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    Öğe
    A Method for Adjusting Moment Input on an Exoskeleton Robot with Fixed Linear Actuators
    (Springer International Publishing Ag, 2017) Ozgur, Huseyin Emre; Sarigecili, Mehmet Ilteris
    Patients who lose walking ability get rehabilitation services that consist of repeated movements of the lower limbs such that the patients can regain their ability to move. Unfortunately, the change in the number of patients and need for gait rehabilitation is inversely proportional with the number of physiotherapists. There are many robotic rehabilitation systems available which are generally expensive. There is a direct need for an inexpensive rehabilitation robot that can be afforded (or can be reached) by the majority of people. As a solution to this problem, a pneumatically actuated, 4 degrees of freedom exoskeleton robot for the movement of a patient in sagittal plane and which can be used together with a body weight support system has been developed. The novelty of the proposed approach lies in how pneumatic linear actuation is used to adjust the torque required to move a limb for a particular patient. The proposed system has also a simpler control technique than other available complicated and more advanced systems.
  • [ X ]
    Öğe
    Noise and Disturbance Rejection Performance Evaluation on Explicit Model Predictive Control Technique Applied to Inverted Pendulum with Various Test Scenarios
    (2022) Ozgur, Huseyin Emre; Özbek, Necdet Sinan; Sarıgeçili, Mehmet İlteriş
    An inverted pendulum on a cart (IPC) system, which is a widely used test environment for controller design due to ease of applicability, has the opportunity to be applied in different fields with nonlinear and under-actuated characteristics. In this study, the performance of the explicit MPC control method has been examined against the noise and disturbances by using two test cases and analysis approaches. Different trajectory tracking, disturbance, and noise situations have been taken into account in the elaborated scenarios. The numerical applications have been performed by the model predictive control toolbox of Matlab®/Simulink®. The advantages and drawbacks of the controller have been discussed in terms of time-domain specifications.