Mechanical Engineering / Makina Mühendisliği

Permanent URI for this collectionhttps://hdl.handle.net/11147/4129

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  • Conference Object
    Kinematic Design of a Novel Finger Exoskeleton Mechanism for Rehabilitation Exercises
    (Springer international Publishing Ag, 2024) Kiper, Gokhan; Inanc, Emirhan
    The paper presents the kinematic design of a novel low-cost two degree-of-freedom finger exoskeleton mechanism to be used for rehabilitation exercises for post-stroke or injured patients. The first degree-of freedom is for the flexion/extension of metacarpophalangeal joint and is achieved via a planar 4-bar loop. The second degree-of-freedom is for the simultaneous flexion/extension of distal/proximal interphalangeal joints and is achieved via an over-constrained double-spherical 6-bar linkage, where 3 of the links are the phalanges of the finger and 2 of the joints are finger joints themselves. So, the number of extra links are less compared to other designs in the literature. The motion of an index finger is recorded via image processing. The four-bar mechanism part is designed for optimum transmission angle characteristics. The formulation and application of the kinematic synthesis of the 6-bar linkage is presented. The design is verified via a prototype.
  • Article
    Citation - WoS: 9
    Citation - Scopus: 10
    The Design and Kinematic Representation of a Soft Robot in a Simulation Environment
    (Cambridge Univ Press, 2024) Emet, Hazal; Gur, Berke; Dede, Mehmet Ismet Can
    The increase of human presence in the subsea and seabed environments necessitates the development of more capable and highly dexterous, innovative underwater manipulators. Biomimetic soft-robot arms represent a promising candidate for such manipulation systems. However, the well-known modeling techniques and control theories of traditional rigid robots do not apply to soft robots. The challenges of kinematic and dynamic modeling of soft robots with infinite degrees of freedom require the development of dedicated modeling methods. A novel procedure for representing soft-robotic arms and their motion in a rigid-body simulation environment is proposed in this paper. The proposed procedure relies on the piecewise constant curvature approach to simplify the very complex model of hyper-redundant soft-robotic arms, making it suitable for real-time applications. The proposed method is implemented and verified to be used in model-mediated teleoperation of the soft arms of a biomimetic robotic squid designed for underwater manipulation as a case study.