Ek Gereçsiz 3B Yürüme Desteği içim Tork-Kontollü bir Alt Uzuv Dış İskeletinin Geliştirilmesi

Spinal cord paralysis is a condition, which is formed due to full or partial loss of sensorimotor and autonomous functionalities of the spinal cord. Paraplegia is a type of spinal cord injury which causes functionality loss in patients' lower bodies, even though their upper body is completely healthy. Active exoskeleton robots are the most practical approach to regenerate the walking function of paraplegic patients. In a fundamental way of this approach, patients wear a robotic system that can move their legs in the forward direction. Exoskeletons are wearable and powered robotic systems which enhance users mobility and endurance capabilities. The primary goal of this thesis study is to develop such an exoskeleton system which is capable of providing crutchless 3D walking support for those who suffer from paraplegia or similar pathological lower body conditions. During this thesis, an 8-DoF lower extremity exoskeleton is developed, and equipped with custom-made Series Elastic Actuator (SEA), for high fi delity torque control. Particularly developed SEA modules are designed to have high torque density, and this actuation unit is analyzed, tested according to an integrated design approach.