Yüksek güç-ağırlık oranına sahip bir giyilebilir dış iskelet robotu için tasarım, geliştirme ve kuvvet kontrolü uygulaması

Physical rehabilitation has a crucial role in the recovery and preservation of physical function, mobility, and overall health after an injury or disability. Exoskeletons can serve as useful tools in physical rehabilitation by providing a safe and controlled environment for patients to perform functional movements. This thesis proposes a design methodology and validation processes for a lower body exoskeleton with active hip, knee, and ankle joints. Four different designs were presented and qualitatively compared their joint range, torque controllability, weight, and wearability. Using a human-robot coupled simulation model, actuator torques and loading on mechanical links were obtained. The final design was evaluated in the MSC Adams environment concerning two different dynamic motions. Subsequently, the exoskeleton was manufactured and assembled after the final design was verified. To verify the locomotion methods, a robot model constrained in the sagittal plane was created using the RaiSim simulator. The dynamic model of the exoskeleton was calculated using the Lagrangian method, and CTC was also applied. Various controller methods were implemented to validate the exoskeleton and the SEAs, and their position-tracking performances were compared. Furthermore, the torque controllability of the actuator was verified.