Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi

başer, özgür; GÜRSES, Senih; Kilic, Ergin; TILKI, UMUT

Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi

Yürütücü

Özgür BAŞER (adres yazılmamıs)

Danışman(lar)

Senih GÜRSES (Orta Doğu Teknik Üniversitesi, Mühendislik Bilimleri Bölümü, Ankara, Türkiye)

Araştırmacı(lar)

Ergin KILIÇ, (Süleyman Demirel Üniversitesi Mühendislik Fakültesi, Makina Mühendisliği Bölümü, Isparta, Türkiye)

Umut TİLKİ (Süleyman Demirel Üniversitesi, Teknoloji Fakültesi, Biyomedikal Mühendisliği Bölümü, Isparta, Türkiye)

43 6

Proje Grubu: MAG Sayfa Sayısı: 286 Proje No: 213M297 Proje Bitiş Tarihi: 15.04.2017 Metin Dili: Türkçe İndeks Tarihi: 25-11-2019

Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi

Öz:

Dış iskelet robotlar, insan uzuvları ile etkileşim halinde çalışan, giyilebilir elektromekanik yapılardır. Bu robotlar, yürüme engeli olan ya da yaşlı kişilerde yardımcı uzuv, felçli kişilerde rehabilitasyon ve sağlıklı insanlarda güç artırımı amacı ile kullanılmaktadır. Bu projede, insan vücudu eklemlerinin biyomekanik davranışlarından esinlenilerek enerji verimli, kararlı, güvenli, esnek ve kullanıcı ile uyumlu bir alt uzuv dış iskelet robotun biyomimetik tasarımı ve denetimi gerçekleştirilmiştir. İnsan vücudunun kas-iskelet sistemi, bağlı bulundukları eklemlerde sertlik ve sönümlemeyi devamlı değiştirerek esnek ve kararlı bir hareket kabiliyeti sağlamaktadır. Bu projede geliştirilen dış iskelet robotun bilek eklemlerinde hem sertlik hem de sönümleme değerlerini bağımsız değiştirebilen karma eyleyici tasarımı, diz ve kalça eklemlerinde ise seri elastik eyleyici ile sönümlemesi değiştirilebilir eyleyici içeren karma eyleyici tasarımları kullanılmıştır. Böylece, bütün eklemlerde mekanik olarak ayarlanabilir empedans (sertlik ve sönümleme) değerleri ile çalışabilen biyomimetik esnek bir dış iskelet robot literatüre kazandırılmıştır. Dış iskelet robotun geliştirilmesi aşamasında, sertliği değiştirilebilir eyleyiciler, sönümlemesi değiştirilebilir eyleyiciler ve dış iskelet robotun bütünü için benzetim çalışmaları gerçekleştirilmiştir ve dış iskelet robotun bir bütün olarak üretimi yapılmıştır. Bu dış iskelet robotun kontrol performansını denemek için de bir dizi deneysel kontrol çalışmaları gerçekleştirilmiştir. Gerçekleştirilen bu deneysel çalışmalar; sertliği değiştirilebilir eyleyicinin kuvvet kontrol ve pozisyon kontrol deneyleri, insan bilek sertliğinin EMG sinyalleri tabanlı gerçek zamanlı olarak kestirimi, bunun sertliği değiştirilebilir eyleyiciye uygulanması, sönümlemesi değiştirilebilir eyleyicinin istenen sönümleme torklarının kontrolü deneyleri, bu iki eyleyicinin birleşiminden oluşan karma eyleyicinin deneysel performans çalışmaları ve daha sonrada geliştirilen dış iskelet robotun kullanıcı-baskın ve robot-baskın kontrol deneylerdir. Böylelikle, bu projede biyomimetik bir dış iskelet robotun tasarımı ve üretimi gerçekleştirilmiş, kontrol çalışmaları deneysel olarak denenerek robotun temel performans değerlendirmeleri yapılmıştır.

Anahtar Kelime: sönümlemesi değiştirilebilir eyleyici sertliği değiştirilebilir eyleyici Dış iskelet robot

Konular: Bilgisayar Bilimleri, Yazılım Mühendisliği Robotik Bilgisayar Bilimleri, Sibernitik

Erişim Türü: Erişime Açık

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APA	başer ö, GÜRSES S, Kilic E, TILKI U (2017). Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi. , 1 - 286.
Chicago	başer özgür,GÜRSES Senih,Kilic Ergin,TILKI UMUT Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi. (2017): 1 - 286.
MLA	başer özgür,GÜRSES Senih,Kilic Ergin,TILKI UMUT Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi. , 2017, ss.1 - 286.
AMA	başer ö,GÜRSES S,Kilic E,TILKI U Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi. . 2017; 1 - 286.
Vancouver	başer ö,GÜRSES S,Kilic E,TILKI U Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi. . 2017; 1 - 286.
IEEE	başer ö,GÜRSES S,Kilic E,TILKI U "Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi." , ss.1 - 286, 2017.
ISNAD	başer, özgür vd. "Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi". (2017), 1-286.

APA	başer ö, GÜRSES S, Kilic E, TILKI U (2017). Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi. , 1 - 286.
Chicago	başer özgür,GÜRSES Senih,Kilic Ergin,TILKI UMUT Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi. (2017): 1 - 286.
MLA	başer özgür,GÜRSES Senih,Kilic Ergin,TILKI UMUT Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi. , 2017, ss.1 - 286.
AMA	başer ö,GÜRSES S,Kilic E,TILKI U Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi. . 2017; 1 - 286.
Vancouver	başer ö,GÜRSES S,Kilic E,TILKI U Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi. . 2017; 1 - 286.
IEEE	başer ö,GÜRSES S,Kilic E,TILKI U "Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi." , ss.1 - 286, 2017.
ISNAD	başer, özgür vd. "Biyomimetik Bir Alt Uzuv Dış Iskelet Robotun Tasarımı Ve Denetimi". (2017), 1-286.