EMG ve Esnek Algılayıcı Sensör İle Kontrol Edilebilen Robot El Sisteminin Geliştirilmesi

Öz

Günümüzde endüstri, arama kurtarma, uzay çalışmaları ve medikal cerrahi gibi birçok alanda robot kullanımı önemli rol oynamaktadır. Özellikle hassasiyetin önemli olduğu veya insanın çalışması için güvenli olmayan ortamlarda robot manipülatörlerin, insan eline yakın hassasiyette işlem yapabilecekleri durumlara olan ihtiyaç gün geçtikçe artmaktadır. İnsan elinin sahip olduğu kavrama, tutma, sıkma gibi işlevler robot manipülatörlerde de ihtiyaç duyulmaktadır. Ancak bu işlevler, içerisine birçok eklem hareketinin devreye girmesiyle gerçekleştiğinden, oldukça kompleks bir yapıya sahiptir. Bu nedenle bu yapının daha iyi anlaşılabilmesi için farklı sensörlerden bilgi alarak ve insan eli eklem yapısına uygun tasarımlar gerçekleştirerek çözüm üretilmeye çalışılmaktadır. Bu çalışmanın amacı insan eli fizyolojisine sahip bir robot el sisteminin geliştirilmesidir. Sistemin hareketlerinin kontrolü için iki aşamalı bir model önerilmiştir. Birinci modelde esnek algılayıcı resistörler yardımıyla parmak hareketleri algılanarak robot el tarafından simüle edilmiştir. İkinci modelde kol kaslarındaki hareketlerin EMG sensörleri ile algılanarak robot el üzerinde hareketlere dönüştürülmesi sağlanmıştır. Çalışma sonucunda önerilen robot el sisteminin özellikle tehlikeli ortamlarda kullanılabilen veya eli olmayan engelli bireyler tarafından kullanılabilecek bir protez el işlevi görerek kullanılması hedeflenmektedir. Yapılan simülasyon testleri sonuçlarından önerilen modellerin bir insan elini örnekleyebilecek derecede başarılı olduğu görülmüştür.

Anahtar Kelimeler

• EMG
• Esnek Algılayıcı Sensör
• Robot El
• Robot Manipülatör
• Teleoperasyon

Development of Robot Hand System Controlled by EMG and Flexible Sensing Sensor

Abstract

Today, the use of robots plays an important role in many fields such as industry, search and rescue, space studies, and medical surgery. Especially in environments where precision is important or unsafe for human work, the need for situations where robot manipulators can operate with precision close to human hands is increasing day by day.Functions such as grasping, holding, and squeezing that the human hand possesses are also needed in robot manipulators. However, these functions have a very complex structure since they are realized by the introduction of many joint movements. For this reason, to better understand this structure, it is tried to solve by taking information from different sensors and making designs suitable for the human hand joint structure. This study aims to develop a robot hand system with human hand physiology. A two-stage model is proposed for controlling the movements of the system. In the first model, finger movements are detected and simulated by the robot hand with the help of flexible sensor resistors. In the second model, movements in the arm muscles are detected by EMG sensors and converted into movements on the robot hand. As a result the study, it is aimed to use the proposed robot hand system as a prosthetic hand that can be used especially in dangerous environments or can be used by handicapped individuals. From the results of the simulation tests, it is seen that the proposed models were successful enough to sample a human hand.

Keywords

• EMG
• Flexible Sensor
• Robot Hand
• Robot Manipulator
• Teleoperation

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