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Journals / Afyon Kocatepe Üniversitesi Fen ve Mühendislik Bilimleri Dergisi / 2020 / Cilt: 20 - Sayı: 6

Human Robot Interaction Network Design with Wearable Wireless MIMU Sensors for Upper Extremity Exoskeleton Robot

Üst Ekstremite Dış İskelet Robot İçin Giyilebilir Kablosuz MIMU Sensörler Vasıtası İle İnsan Robot Etkileşim Ağı Tasarımı

Oğuz YAKUT
Beyda TAŞAR
Sait MÜFTÜ
Şakir Furkan YÖNDEM
Hakan DURMUŞ
Pages
1165–1177
Publication Date
2022-10-12
DOI
—
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AI Summary & Key Takeaways

AI Insight
⚡ TL;DR(Too Long; Didn't Read)

As a result, the user performs the same movement synchronously in the exoskeleton robot as the person moves the arm.

📌 3 Key Takeaways

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Objective & Hypothesis: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.
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Key Findings & Data: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.
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Conclusion & Impact:As a result, the user performs the same movement synchronously in the exoskeleton robot as the person moves the arm.
🔬Design:Research Article
📍Scope:Comprehensive Sample
⚙️Variables:Domain Parameters

Abstract

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.

Özet

Bu araştırma kapsamında insan vücuduna uyumlu, insan hareketlerini destekleyen iki serbestlik derecelibir 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 altkol uzuvlarına bağlı iki adet MIMU sensörden açısal ivmelenme, jiroskop ve manyetometre bilgilerialınıp, AHRS (Attitude and Heading Reference Systems) algoritması ile bu sensör verileri bütünleştirilipkişinin 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 Euleryönelim açıları (x, y, z eksenleri için) hesaplanmıştır. Geliştirilen etkileşim ağı ile laboratuvar olanaklarıile tasarlanan ve imalatı yapılan iki serbestlik dereceli prototip üst ekstremite dış iskelet robot kolungerçek zamanlı hareket kontrolü gerçekleştirilmiştir. Sonuç olarak, kullanıcı kişi kolunu hareketettirirken, dış iskelet robotta senkronize olarak aynı hareketi gerçekleştirmektedir.

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Cite This Article

YAKUT, O., TAŞAR, B., MÜFTÜ, S., YÖNDEM, Ş. F., DURMUŞ, H. (2022). Human Robot Interaction Network Design with Wearable Wireless MIMU Sensors for Upper Extremity Exoskeleton Robot. Afyon Kocatepe Üniversitesi Fen ve Mühendislik Bilimleri Dergisi, Cilt: 20 - Sayı: 6, 1165–1177. https://ajindex.com/articles/429821

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