Prosthetics and Rehabilitation Robotics

In this paper, the authors describe the design and control of RHex, a power autonomous, untethered, compliant-legged hexapod robot. RHex has only six actuators—one motor located at each hip— achieving mechanical simplicity that promotes reliable and robust operation in real-world tasks. Empirically stable and highly m…

• ULUÇ SARANLI

In this paper, the authors describe the design and control of RHex, a power autonomous, untethered, compliant-legged hexapod robot. RHex has only six actuators—one motor located at each hip— achieving mechanical simplicity that promotes reliable and robust operation in real-world tasks. Empirically stable and highly m…

• OKTAY FIRAT TANRISEVER

BACKGROUND: Spinal cord injury (SCI) is a major cause of health loss due to premature mortality and long-term disability. We aimed to report on the global, regional, and national incidence, prevalence, and years of life lived with disability (YLDs) for SCI from 1990 to 2019, using data from the Global Burden of Diseas…

• ARZU YİĞİT

This paper presents the design, control and performance of a high fidelity four degree-of-freedom wrist exoskeleton robot, RiceWrist, for training and rehabilitation. The RiceWrist is intended to provide kinesthetic feedback during the training of motor skills or rehabilitation of reaching movements. Motivation for su…

• VOLKAN PATOĞLU

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• ERHAN AKDOĞAN

The control of a biped humanoid is a challenging task due to the hard-to-stabilize dynamics. Walking reference trajectory generation is a key problem. Linear Inverted Pendulum Model (LIPM) and Zero Moment Point (ZMP) Criterion-based approaches in stable walking reference generation are reported. In these methods, gene…

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• BORA REŞİTOĞLU

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• UĞUR DAL

Most current hand exoskeletons have been designed specifically for rehabilitation, assistive, or haptic applications to simplify the design requirements. Clinical studies on poststroke rehabilitation have shown that adapting assistive or haptic applications into physical therapy sessions significantly improves the mot…

• MİNE SARAÇ STROPPA

The bipedal robot structure is highly suitable for working in human environments due to its advantages in obstacle avoidance and its ability to be employed as a human substitute. However, the complex dynamics involved make biped robot control a challenging task. The zero moment point (ZMP) trajectory in the robot foot…

BACKGROUND: Stroke is the most common cause of disability in Western Countries. It can lead to loss of mobility, capability to walk and ultimately loss of independence in activities of daily living (ADL). Several rehabilitative approaches have been proposed in these years. Robot-assisted gait rehabilitation (RAGT) pla…

We present the design, modeling and preliminary control of RHex, an autonomous dynamically stable hexapod possessing merely six actuated degrees of freedom (at the hip attachment of each leg). Our design emphasizes mechanical simplicity as well as power and computational autonomy, critical components for legged roboti…