Browsing by Author "Unal, Ramazan"

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Citation - Scopus: 7
ANT-M: Design of Passive Lower-Limb Exoskeleton for Weight-Bearing Assistance in Industry
(Springer International Publishing, 2019) Guncan, Berkay; Unal, Ramazan
This study describes the optimized design of a passive lower limb exoskeleton for workers in the industry. The exoskeleton is aimed at helping workers who carry heavy loads, by supporting their posture and reducing stress in their knees which would prevent future injuries. However, most of the previous passive designs are insufficient in a way that they are bulky. Therefore, this study is focused on achieving lightweight passive exoskeleton. Topology optimization has been carried out to reach this goal. The results are validated using finite elements methods, in ANSYS environment. © 2018 Elsevier B.V., All rights reserved.
Design of a Knee Exoskeleton Assisting During Walking, Sit-to-Stand, and Stair Ascending
(2021) Unal, Ramazan; Bilgi, Muhammet Furkan
Bu çalışmada, yürümede, ayağa kalkmada ve merdiven çıkmada ağırlık kabulüne yardımcı olan bir diz dış iskeletini sunuyoruz. Dış iskelet cihazının çalışma prensibi, doğal insan yürüyüşü, ayağa kalkma ve merdiven çıkma hareketlerinin biyo-mekanik verilerinden esinlenmiştir. İlk olarak, diz ekleminin ağırlık kabul davranışını belirlemek için doğal yürüyüş verileri analiz edilmiştir. Ardından, elastik bir elemanla ayağa kalkma hareketi için bir model oluşturulmuştur. Bundan sonra, merdiven çıkma verileri benzer şekilde analiz edilmiştir. Ardından, bu hareketler için uygun elastik elemanları, bunların elastik katsayıları ve gerekirse motor gereksinimleri tanımlanmıştır. Son olarak, önerilen diz dış iskeletinin CAD modeli sunulmuştur.
Citation - Scopus: 2
Design of Bio-Joint Shaped Knee Exoskeleton Assisting for Walking and Sit-to
(Springer International Publishing, 2019) Kapci, Mehmet Fazil; Unal, Ramazan
In this study, a bio-joint shaped knee joint exoskeleton is presented. This design is meant for avoiding misalignment of the exoskeleton joint with the biological knee joint. For this purpose a cam mechanism has been designed to prevent the misalignment from translation of the femur on tibia. Additionally, walking and sit-to-stance is passively assisted with a spring element that is activated with the heel contact. A single spring is used for both walking and sit-to-stance, due to the similar characteristics of the gait cycle and initial phases of the sit-to-stance in joint stiffness. © 2018 Elsevier B.V., All rights reserved.
Citation - WoS: 99
Citation - Scopus: 118
A Human-Robot Interaction Perspective on Assistive and Rehabilitation Robotics
(Frontiers Media S.A., 2017) Beckerle, Philipp; Salvietti, Gionata; Unal, Ramazan; Prattichizzo, Domenico; Rossi, Simone; Castellini, Claudio; Bianchi, Matteo
Assistive and rehabilitation devices are a promising and challenging field of recent robotics research. Motivated by societal needs such as aging populations, such devices can support motor functionality and subject training. The design, control, sensing, and assessment of the devices become more sophisticated due to a human in the loop. This paper gives a human-robot interaction perspective on current issues and opportunities in the field. On the topic of control and machine learning, approaches that support but do not distract subjects are reviewed. Options to provide sensory user feedback that are currently missing from robotic devices are outlined. Parallels between device acceptance and affective computing are made. Furthermore, requirements for functional assessment protocols that relate to real-world tasks are discussed. In all topic areas, the design of human-oriented frameworks and methods is dominated by challenges related to the close interaction between the human and robotic device. This paper discusses the aforementioned aspects in order to open up new perspectives for future robotic solutions.