Rahim Mutlu
YOU?
Author Swipe
View article: Alginate Sphere-Based Soft Actuators
Alginate Sphere-Based Soft Actuators Open
Alginate hydrogels offer distinct advantages as ionically crosslinked, biocompatible networks that can be shaped into spherical beads with high compositional flexibility. These spherical architectures provide isotropic geometry, modularity…
View article: Experimental Evaluation of a Hybrid Sensory Feedback System for Haptic and Kinaesthetic Perception in Hand Prostheses
Experimental Evaluation of a Hybrid Sensory Feedback System for Haptic and Kinaesthetic Perception in Hand Prostheses Open
This study proposes a new hybrid multi-modal sensory feedback system for prosthetic hands that can provide not only haptic and proprioceptive feedback but also facilitate object recognition without the aid of vision. Modality-matched hapti…
View article: A 3D-Printed Soft Haptic Device with Built-in Force Sensing Delivering Bio-Mimicked Feedback
A 3D-Printed Soft Haptic Device with Built-in Force Sensing Delivering Bio-Mimicked Feedback Open
Haptics plays a significant role not only in the rehabilitation of neurological disorders, such as stroke, by substituting necessary cognitive information but also in human–computer interfaces (HCIs), which are now an integral part of the …
View article: Evaluation of Growth Responses of Lettuce and Energy Efficiency of the Substrate and Smart Hydroponics Cropping System
Evaluation of Growth Responses of Lettuce and Energy Efficiency of the Substrate and Smart Hydroponics Cropping System Open
Smart sensing devices enabled hydroponics, a concept of vertical farming that involves soilless technology that increases green area. Although the cultivation medium is water, hydroponic cultivation uses 13 ± 10 times less water and gives …
View article: Variable Stiffness Improves Safety and Performance in Soft Robotics
Variable Stiffness Improves Safety and Performance in Soft Robotics Open
This paper proposes a new variable stiffness soft gripper that enables high-performance grasping tasks in industrial applications. The design of the proposed monolithic soft gripper includes a middle bellow and two side bellows (i.e., fing…
View article: Design and Control of a Novel Variable Stiffness Series Elastic Actuator
Design and Control of a Novel Variable Stiffness Series Elastic Actuator Open
This paper expounds the design and control of a new Variable Stiffness Series Elastic Actuator (VSSEA). It is established by employing a modular mechanical design approach that allows us to effectively optimise the stiffness modulation cha…
View article: Novel Soft Haptic Biofeedback—Pilot Study on Postural Balance and Proprioception
Novel Soft Haptic Biofeedback—Pilot Study on Postural Balance and Proprioception Open
Sensory feedback is critical in proprioception and balance to orchestrate muscles to perform targeted motion(s). Biofeedback plays a significant role in substituting such sensory data when sensory functions of an individual are reduced or …
View article: A 3D Printed Modular Soft Gripper Integrated With Metamaterials for Conformal Grasping
A 3D Printed Modular Soft Gripper Integrated With Metamaterials for Conformal Grasping Open
A single universal robotic gripper with the capacity to fulfill a wide variety of gripping and grasping tasks has always been desirable. A three-dimensional (3D) printed modular soft gripper with highly conformal soft fingers that are comp…
View article: Self-Reinforced Nylon 6 Composite for Smart Vibration Damping
Self-Reinforced Nylon 6 Composite for Smart Vibration Damping Open
Passive vibration control using polymer composites has been extensively investigated by the engineering community. In this paper, a new kind of vibration dampening polymer composite was developed where oriented nylon 6 fibres were used as …
View article: A practical 3D-printed soft robotic prosthetic hand with multi-articulating capabilities
A practical 3D-printed soft robotic prosthetic hand with multi-articulating capabilities Open
© 2020 Mohammadi et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and …
View article: Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space
Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space Open
This paper proposes a new Active Disturbance Rejection based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references…
View article: A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators
A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators Open
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only m…
View article: Reusable Flexible Concentric Electrodes Coated With a Conductive Graphene Ink for Electrotactile Stimulation
Reusable Flexible Concentric Electrodes Coated With a Conductive Graphene Ink for Electrotactile Stimulation Open
Electrotactile stimulation is a highly promising technique for providing sensory feedback information for prosthetics. To this aim, disposable electrodes which are predominantly used result in a high environmental and financial cost when u…
View article: Position Control of a Soft Prosthetic Finger with Limited Feedback Information
Position Control of a Soft Prosthetic Finger with Limited Feedback Information Open
One of the challenging research questions in soft robotics is the establishment of valid mathematical models and control techniques under limited feedback conditions. A soft robotic system will typically have a continuum or monolithic body…
View article: A Structural Optimisation Method for a Soft Pneumatic Actuator
A Structural Optimisation Method for a Soft Pneumatic Actuator Open
This study aims to investigate the effects of various design parameters on the actuation performance of a pneumatic network actuator (PNA), optimise its structure using the finite element method (FEM), and subsequently quantify the perform…
View article: A Review of Non-Invasive Sensory Feedback Methods for Transradial Prosthetic Hands
A Review of Non-Invasive Sensory Feedback Methods for Transradial Prosthetic Hands Open
Any implant or prosthesis replacing a function or functions of an organ or group of organs should be biologically and sensorily integrated with the human body in order to increase their acceptance with their user. If this replacement is fo…
View article: An inverted micro-mixer based on a magnetically-actuated cilium made of Fe doped PDMS
An inverted micro-mixer based on a magnetically-actuated cilium made of Fe doped PDMS Open
In this paper, we report a new micromixer based on a flexible artificial cilium activated by an external magnetic field. The cilium is fabricated from Polydimethylsiloxane doped with Fe microparticles. The fabrication method is based on th…