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

Yıl 2020, Cilt: 20 Sayı: 6, 1165 - 1177, 31.12.2020

Beyda Taşar , Oğuz Yakut , Sait Müftü , Şakir Furkan Yöndem Hakan Durmuş

https://doi.org/10.35414/akufemubid.606874

Öz

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.

Anahtar Kelimeler

MIMU, Upper Extremity Exoskeleton Robot, Human-Robot İnteraction, Kinematic Analysis, AHRS Algorithm

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

Öz

Bu araştırma kapsamında insan vücuduna uyumlu, insan hareketlerini destekleyen iki serbestlik dereceli bir 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 alt kol uzuvlarına bağlı iki adet MIMU sensörden açısal ivmelenme, jiroskop ve manyetometre bilgileri alınıp, AHRS (Attitude and Heading Reference Systems) algoritması ile bu sensör verileri bütünleştirilip kişinin 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 Euler yönelim açıları (x, y, z eksenleri için) hesaplanmıştır. Geliştirilen etkileşim ağı ile laboratuvar olanakları ile tasarlanan ve imalatı yapılan iki serbestlik dereceli prototip üst ekstremite dış iskelet robot kolun gerçek zamanlı hareket kontrolü gerçekleştirilmiştir. Sonuç olarak, kullanıcı kişi kolunu hareket ettirirken, dış iskelet robotta senkronize olarak aynı hareketi gerçekleştirmektedir.

Anahtar Kelimeler

MIMU, Üst Ekstermite Diş İskelet Robot, İnsan-Robot Etkileşimi, Kinematik Analiz, AHRS Algoritması

Kaynakça

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