WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7150
Browse
3 results
Search Results
Conference Object Velocity-Level Kinematics of a Continuously Variable Transmission System for Phri(Springer International Publishing AG, 2025) Mobedi, Emir; Dede, Mehmet Ismet CanNew generation robots pave the way for physical human-robot interaction (pHRI) through improvements in control and design techniques. While the former is achieved with the help of a number of sensory information, variable stiffness actuators (VSA) are exploited for the design of these robots to achieve inherent compliance. Recently, continuously variable transmission-based VSA has been developed to be used for pHRI, specifically for haptics. The fundamental characteristic of this new CVT mechanism is that it regulates output position and torque independently via the sphere transmission element. In this study, velocity-level kinematics of this new CVT system is carried out to demonstrate its step-less speed variation feature. Moreover, simulations are conducted in ADAMS and Solidworks software packages at 8 transmission points selected unequally. Results show that the average value of overall ADAMS and Solidworks errors computed with respect to the computed velocity are reported as 1.09%, and 0.53%, respectively.Book Part Citation - WoS: 1Citation - Scopus: 1Calibration Study of a Continuously Variable Transmission System Designed for Phri(Springer, 2020) Mobedi, Emir; Dede, Mehmet Ismet CanVariable stiffness actuators (VSAs) have been used in many applications of physical human-robot interfaces (pHRI). A commonly employed design is the spring-based VSA allowing the user to regulate the output force mechanically. The main design criteria of these actuation systems are the adjustment of output force independent from the output motion, and shock absorbing. In our recent work, we implemented certain modifications on the two-cone friction drive continuously variable transmission system (CVT) so that the CVT can be employed in pHRI systems. Subsequently, the optimized prototype is developed. In this study, we introduce the prototype of this new CVT systems, and its force calibration tests. The results indicate that the manufactured CVT is capable of displaying the desired output force throughout its transmission ratio range within a tolerance.Book Part Citation - WoS: 1Citation - Scopus: 2Experimental Evaluation of Actuation and Sensing Capabilities of a Haptic Device(Springer, 2019) Mobedi, Emir; Görgülü, İbrahimcan; Dede, Mehmet İsmet CanHaptic devices are used to increase the telepresence level by providing the sense of touch to the human operator. Simultaneously, they capture the targeted motion of the human operator to generate a motion demand for the teleoperated slave system. Considering a scenario where the slave system’s end-effector is handled by the human operator at the master side, which is attached to the haptic device, an ideal haptic interaction involves the feeling of only the end-effector dynamics and the accurate sensation of the end-effector pose. The performance of a haptic device is based on these two functionalities. In this paper, the experimental evaluation of the actuation and sensing capabilities of a haptic device, HIPHAD v1.0 kinesthetic haptic device, is presented.