EMG sinyalleri ile mobil robotun kablosuz kontrolü

Öz

Kasların elektriksel aktivitelerinin ölçülmesine elektromiyografi (EMG) denir. Klinik tedavi süreçlerinde ve biyomedikal araştırmalarda kullanılmaktadır. Bu çalışmada önkol kasları üzerinden elde edilen yüzey EMG sinyalleri kullanılarak bir mobil robotun kablosuz kontrolü gerçekleştirilmiştir. Üç kanaldan eş zamanlı olarak alınan EMG sinyalleri sayısal filtrelerle işlenmiş, kablosuz ortam üzerinden mobil robot kontrol devresine aktarılmıştır. Kontrol devresi, el-bilek hareketlerinden elde edilen işlenmiş veriler ile mobil robotun yön ve hız kontrolünü gerçekleştirmektedir. Son olarak kullanılan sayısal filtrelere ait frekans cevapları ve işlenmiş EMG sinyallerine ait zaman grafikleri çalışma içerisinde verilmiştir.

Anahtar Kelimeler

• Önkol kasları,EMG sinyali,Devre tasarımı,Sayısal filtre,Frekans cevabı

Wireless control of mobile robot with EMG signals

Abstract

Electromyography (EMG) is the measurement of electrical activities of muscles. It is used for clinical health processes and biomedical researches. In this study, control of a mobile robot is performed by using EMG signals obtained from forearm muscles. EMG signals simultaneously obtained from three channel are processed with digital filter and transferred to mobile robot control circuit via wireless way. Control circuit using processed signals obtained from hand-elbow movements performs direction and velocity control of the mobile robot. Finally, frequency responses of digital filters and time graphs of processed EMG signals are given in the study.

Keywords

• Forearm muscles,EMG signal,Circuit design,Digital filter,Frequency response

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