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Bu araştırma kapsamında insan vücuduna uyumlu, insan hareketlerini destekleyen iki serbestlik dereceli bir üst-ekstremite dış iskelet robot sisteminin kontrolü için giyilebilir kablosuz sensörler MIMU (ivmeölçer, jiroskop) vasıtası ile insan robot etkileşim ağı tasarımı gerçekleştirilmiştir. Kişinin üst ve alt kol uzuvlarına bağlı iki adet MIMU sensörden açısal ivmelenme, jiroskop ve manyetometre bilgileri alınıp, AHRS (Attitude and Heading Reference Systems) algoritması ile bu sensör verileri bütünleştirilip kişinin üst ekstremite hareketine ilişkilin (üst kol, alt kol) kuaternion yönelim matrisi hesaplanmıştır. Kinematik analiz ile de kuaternion matrisi verileri kullanılarak omuz ve dirsek eklemlerine ait Euler yönelim açıları (x, y, z eksenleri için) hesaplanmıştır. Geliştirilen etkileşim ağı ile laboratuvar olanakları ile tasarlanan ve imalatı yapılan iki serbestlik dereceli prototip üst ekstremite dış iskelet robot kolun gerçek zamanlı hareket kontrolü gerçekleştirilmiştir. Sonuç olarak, kullanıcı kişi kolunu hareket ettirirken, dış iskelet robotta senkronize olarak aynı hareketi gerçekleştirmektedir.
In the framework of this research, a two-degree freedom, compatible with the human body, supporting human movements, is carried out through the design of the human robot interaction network with wearable wireless sensors for the control of the top-extremity external skeletal robot system (MIMU (ivmeometers, gyroscopes). Two MIMU sensors connected to the upper and lower arms of the person are taken from the angle vibration, gyroscope and magnetometre information, and the AHRS (Attitude and Heading Reference Systems) algorithm integrates these sensors data and the person’s upper extremity movement (upper arms, lower arms) is calculated for the kuaternion direction matrice. The kinematic analysis also calculated the Euler orientation angles (for x, y, z axes) of the shoulder and rectum joints using the kuaternion matrice data. Developed interaction network with the laboratory facilities designed and manufactured two freedom-degree prototype top-end external skeletal robot hand in real-time movement control was performed. As a result, while the user moves the person's arm, the external skeleton performs the same movement synchronized with the robot.
Within the scope of this research, human robot interaction network design was carried out by means of wearable wireless sensors MIMU (accelerometer, gyroscope, magnetometer) for the control of a two-degree upper-extremity exoskeletal robot system compatible with human body and supporting human movements. Angular acceleration, gyroscope information was obtained from two MIMU sensors connected to the upper and lower limbs of the subject, and AHRS (Attitude and Heading Reference Systems) algorithm was integrated with these sensor data and the upper extremity movement (upper arm, lower arm) quaternion orientation matrix was calculated. Euler orientation angles (for x, y, z axes) of shoulder and elbow joints were calculated by using kinematic analysis. With the developed interaction network, real time motion control of two degrees of freedom prototype upper extremity exoskeleton robot arm which is designed and manufactured with laboratory facilities was realized. As a result, the user performs the same movement synchronously in the exoskeleton robot as the person moves the arm.
Alan : Fen Bilimleri ve Matematik; Mühendislik
Dergi Türü : Ulusal
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