robotics

Twitter


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

2_dof_gripper

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.

Haptics Technology for Touch Screens

Tactile

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

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
Email mert.erkan@boun.edu.tr

Cem Tutcu

cem-tutcu
Title Ph.D. Candidate
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
Email cemtutcu@gmail.com

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.
Email aziziaghdam.mohammad@boun.edu.tr

Taylan Atakuru

taylan
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
Email taylanatakuru@gmail.com

Bora Alp Baydere

bora_photo
Title M.Sc. Student
First Name Bora Alp
Last Name Baydere
Educational Background B.Sc. – Stanford University – Mechanical Engineering – 2010 / 2014
M.Sc. – Boğaziçi University – Mechanical Engineering – 2016 / Present
Research Interests Robotics, Dynamics and Control
Email bora.baydere@gmail.com

Şeref Kemal Talaş

seref-kemal-talas
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
Email serefkemal@gmail.com

Kübra Karacan

kubra
Title M.Sc. Student
First Name Kübra
Last Name Karacan
Educational Background B.Sc. – Boğaziçi University – Mechanical Engineering – 2011/ 2017
M.Sc. – Boğaziçi University – Mechanical Engineering – 2017 / Present
Research Interests Computer Vision, Robotics, Dynamics and Control
Email karacankubraa@gmail.com

Oğuz Kayhan

webvesikalikdusukkalite
Title M.Sc. Student
First Name Oğuz
Last Name Kayhan
Educational Background B.Sc. – Boğaziçi University – Mechanical Engineering – 2012/ 2017
M.Sc. – Boğaziçi University – Mechanical Engineering – 2017 / Present
Research Interests Haptics, Robotics and Texture Recognition
Email kayhannoguz@gmail.com

Ahmet Kemal Nennioğlu

foto
Title M.Sc. Student
First Name Ahmet Kemal
Last Name Nennioğlu
Educational Background B.Sc. – Boğaziçi University – Mechanical Engineering – 2012/ 2017
M.Sc. – Boğaziçi University – Mechanical Engineering – 2017 / Present
Research Interests Control and Haptics
Email knenni26@gmail.com

Serhat Demirtaş

srht
Title M.Sc. Student
First Name Serhat
Last Name Demirtaş
Educational Background B.Sc. – Istanbul Technical University – Mechanical Engineering – 2012 / 2017
M.Sc. – Boğaziçi University – Mechanical Engineering – 2017 / Present
Research Interests HRI, Robotics, Dynamics and Control
Email srhtdemirtas@gmail.com

Haptics & Robotics Lab

Our lab focuses on developing novel robotic and mechatronic systems such as haptic interfaces, tactile displays, robotic prostheses/orthoses, and medical robots. We mainly carry out interdisciplinary projects collaborating frequently with industrial and medical partners. We have expertise in electro-mechanical design, hardware development, mechatronics integration, system identification, and experimental evaluation. In the lab, we extensively use various CAD programs, real-time data acquisition systems, prototyping tools, sensors, and actuators. Our lab contributes to the scientific literature by developing smart mechatronic and robotic systems for medicine and human-machine interaction.

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

Robotic System for Flexible Endoscopy

robocol

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.

Project Details

ToRK 2018 – Yumuşak Robotlar Çalıştayı

Mustafa Doğa Doğan

mustafa-doga-dogan
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
Email doga@ieee.org

Alumni

Gholemreza Ilkhani Ph.D. – Bogazici University – Mechanical Engineering – 2012 / 2017
https://www.linkedin.com/in/gholamreza-ilkhani-2b46a567/
Oğuzhan Kırtaş M.Sc. – Bogazici University – Mechanical Engineering – 2014 / 2017
https://www.linkedin.com/in/o%C4%9Fuzhan-k%C4%B1rta%C5%9F-23591678/
Yağız Savaş B.Sc. – Bogazici University – Mechanical Engineering – 2011 / 2017
https://scholar.google.com/citations?user=aBooZzEAAAAJ&hl=en
Uğur Alican Alma M.Sc. – Bogazici University – Mechanical Engineering – 2013 / 2017
https://www.linkedin.com/in/u%C4%9Fur-alican-alma-6b10a233/
Mustafa Oğuzhan Karakaya B.Sc. – Bogazici University – Mechanical Engineering – 2011 / 2016
https://tr.linkedin.com/in/mustafaoguzhankarakaya
Kadir Cem Arıkan B.Sc. – Bogazici University – Mechanical Engineering – 2012 / 2016
https://tr.linkedin.com/in/kadircemarikan
Kaan Günay B.Sc. – Bogazici University – Mechanical Engineering – 2011 / 2016
https://tr.linkedin.com/in/kaan-günay-09216267
Oumaima Lamaakel Research Intern, Visiting B.Sc. Student – 2016 Summer
https://ma.linkedin.com/in/oumaima-lamaakel-ba302b5a/tr
Mehdi Hojatmadani M.Sc. – Bogazici University – Mechanical Engineering – 2013 / 2016
https://tr.linkedin.com/in/mehdi-madani-96218552/tr
Efe Yamaç Yarbaşı M.Sc. – Bogazici University – Mechanical Engineering – 2013 / 2016
https://www.linkedin.com/in/efe-yamaç-yarbaşı-5a99a6aa/tr
Neha Thomas Exchange M.Sc. Student – Bogazici University – Mechanical Engineering – 2015
https://www.linkedin.com/in/neha-thomas-53477766
Elif Toy B.Sc. – Bogazici University – Mechanical Engineering – 2009 / 2014
https://www.linkedin.com/profile/view?id=228351032
Talha Ali Arslan B.Sc. – Bogazici University – Mechanical Engineering – 2009 / 2013
http://nl.linkedin.com/pub/talha-ali-arslan/89/84/890/en