İleri Malzemeler ve Nanoteknoloji Ana Bilim Dalı Tez Koleksiyonu

Permanent URI for this collectionhttps://hdl.handle.net/20.500.12573/420

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Design and control of universal test platform for lower limb assistive devices
(Abdullah Gül Üniversitesi, 2018) BİLGİ, MUHAMMET FURKAN; AGÜ, Mühendislik Fakültesi, Makine Mühendisliği Bölümü; BİLGİ, MUHAMMET FURKAN
Robotic lower limb assistive devices are highly important tools because they are being used in rehabilitation of patients who has problems with their lower limbs or enhancing the capabilty of human such as lifting or carrying high loads. Besides, testing and evaluation of these devices accurately has vital importance. Robotic testing has many advantegeous aspects such as being able to perfom long term operations and mimic dangerous conditions such as near-fall etc. Also, collecting data from test device is easier than collecting from human. First, a conceptual exoskeleton which can perform walking (weight acceptance, push-off and swing), sit to stand and stair climbing tasks is designed. To be able to perform these tasks, springs, an actuator and engage disengage mechanism are mounted on the exoskeleton and coefficient of springs, and required power of actuator are calculated. Secondly, a test platform design is proposed. After that, a controller that is meant to mimic the hip motion (center of mass motion and hip joint) is introduced by using MATLAB-Simulink.
Design of lightweight and compact knee-ankle assistive device for walking and sit to stance
(Abdullah Gül Üniversitesi, 2018) FURKAN BALTACIOĞLU, MEHMET; AGÜ, Mühendislik Fakültesi, Makine Mühendisliği Bölümü; FURKAN BALTACIOĞLU, MEHMET
In this study, design of a conceptual semi-active transfemoral prothesis which can be used for walking, sit-to-stand and stair climbing was studied. In this study, human data in literature were analyzed and according to these data, firstly conceptual design of the prosthesis was presented. The first initial concept design was also built by means of 3D printer. Thereafter according to built model, the conceptual design was modified to make it more stable for functions. Also, the theoretical spring coefficients were calculated. According to structural parameters, FEM analyses of prosthesis were made. And parts on prosthesis were optimized by using topology optimization process.

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