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Design, Development, and Control for the Self-Stabilizing Bipedal Exoskeleton Prototype Co-Ex 
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  • Ahmed Fahmy Soliman,
  • Sinan Coruk,
  • Mehmet C. Yildirim,
  • Deniz Ugur,
  • Suleyman Can Cevik,
  • Burak Ozkaynak,
  • Polat Sendur,
  • Barkan Ugurlu
Ahmed Fahmy Soliman

Corresponding Author:[email protected]

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Sinan Coruk
Mehmet C. Yildirim
Deniz Ugur
Suleyman Can Cevik
Burak Ozkaynak
Polat Sendur
Barkan Ugurlu


This article presents the design, development, and implementation of walking control for the bipedal exoskeleton prototype Co-Ex. The main objective in developing this prototype is to take a successive step towards ambulatory support via an exoskeleton with self-stabilization capability. To attain this goal, Co-Ex is equipped with 8 torque-controllable active joints to provide ambulatory support while ensuring improved environmental interaction. The development of Co-Ex led to three contributions: i) self-stabilization capability in 3D against external disturbances, ii) a locomotion control framework that provides dynamically balanced walking behavior in 3D despite the underactuated leg configuration, iii) a power-aware leg design in which most actuators are deployed around the waist for reduced leg inertia. To verify the self-stabilization and locomotion capabilities of Co-Ex, we conducted a series of experiments using a dummy manikin. As a result, Co-Ex showed self-stabilization behavior against disturbances and exhibited favorable locomotion characteristics that validated the proposed approach.
17 Apr 2024Submitted to TechRxiv
23 Apr 2024Published in TechRxiv