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.

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

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


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