Design, Development, and Control for the Self-Stabilizing Bipedal Exoskeleton Prototype Co-Ex
Ahmed Fahmy Soliman,
Sinan Coruk,
Mehmet C. Yildirim
et al.
Abstract:This article presents the design, development, and implementation of
walking control for the bipedal exoskeleton prototype Co-Ex. The main
objective in developing this prototype is to take a successive step
towards ambulatory support via an exoskeleton with self-stabilization
capability. To attain this goal, Co-Ex is equipped with 8
torque-controllable active joints to provide ambulatory support while
ensuring improved environmental interaction. The development of Co-Ex
led to three contributions: i) self-stab… Show more
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