Design of a Two-Degree-of-Freedom Gripper for Parallel Manipulators


Parallel manipulators are closed-loop mechanisms presenting superior performance compared to serial manipulators in terms of speed, accuracy, precision, and rigidity. They have been used in a large number of applications ranging from packaging to flight simulators, and have recently been more popular in the industry. Although parallel manipulators are fast enough for most of the industrial operations, certain packaging tasks, such as in food industry, require multiple objects to be picked at the same time. Considering randomly arriving objects on a conveyor, this task becomes challenging and cycle time increases. In this study, it is aimed at designing a two-degrees-of-freedom gripper for parallel manipulators in order to overcome this difficulty. Preliminary analyses have been performed using a three axis delta robot for a typical pick-and-place task. It was shown that the design reduces cycle time and the energy required to perform the task. This project has been done with financial support from the Ministry of Science, Industry and Technology, and HKTM A.S. (SANTEZ no 0979.STZ.2015)


Design of a Hybrid Ankle-Foot Orthosis

Hybrid Ankle Foot Orthosis

Exoskeletons act in series or in parallel to a human limb to assist in motion economy by augmenting joint torque and work done. An ankle-foot orthosis (AFO) is a type of exoskeleton that surrounds the ankle and foot. AFOs are externally applied and intended to control position and motion of the ankle, compensate for weakness, or correct deformities. AFOs can be divided into three groups which are passive, active, and hybrid. Since hybrid AFOs combine the advantages of passive and active AFOs by compliant actuators, they are more advantageous than other types of AFOs. The goal of this study is to build a hybrid AFO prototype for rehabilitation purposes and endurance augmentation.

Gholamreza Ilkhani

Title Ph.D. Candidate
First Name Gholamreza
Last Name Ilkhani
Educational Background B.Sc. –  Azad University of Tabriz – Mechanical Engineering- 2001 / 2006
M.Sc. – Sharif University of Technology- Mechatronics Engineering – 2007 / 2010
Ph.D. – Bogazici University – Mechanical Engineering – 2012 / Present
Research Interests Haptics, Mechatronic Systems

Cem Tutcu

Title Ph.D. Student
First Name Cem
Last Name Tutcu
Educational Background B.Sc. – Yeditepe University – Mechanical Engineering – 2006 / 2011
M.Sc. – Yeditepe University – Mechanical Engineering – 2011 / 2014
Ph.D. – Bogazici University – Mechanical Engineering – 2015 / Present
Research Interests Mechanical design, Robotics, Mechatronics, Turbomachinery, Aeromechanics

Mohammad Aziziaghdam

Ph.D. Student
Title Ph.D. Student
First Name Mohammad
Last Name Aziziaghdam
Educational Background B.Sc. –  University of Tabriz- Faculty of Mechanical Engineering- 2006 / 2010
M.Sc. – Bogazici University – Department of Mechanical Engineering – 2012 / 2014
Ph.D. – Bogazici University – Department of Mechanical Engineering – 2015 / Present
Research Interests Haptics, Human-Robot Interaction, Humaniod Robotics, Rehabilitation Robotics
Publications M.Aziziaghdam, E.Samur, ‘‘Providing Contact Sensory Feedback for UpperLimb Robotic Prosthesis’’, IEEE Haptics Symposium, 2014.

Onur Mert Erkan

Onur Mert Erkan
Title Ph.D. Candidate
First Name Onur Mert
Last Name Erkan
Educational Background B.Sc. – Middle East Technical University – Mechanical Engineering – 2008 / 2012
M.Sc. – Middle East Technical University – Mechanical Engineering – 2012 / 2015
Ph.D. – Bogazici University – Mechanical Engineering – 2015 / Present
Research Interests Surgical Robotics, Dynamics and Control

ME634 Robotics course projects

    • a. Goal Keeper Robot: This 3-DOF RRR robot is programmed in Simulink. It scans the field and detects the ball by image processing and commands the end effector to go to the specified point.

    • b. Liquid Pouring Robot: This is a 3DOF RRR water-pouring robot. The robot gets the place of the bottle picks it and takes it to a mug position and pours it and puts back the bottle.

    • c. Face Follower: This is a 4-DOF robot. The robot detects the face and follows it. Position and orientation of the face is detected by image processing using a camera attached to the end effector.

    • d. Pick and Place Robot: This is a 3-DOF RRR robot. The robot detects size of an object and then performs a pick and place task. In the first module, the robot grips the object with any size and according to the size (small, medium and big) puts it into the corresponding place. In the second module, the robot puts them on top of each other.

    • e. Robot Basketball Player: Robot detects the ball weight and either shoots it or drops it according to the weight .

ME492 Senior graduation projects

  • a. Robotic Finger: As a graduation project, a 3 DOF anthropomorphic finger with a tactile sensor is developed. The developed robotic finger has position and force control. Position of the tip can be controlled by entering the desired position into the designed GUI for the robot. In the force controlled mode the desired force can be entered to the GUI and the robot will apply that determined force at the finger tip. After the graduation as an extra property, control by image processing is added. The robot finger follows the tip of the finger of the person who wears a glove.

  • b. Parallel Robotic Platform: A 3-DOF robotic manipulator is designed and constructed as a graduation project. It generates two rotational axis motion about X and Y axes, and one linear motion in Z-axis. The objective specification of the mechanism are listed below:
    • – ± 25º maximum rotation angles about X and Y axis – 12 cm stroke along the Z direction
    • – 0.5 N.m rotation torque for both axes – 5 N force along Z direction

Haptics & Robotics Lab

Haptic technology is used to generate the sense of touch. It allows us to touch and manipulate objects either within a virtual environment or in a real world through teleoperated systems, such as for surgical robots. Research on the haptic technology brought it into computer games, mobile phones, surgical simulators, medical robotics etc. Our lab contributes to this technology by developing smart mechatronic and robotic systems for medicine and human-machine interaction.

Robotic System for Flexible Endoscopy


Being the most effective and widespread method that is used to detect colorectal cancer,  colonoscopy is performed at almost all medical centers. Our research aim is to design a flexible robotic endoscope that could be easily guided through the bowel and is also able to convey the best possible visual information to the surgeon during the process. Results of this study will make improvements on the utilized technology used for colonoscopy, in terms of ease of use, reduced trauma and will hopefully have major impact on successful and early diagnosis rates, preventing patient losses. The project is funded under the TUBITAK 1003 Priority Areas R&D Program for the period from 2016 to 2019.

Additional Information

Sensory Feedback for Robotic Prostheses

Intention Capture

Functional substitution of a lost limb is necessary for persons with an amputation to perform daily life explorations and manipulations in their environment. In the case of a hand loss, affective reasons gain importance as amputees often indicate the desire to feel the warmth of a loved one’s touch. These considerations provide two key characteristics of successful prosthetics: (1) intuitive control of prostheses and (2) providing physiologically appropriate feedback to the user. Although there has been significant progress on the prosthesis control and sensory feedback, the ability to supply physiologically appropriate proprioceptive feedback remains elusive. This project seeks for sensory feedback for improved prosthesis control. First, relative contributions of feedback modalities (vision, proprioception and artificial proprioception) on coordinated manipulations will be investigated. Then, based on these results, new sensory feedback systems will be developed for persons with an upper-limb amputation.

Additional Information

Haptics Technology for Touch Screens


Surface haptic technology is used to create haptic feedback on touch screens. The focus of this work is to develop a new tactile display using the principle of electrostatic attraction that will allow users to feel virtual elements on a touch screen such as textures, edges, etc. We aim to develop an active multi-touch system that could be integrated into the current portable electronic devices.

Workshop on Electrostatic Tactile Displays at World Haptics 2017

Taylan Atakuru

Title M.Sc. Student
First Name Taylan
Last Name Atakuru
Educational Background B.Sc. – Middle East Technical University – Mechanical Engineering – 2008 / 2014
M.Sc. – Bogazici University – Mechanical Engineering – 2014 / 2017
Ph.D. – Bogazici University – Mechanical Engineering – 2017 / Present
Research Interests Industrial serial and parallel manipulators, mechanisms, dynamics of machinery

Şeref Kemal Talaş

Title M.Sc. Student
First Name Şeref Kemal
Last Name Talaş
Educational Background B.Sc. – Boğaziçi University – Mechanical Engineering – 2011 / 2016
M.Sc. – Boğaziçi University – Mechanical Engineering – 2016 / Present
Research Interests Robotics, Dynamics and Control

Oğuzhan Kırtaş

Oguzhan Kırtaş
Title M.Sc. Student
First Name Oğuzhan
Last Name Kırtaş
Educational Background B.Sc. – Sabanci University – Mechatronics Engineering – 2009 / 2014
M.Sc. – Bogazici University – Mechanical Engineering – 2014 / Present
Research Interests Rehabilitatiton Robotics, Ankle-Foot Orthoses

Mustafa Doğa Doğan

Title B.Sc. Student
First Name Mustafa Doğa
Last Name Doğan
Educational Background B.Sc. – Bogazici University – Electrical and Electronics Engineering – 2014 / Present
Research Interests Intelligent Systems, Medical Robots, Haptic Feedback


Talha Ali Arslan Mechanical Engineering M.Sc. Student at Eindoven University of Technology, Netherlands
B.Sc. – Bogazici University – Mechanical Engineering – 2009 / 2013
Elif Toy Mechatronics M.Sc. Student at KTH Royal Institute of Technology, Sweden
B.Sc. – Bogazici University – Mechanical Engineering – 2009 / 2014
Neha Thomas Biomedical Engineering and Minor in Electrical Engineering at Drexel University
Exchange M.Sc. Student – Bogazici University – Mechanical Engineering – 2015
Efe Yamaç Yarbaşı Ph.D. Candidate, Research Assistant- Georgia Institute of Technology
M.Sc. – Bogazici University – Mechanical Engineering – 2013 / 2016ç-yarbaşı-5a99a6aa/tr
Mehdi Hojatmadani Ph.D. Candidate, Research Assistant- University of South Florida
M.Sc. – Bogazici University – Mechanical Engineering – 2013 / 2016
Oumaima Lamaakel B.Sc. – Al Akhawayn University in Ifrane, Morocco – General Engineering (Concentration: mechanical engineering; minor: mathematics)
Research Intern, Visiting B.Sc. Student – 2016 Summer
Kaan Günay M.Sc. Danmarks Tekniske Universitet
B.Sc. – Bogazici University – Mechanical Engineering – 2011 / 2016ünay-09216267
Kadir Cem Arıkan Engineer at P&G
B.Sc. – Bogazici University – Mechanical Engineering – 2012 / 2016
Mustafa Oğuzhan Karakaya M.Sc. Bogazici University- Computer Engineering
B.Sc. – Bogazici University – Mechanical Engineering – 2011 / 2016
Uğur Alican Alma M.Sc. – Bogazici University – Mechanical Engineering – 2013 / 2017
B.Sc. – Istanbul Technical University – Manufacturing Engineering – 2007 / 2012