EMG sinyalleri ile mobil robotun kablosuz kontrolü

Yıl 2017, Cilt: 23 Sayı: 5, 497 - 503, 20.10.2017

Serdar Küçük , Umut Mayetin

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

Öz

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.

Anahtar Kelimeler

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

Kaynakça

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