Rehabilitation Robotics
"Design and Development of a 4-DOF EMG-Driven Upper-Limb Exoskeleton for Post-Stroke Rehabilitation"
Role: Undergraduate Research Assistant and Team Leader
As the lead researcher of a three-person undergraduate team, I designed and developed a 4-DOF grounded exoskeleton for shoulder and elbow rehabilitation. The system supports a wide user range (150–200 cm height) through an anthropometrically adjustable mechanism and enables three active shoulder movements and one passive elbow movement. Developed with physiotherapist collaboration, the exoskeleton targets post-stroke recovery and supports four therapy modes: passive, active-assistive, isometric, and isotonic.
To enable user-adaptive control, I designed a low-cost EMG acquisition system integrating full-wave rectification, high-pass/low-pass filtering, and real-time muscle activation feedback. The EMG signal and force sensor data were used to implement PID and force-based impedance control strategies in MATLAB/Simulink. These enabled personalized interaction during assistive modes and load compensation based on user intent and muscle fatigue. A custom GUI was also developed for therapist input, patient tracking, and exercise selection.
Simulation and bench-top validation demonstrated ~95% joint angle accuracy and consistent torque application across all therapy modes. The EMG interface improved muscle signal consistency by 20%, and the exoskeleton’s modular mechanical design ensured safe, cost-effective use in clinical and home settings. This project laid the groundwork for scalable human-in-the-loop rehabilitation systems driven by biosignals.
Research Outputs:
Publications:
1. Karadeniz, F., Aydogan, O. E., Kazanci, E. A., & Akdogan, E. (2020). Design of a 4-DOF grounded exoskeletal robot for shoulder and elbow rehabilitation. Sustainable Engineering and Innovation, 2(1), 41-65, cited by 6
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Competition Awards:
1. 1st Prize, TEKNOFEST Aerospace and Technology Festival 2020, Technology for Humanity Competition, Health and First Aid Category (Undergraduate and Graduate Level), Sept. 2020
2. 2nd Prize, TUBITAK 2242 University Students Research Projects Competitions, Health Category, Sept. 2020
3. 1st Prize, 8th University Students Research Project Competitions, Istanbul-Asian Region, Health Category, Aug. 2020
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Invited Talks:
1. You Wear It Well Podcast: The role of mechatronics in the future of rehabilitation robotics, May 2021
2. Yildiz 1911 Podcast: Development of an upper limb exoskeletal rehabilitation robot, Oct. 2020
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Press Coverage:
1. "Teknofest’in ‘yildiz’lari icatlarini anlatti" ("Teknofest's 'Stars' Discuss Their Inventions"), Hurriyet Newspaper, Oct. 9, 2020
Research Support:
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Research Grants:
1. TUBITAK 2209-B Industry-Oriented Research Projects Grant (3,957 Turkish Lira), The Scientific and Technological Research Council of Turkey (TUBITAK) Directorate of Science Fellowships and Grant Programs (BIDEB), Grant No: 1139B411900912, Jan. – Dec. 2020
​2. TEKNOFEST 2020 Technology for Humanity Competition Grant (1,500 Turkish Lira), Turkish Technology Team Foundation, July – Sept. 2020