İnsan Bacak Hareketleri İçin Prototip Dış İskelet Robotik Sisteminin Mekanik Tasarımı Ve Hareket Verilerinin Yapay Sinir Ağları İle Elde Edilmesi

Mechanical Design Of Prototype Exoskeleton Robotic System For Human Leg Movements And Implementation Of Gait Data With Neural Network

Evren Meltem TOYGAR, Ahmet ÖZKURT, Zeki KIRAL, Mehmet ÇAKMAKÇI, Binnur Gören KIRAL, Yavuz ŞENOL, Taner AKKAN, Yusuf ARMAN, Tolga OLCAY, Necati Mutlu DAĞHAN, Murat KARAGÖZ

Özet

Target of this study is designing a exoskeleton system for single lower extremity disabled person and controlling this exoskeleton system with neural network. Exoskeleton system is modeled by using SolidWorks. At the same time, gait data is acquired on human body and sole is divided four parts after that reaction forces are gauged during the walking. Distributions of strain and deformation are obtained by using experimental gait data. The walking is designed using the obtained data and walking data is derived for control stage. Power requirements of actuators are defined.

Abstract

Anahtar kelimeler: Yürüme analizi, alt ekstremite, dış iskelet sistemi, yürüme hareketi kontrolü