Ozkul, F. | Barkana, D.E. | Demirbas, S.B. | Inal, S.

Conference Object | 2011 | IEEE International Conference on Rehabilitation Robotics

In recent years, robot-assisted rehabilitation systems have been an active research area that can quantitatively monitor and adapt to patient progress, and ensure consistency during rehabilitation. In this work, an exoskeleton type robot-assisted rehabilitation system called RehabRoby is developed. A control architecture, which contains a high level controller and a low level controller, is designed for RehabRoby. Proprioceptive sense of healthy subjects has been evaluated during the execution of a task with RehabRoby. Additionally, usability of RehabRoby has been evaluated using a questionnaire. © 2011 IEEE.

Ozkul, F. | Barkana, D.E.

Conference Object | 2011 | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)6856 LNAI , pp.125 - 136

In this work, an exoskeleton type robot-assisted rehabilitation system called RehabRoby is developed for rehabilitation purposes. A control architecture, which contains a high-level controller and a low-level controller, is designed for RehabRoby to complete the rehabilitation task in a desired and safe manner. A hybrid system modeling technique is used for high-level controller. An admittance control with inner robust position control loop has been used for the low-level control of RehabRoby. Real-time experiments are performed to evaluate the control architecture of the robot-assisted rehabilitation system RehabRoby. © 2011 Spring . . .er-Verlag Berlin Heidelberg Daha fazlası Daha az

Ozkul, F. | Erol Barkana, D.

Conference Object | 2011 | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM , pp.104 - 109

In recent years, robot-assisted rehabilitation systems have become an active research area to quantitatively monitor and adapt to patient progress, and to ensure consistency during the rehabilitation. In this work, an exoskeleton type robot-assisted rehabilitation system called RehabRoby is developed for rehabilitation purposes. An admittance control with inner robust position control loop has been used to control the robot-assisted rehabilitation system RehabRoby. Real-time experiments are performed to evaluate the efficacy of the proposed admittance control with inner robust position control loop. © 2011 IEEE.

Aypar, Y.C. | Palaska, Y. | Gokay, R. | Masazade, E. | Barkana, D.E. | Sarkar, N.

Conference Object | 2014 | ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics1 , pp.34 - 41

In this paper, we study an unsupervised learning problem where the aim is to cluster the emotional state (excitedness, boredom, or stress) using the biofeedback sensor data while subjects perform tasks under different difficulty levels on the robot assisted rehabilitation system-RehabRoby. The dimension of the training vectors has been reduced by using the Principal Component Analysis (PCA) algorithm after collecting the biofeedback sensor measurements from different subjects under different task difficulty levels to better visualize the sensor data. The reduced dimension vectors are fed into a K-means clustering algorithm. Numerica . . .l results have been given to demonstrate that for each training vector, the emotional state decided by the clustering algorithm is consistent with the subjects declaration of his/her emotional state obtained via surveys after performing the task Daha fazlası Daha az