Ahmetcan Erdogan

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We present a systematic approach that enables online modification/adaptation of robot assisted rehabilitation exercises by continuously monitoring intention levels of patients utilizing an electroencephalogram (EEG) based Brain-Computer Interface (BCI). In particular, we use Linear Discriminant Analysis (LDA) to classify event-related synchronization (ERS)(More)
This paper presents design, implementation and control of a 3RPS-R exoskeleton, specifically built to impose targeted therapeutic exercises to forearm and wrist. Design of the exoskeleton features enhanced ergonomy, enlarged workspace and optimized device performance when compared to previous versions of the device. Passive velocity field control (PVFC) is(More)
— We embed knowledge representation and automated reasoning in each level of the classical 3-layer robot control architecture, in such a way as to tightly integrate these layers. At the high-level, we represent not only actions and change but also commonsense knowledge in the action description language C+. Geometric reasoning is lifted to the high-level by(More)
We present the design and control of series elastic holonomic mobile platform, ASSISTON-MOBILE, aimed to administer therapeutic table-top exercises to patients who have suffered injuries that affect the function of their upper extremities. The proposed mobile platform is a low-cost, portable, easy-to-use rehabilitation device for home use. ASSISTON-MOBILE(More)
This paper proposes a cross-disciplinary methodology for a fundamental question in product development: How can the innovation patterns during the evolution of an engineering system (ES) be encapsulated, so that it can later be mined through data analysis methods? Reverse engineering answers the question of which components a developed engineering system(More)
We explore the effects of parameters constituting a second order dynamic system on the rate of human motor adaptation while performing a rhythmic dynamic task. In our experiments, participants excite virtual second-order systems at resonance via a haptic interface. After overtraining subjects with a nominal system, we unexpectedly change the system(More)
We formalize actions and change in a housekeeping domain with multiple cleaning robots, and common-sense knowledge about this domain, in the action language C+. Geometric reasoning is lifted to high-level representation by embedding motion planning in the domain description using external predicates. With such a formalization of the domain, a plan can be(More)