Diz Eklemi Simülatör Prototipinin ISO 14243/3 Standardına Uygun Sistem Modelleme Çalışmasının Yapılması ve Matlab Simulink Ortamında Yürüyüş Profilinin Simule Edilmesi

Abstract

Diz aşınma sümülatörleri, ISO14243-1/3 protokollerini referans alarak eklem mekaniğini modellemek ve aşınma performansını tespit etmek için kullanılmaktadır. Aşınma performansını etkileyen en önemli dinamik faktörler, femur ve insert ara yüzeylerinde oluşan hareket ve kuvvet çiftleri olarak belirlenmiştir. Gerçekleştirilen çalışmada, bir eklem diz simülatör prototipi için sistem modellemenin oluşturulması, Matlab Simulink ortamında girdi ve çıktı sinyallerinin elde edilmesi hedeflenmiştir. Yapılan çalışmalarla, tork ve konum için transfer fonksiyonları elde edilmiş ve Matlab Simulink ortamında blok diyagramı oluşturulmuştur. ISO 14243-3 protokolü esas alınarak hareket eğrileri Matlab Simulink ortamında modellenmiş ve girdi referans sinyallerine dönüştürülmüştür. Son olarak, PID kontrollü kapalı döngü, DC servo motor devresine entegre edilerek çıktı sinyalleri elde edilmiş ve bu sinyaller kullanılarak Matlab Simmechanics ortamında yürüme döngüsü başarılı bir şekilde simüle edilmiştir. Elde edilen sistem modeli değerlendirildiğinde, ardunio veya PLC’ye adapte edilerek bir simülatör test setup’ında kullanabilinecek ve yürürlükteki standarda uygun olarak eklem mekaniğini modelleyecek etkinliğe sahip olduğu tespit edilmiştir.

Keywords

• aşınma simulatörü
• diz eklem mekaniği
• matlab
• simulink
• sistem modelleme
• artroplasti

Performing System Modeling Study of Knee Joint Simulator Prototype in accordance with ISO 14243/3 Standard and Simulating Gait Profile in Matlab Simulink Environment

Abstract

Knee wear simulators are used to model joint mechanics and detect wear performance, referencing ISO14243-1/3 protocols. In this study, it is aimed to create a system model for a joint knee wear simulator prototype and then obtain input and output signals with the Matlab Simulink program. As a result of the study, transfer functions for torque and position were obtained and a block diagram was created in the Matlab Simulink environment. Based on the ISO 14243-3 protocol, motion curves were modeled in the Matlab Simulink environment and converted to input reference signals. Finally, PID controlled closed loop was integrated into the DC servo motor circuit to obtain output signals, and using these signals, the walking cycle was successfully simulated in Matlab SimMechanics environment in accordance with ISO 14243-3. When the system model is evaluated, it is understood that it has advantages such as being able to work with open source microcontrollers such as Ardunio, low cost, and easy adaptation of any data to the system. In this study, it is aimed to obtain a suitable system model for the knee wear simülatör prototype and to serve as an example for easily accessible test simulators for use in scientific studies or R&D processes.

Keywords

• Wear simulator
• knee
• matlab
• system modelling
• artroplasity

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