Wearable Robotics

"5-DOF Wearable Upper-Limb Exoskeleton with EMG-Driven Impedance Control"

Role: Post-Baccalaureate Research Assistant

During my post-baccalaureate research, I mentored the design and development of a 5-DOF wearable robotic exoskeleton to support both assistive and rehabilitative upper-limb tasks. The system includes two actively actuated joints (shoulder and elbow flexion-extension) and three passive joints (shoulder lateral rotation, abduction–adduction, and wrist pronation–supination). To enhance user comfort and mobility, I implemented an anthropometrically adjustable structure and integrated a novel spring-damper suspension system to reduce the load transferred to the user by 56%.

The exoskeleton employs a force-based impedance control strategy to enable safe and adaptive human–robot interaction. Using real-time feedback from surface electromyography (sEMG) sensors, the system estimates the user's effort via Maximum Voluntary Contraction (MVC) and adjusts stiffness and damping parameters accordingly. The EMG interface was custom-designed for low cost and high sensitivity, and a Raspberry Pi-based embedded control system handled real-time sensor integration, motion planning, and actuator coordination.

Experimental validation showed that the system reduced muscular effort in the biceps by up to 99% during assisted elbow flexion-extension tasks. Motion tracking and EMG analysis confirmed that the exoskeleton can provide effective support in both load-lifting and rehabilitative scenarios. This work contributes to the development of scalable, physiologically adaptive wearable robotics for clinical and industrial deployment.

Research Outputs:

Publications:

1. Dikbas, F. E. H. M., Aydogan, O., Aydin, I., Cetin, D., Emin Aktan, M., & Akdogan, E. (2023). Development of A 5-DOF Impedance-Controlled Wearable Upper Limb Exoskeletal Robot. Journal of Mechanics in Medicine and Biology

Competition Awards:

1. Finalist, TEKNOFEST Aerospace and Technology Festival 2021, Technology for Humanity Competition, Health and First Aid Category (Undergraduate and Graduate Level), Sept. 2021

Invited Talks:

1. You Wear It Well Podcast: Wearable robotic exoskeleton design for the shoulder area, Oct. 2023

2. You Wear It Well Podcast: Medical conditions for wearable robotics, Nov. 2022