Dış iskelet tasarımının geliştirilmesi: Geleneksel tasarımın karşılaştırmalı bir çalışması ve pasif bağlantı braketleri

This thesis present a passive detachable brace design and evaluation aiming to minimize undesirable forces arising from the mismatch between human and exoskeleton joints. The main goal is designing a brace that increases comfort by decreasing forces on the users' limbs, by decreasing the slippage of the brace on the limb, and to introduce a novel safety system for the exoskeletons on the physical connection. In this context, the mechanical design is explained with decision criteria used to make the necessary safe connections between the human and the exoskeleton. Furthermore, the designed brace is compared with a traditional connection both in simulation environment and experiments which have been carried out on an exoskeleton. The results significantly show that forces on the human limb are reduced at least by a 11% in favor of passive joints on the designed fixation. Moreover, the brace center of pressure (BCoP), angular velocity of the brace around the limb, and jerk results demonstrate that passive joints can reduce the slippage of the brace on the limb.