo in real-time, and the process of applying the force feedback impedance control algorithm was carried out. Results: The test results obtained with the Slope Sign Change method show that the estimated ankle joint stiffness value varies continuously between 200 Nm/rad-700 Nm/rad. Furthermore, it has been observed that the interaction torque between the user and the exoskeleton robot can be kept about 25% lower levels while VS-AnkleExo follows the ankle position by constantly changing the stiffness value in real-time. Conclusion: The estimated ankle stiffness values revealed in this study match with the ankle stiffness values found in the literature. Besides, it is seen that lower interaction torques occurred between the user and the robot during imitation of the stiffness values of the ankle in a real-time implementation of an impedance control.

Exoskeleton robots are wearable electromechanical structures which can work interacting with huma... more Exoskeleton robots are wearable electromechanical structures which can work interacting with human limbs. Theserobotsareused as assistivelimbs, rehabilitationandpoweraugmentationpurposesforelderly or paralyzedpersons andhealthypersons respectively.Human body neuro-muscular system varies the stiffness and damping of the human joints regularly and thus provides flexible and stable movement capability with minimum energy consumption. Damping coefficients and torques in the joints needs to be adjusted with the change of stiffness to provide stable behavior during walking cycles. Magneto-rheological brake are the passive actuators that can adjust the damping torques in a very short response time. However, the maximum values of damping coefficients and torques are needed for the design of MR dampers to be used in the joints of exoskeleton robots. Shamaei et. al. (2013) derived a set of statistical equations to predict thejoint stiffnessin a gait cycle for the persons with different height...

Journal of Mechanical Science and Technology, 2020

Compliant actuators are employed in exoskeleton robots instead of stiff actuators for safe human-... more Compliant actuators are employed in exoskeleton robots instead of stiff actuators for safe human-robot interaction. In parallel with this idea, we previously constructed a biomimetic compliant exoskeleton robot (BioComEx). In this study, to provide more stable and safe trajectory tracking even under disturbances, magneto-rheological (MR) brakes were added to all joints of BioComEx as variable damping actuators and a PID+D controller was proposed. To evaluate the robot and controller, first, BioComEx was hung on a platform and the controller was applied without device user under external forces. This primary test results showed that the proposed design and controller can effectively minimize disturbance effects and consequently reduce trajectory tracking oscillations. In the rest of the study, the similar control experiments were repeated with a user who has unilateral lower limb movement disorders. In these experiments, the movements of the user’s healthy leg were detected by force feedback impedance control algorithm and then were used as reference for the impaired leg with walking cycle delay in real time. The secondary test results showed that the variable impedance exoskeleton robot design with PID+D controller can ensure effective walking assistance for the impaired human legs.

Journal of Automation and Control Engineering, 2016

Lateral Epicondylitis and Medial Epicondylitis are occupational illnesses and they are frequently... more Lateral Epicondylitis and Medial Epicondylitis are occupational illnesses and they are frequently seen on people who are making excessive extension and flexion wrist movements more than 2 hours a day. Patients have to give a break in the middle of their working process because of the pain at the elbow location while performing extension and flexion wrist movements against resistive forces. To deal with this occupational disease, an active wrist orthosis device is designed first, and then, its successful operational functionality is shown in MATLAB/Simmechanics environment using a fuzzy logic controller. 

Journal of Mechanical Science and Technology, 2017

This study proposes an Electromyography (EMG) based neural network and admittance control strateg... more This study proposes an Electromyography (EMG) based neural network and admittance control strategy for an Active wrist orthosis (AWO) that is mobile, powerful and lightweight in order to avoid the occurrence and/or for the treatment of repetitive strain injuries. The device has an EMG based control strategy so that it can track the contraction of the forearm muscles of interest in real time to assist the device user during the extension and flexion wrist movements. Indeed, time-delayed artificial neural networks were trained offline to predict the forearm muscle forces based on features extracted from raw EMG signals. The predicted force values were used to calculate a reference velocity command by using an admittance model with properly adjusted parameters. A closed loop velocity control system was used to perform the desired wrist motion. Some experimental studies were performed to evaluate the assistive performance of the AWO device with the proposed control system under various disturbance loads. The experimental results show that the activation levels of the forearm muscles were considerably reduced when the AWO device was enabled.

Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2019

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2013

This study focuses on the slip prediction in a cable-drum system using artificial neural networks... more This study focuses on the slip prediction in a cable-drum system using artificial neural networks for the prospect of developing linear motion sensing scheme for such mechanisms. Both feed-forward and recurrent-type artificial neural network architectures are considered to capture the slip dynamics of cable-drum mechanisms. In the article, the network development is presented in a progressive (step-by-step) fashion for the purpose of not only making the design process transparent to the readers but also highlighting the corresponding challenges associated with the design phase (i.e. selection of architecture, network size, training process parameters, etc.). Prediction performances of the devised networks are evaluated rigorously via an experimental study. Finally, a structured neural network, which embodies the network with the best prediction performance, is further developed to overcome the drift observed at low velocity. The study illustrates that the resulting structured neural...

Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, 2017

People who perform excessive wrist movements throughout the day because of their professions have... more People who perform excessive wrist movements throughout the day because of their professions have a higher risk of developing lateral and medial epicondylitis. If proper precautions are not taken against these diseases, serious consequences such as job loss and early retirement can occur. In this study, the design and control of an active wrist orthosis that is mobile, powerful and lightweight is presented as a means to avoid the occurrence and/or for the treatment of repetitive strain injuries in an effective manner. The device has an electromyography-based control strategy so that the user's intention always comes first. In fact, the device-user interaction is mainly activated by the electromyography signals measured from the forearm muscles that are responsible for the extension and flexion wrist movements. Contractions of the muscles are detected using surface electromyography sensors, and the desired quantity of the velocity value of the wrist is extracted from a fuzzy logic controller. Then, the actuator system of the device comes into play by conveying the necessary motion support to the wrist. Experimental studies show that the presented device actually reduces the demand on the muscles involved in repetitive strain injuries while performing challenging daily life activities including extension and flexion wrist motions.

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2016

Exoskeleton robots are wearable electromechanical structures interacting with human limbs. They a... more Exoskeleton robots are wearable electromechanical structures interacting with human limbs. They are used for extending or replacing human performance in power augmentation and rehabilitation applications. The neuro-muscular system of the human body provides flexible and stable movement with minimum energy consumption by means of the compliant actuation of human joints. Similar to human body, compliant actuation can be used to maximize the performance in exoskeleton robots. In the present study, we designed a new biomimetic compliant lower limb exoskeleton robot (BioComEx). Firstly, the current exoskeleton robot designs and biomechanics of the human body joints are reviewed. Then, according to the inferences of human joint biomechanics review, ankle joint is designed as variable stiffness actuator, knee and hip joints are designed as series elastic actuators. Kinetostatic analysis of these joint mechanisms is conducted, and finally the design details of each joint and complete exoskeleton structure adapted to a human dummy model are explained.

Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics, 2015

This paper focuses on viable position estimation schemes for timing belt drives where the positio... more This paper focuses on viable position estimation schemes for timing belt drives where the position of the carriage (load) is to be calculated via reference models accepting input from a position sensor on the actuator of the timing belt. A detailed analysis on the source of transmission errors is presented a number of relevant mathematical model is are developed utilizing a priori knowledge on the process. The paper illustrates that such schemes are very effective when the drive system is not subjected to external loads as well as widely changing operating conditions such as ambient temperature, belt tension.

The accurate control of CNC machine axis requires relatively expensive direct measurement sensors... more The accurate control of CNC machine axis requires relatively expensive direct measurement sensors. In this paper, artificial neural network based position error estimators are comparatively evaluated as a part of a low-cost (but high performance) manufacturing system. Such schemes are very effective when the system is not subjected to external loads as well as widely changing operating conditions such as ambient temperature.

2013 IEEE International Conference on Mechatronics (ICM), 2013

ABSTRACT This study focuses on an integrated software and hardware platform that is capable of pe... more ABSTRACT This study focuses on an integrated software and hardware platform that is capable of performing (real-time/non-real-time) hardware-in-the-loop simulation of dynamic systems, including electrical machinery, CNC machine tools. In this approach, once the dynamics of the plant to be controlled is defined via C++ language, the resulting code is cross-compiled automatically on a PC. Executable files along with the necessary drivers are downloaded onto the composite hardware platform that consists of a Field Programmable Gate Array (FPGA) along with a powerful DSP board. The paper elaborates the overall performance of this novel hybrid HILS platform on a CNC machine tool application.

2011 IEEE International Conference on Mechatronics, 2011

Abstract This work presents a methodology for designing neural networks to predict the behavior o... more Abstract This work presents a methodology for designing neural networks to predict the behavior of nonlinear dynamical systems with the guidance of a priori knowledge on the physical systems. The traditional neural network development techniques are known to ...

2011 IEEE International Conference on Mechatronics, 2011

Abstract This study evaluates cable-drum mechanisms as linear motion sensors for certain CNC appl... more Abstract This study evaluates cable-drum mechanisms as linear motion sensors for certain CNC applications. In this work, the dynamical attributes of a generic device are studied experimentally. The conducted research indicates that despite the significant traction force ...

In this paper, an enhanced velocity and acceleration estimation method is presented based on the ... more In this paper, an enhanced velocity and acceleration estimation method is presented based on the discrete-time adaptive windowing technique that exclusively employs incremental optical position sensor readings. In a previous work proposed by, a first-order adaptive windowing method (FOAW) was shown to be optimal in the sense that it minimizes the velocity error variance while maximizing the accuracy of the

Signals and Electronic …, 2010

... Ozgur Baser, Ergin Kilic, E. Ilhan Konukseven, Melik Dolen Middle East Technical University, ... more ... Ozgur Baser, Ergin Kilic, E. Ilhan Konukseven, Melik Dolen Middle East Technical University, Mechanical Engineering Department Inonu Blvd., 06531 Ankara, Turkey e-mail: {obaser, kergin, konuk, dolen}@metu.edu.tr ... 1, 2000. [3] NL Bernstein, DA Lawrence, and LY Pao ...