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\begin{document}

\title{Design, Development, and Control for the Self-Stabilizing Bipedal
Exoskeleton Prototype Co-Ex~}



\author[1]{Ahmed Fahmy Soliman}%
\author[1]{Sinan Coruk}%
\author[1]{Mehmet C. Yildirim}%
\author[1]{Deniz Ugur}%
\author[1]{Suleyman Can Cevik}%
\author[1]{Burak Ozkaynak}%
\author[1]{Polat Sendur}%
\author[1]{Barkan Ugurlu}%
\affil[1]{Affiliation not available}%


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  \date{June 16, 2024}


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\begin{abstract}
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.%
\end{abstract}%



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