- Yildiz Technical University
Mechatronics Eng. Department
Besiktas, ISTANBUL, Türkiye, 34349
Erhan Akdogan
Yildiz Technical University, Mechatronics Engineering, Faculty Member
- Robotics, Biomedical Engineering, Electronic Engineering, Assistive Technology, Electrical and Computer Engineering (ECE), Mechatronics Engineering, and 40 moreHaptics, Medical Device Design, Electronics and biomedical engineering, Computer Science, Engineering, Education, Artificial Intelligence, Information Technology, Rehabilitation, Cybernetics, Mechatronics, Actuators, Human Robot Interaction, Human Machine Interface, Electromyography, Tactile feedback, Gaussian Mixture Model, Intelligent Control, Impedance Control, Robot Manipulator, Tariqa Sufism, Anatolian Sufism, Ottoman Sufism, Turkish Sufism, Sufism in Turkey, Robotic, Robotic Surgery, Mechatronics & Robotic Engineering, Robotic Surgery in Oncology & Urology, Robotic Modelling and Control, Assistive Robotic Knee, Robotic IoT Systems , Robotic arm rehabilitation, Biomimetic Robotic Arm, Exoskeletal approach, Cybernetic, Cybernetic Modeling, EMG classification, EMG signal processing, and Transhumanismedit
- Dr. Akdoğan graduated from Yıldız Technical University, Electrical and Electronics Faculty, Electronics and Communica... moreDr. Akdoğan graduated from Yıldız Technical University, Electrical and Electronics Faculty, Electronics and Communication Engineering Department in 1999. He completed his master's and doctoral studies at Marmara University, where he worked as a Research Assistant. During his doctoral studies, he worked on the Design, Production, and Artificial Intelligence-based control of Rehabilitation Robots. Between 2008-2009, he was in the Biological Systems Engineering Research Laboratory at Hiroshima University, Japan for post-doctoral research. In 2010, he started working as a faculty member at Yıldız Technical University Faculty of Mechanical Engineering Department of Mechatronics Engineering. He worked as a consultant for many research projects, scientific publications, undergraduate and graduate levels in the field of medical mechatronics in the Biomechatronics Research Laboratory, and also received many patents, utility models, and industrial design registrations. He became the Founding Manager of the Biomechatronics and Robotic Systems Application and Research Center, which was established in Yıldız Technical University in July 2020 to operate with a focus on medical technologies, robotics, and artificial intelligence. Since September-2020, he has been the president of the Health Institute of Turkey.His research interests include medical device design, physical therapy, and rehabilitation robots, biological signal processing, and artificial intelligence. He has won 1st prize in health categories in many technology-focused competitions. Dr. Akdogan is also a scout leader with the degree of Scouting and Guiding Federation of Turkey's assistant leader trainer. He has been the president of the Health Institutes of Türkiye since 2020.edit
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Göker, İmran (Arel Author), Öztürk, Bedirhan (Arel Author)Elektromyography (EMG) signals are the electrical signals that are emerged by muscular contraction. In this study, a wireless EMG device was designed and implemented. The EMG... more
Göker, İmran (Arel Author), Öztürk, Bedirhan (Arel Author)Elektromyography (EMG) signals are the electrical signals that are emerged by muscular contraction. In this study, a wireless EMG device was designed and implemented. The EMG signals are collected by surface electrodes, processed with filters and amplifiers and sent to the computer via wireless module. The EMG signals are obtained and amplified by an instrumentation and an inverting amplifier. Then, filtering is performed to remove noise. Two arduino microcontrollers and two nRF24L01 wireless communication modules are used as a receiver and a transmitter to perform wireless communication. The results were compared with the BIOPAC EMG100C and the difference of 5,3% was detected. The developed system will contribute scientific and economically considering the selling prices of the existing systems to our country
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Therapeutic exercises play an important role in physical therapy and rehabilitation. The use of robots has been increasing day by day in the practice of therapeutic exercises. This study aims to design and control a novel robotic platform... more
Therapeutic exercises play an important role in physical therapy and rehabilitation. The use of robots has been increasing day by day in the practice of therapeutic exercises. This study aims to design and control a novel robotic platform named DIAGNOBOT for diagnosis and treatment (therapeutic exercise). It has three 1-degree-of-freedom robotic manipulators and a single grasping force measurement unit. It is able to perform flexion–extension and ulnar–radial deviation movements for the wrist and pronation–supination movement for the forearm. The platform has a modular and compact structure and is capable of treating two patients concurrently. In order to control the DIAGNOBOT, an impedance control–based controller was developed for force control, which was required for the exercises, as well as a proportional–integral–derivative controller for position control. To model the resistive exercise, an angle-dependent impedance control method different from traditional methods has been p...
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Artan nüfus ile birlikte seyahat eden insan sayısı her geçen gün artmaktadır. Özellikle ülkemizde karayolu ulaşımı diğer ulaşım yöntemlerine göre çok daha fazla kullanılmaktadır. İstanbul' da deniz yolu ulaşımı 2001 verilerine göre... more
Artan nüfus ile birlikte seyahat eden insan sayısı her geçen gün artmaktadır. Özellikle ülkemizde karayolu ulaşımı diğer ulaşım yöntemlerine göre çok daha fazla kullanılmaktadır. İstanbul' da deniz yolu ulaşımı 2001 verilerine göre %6' lık bir paya sahip iken karayolu %90' lık bir seyir izlemektedir. Dolayısı ile trafiğin kontrolü problemi artan trafik sorunlarıyla birlikte gün geçtikçe önemli bir sorun haline gelmektedir. Ayrıca trafik kontrolü ile ilgili kurum ve kuruluşlarda uzman personel sayısı son derece sınırlıdır. Trafiğin kontrolündeki en önemli birimlerden biride Kavşak Kontrol Cihazları' dır. Bu çalışmanın amacı, trafiğin kontrolü olgusunu öğrenciye kavratmak için bir kavşak kontrol cihazı tasarlamaktır. Bu amaç doğrultusunda mikrodenetleyici kontrollü bir kavşak kontrol cihazı tasarlanmaya çalışılmıştır. Sinyal sürelerinin hesaplanması için bir yazılım geliştirilmiştir. Kavşak kontrol cihazının çalışma modunun seçimi bilgisayar seri port üzerinden bilgisa...
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Determining trajectories in mobile robot navigation tasks is a difficult process to apply with conventional methods. Therefore, intelligent techniques produce highly effective results in trajectory optimization and orientation prediction.... more
Determining trajectories in mobile robot navigation tasks is a difficult process to apply with conventional methods. Therefore, intelligent techniques produce highly effective results in trajectory optimization and orientation prediction. In this study, two different ANN (Artificial Neural Network) structures have been developed for the navigation prediction of the SCITOS G5 mobile robot. For this aim, RBF (Radial Basis Function) and MLP (Multi-Layer Perceptron) structures were used. Information obtained from 24 sensors of the robot was used as network inputs and network output determines robot direction. Accordingly, structures that have 24 inputs and one output were created. The best performance network structures obtained were compared among them in simulation environment. Accordingly, RBF has been observed to produce more accurate results than MLP.
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The demand for rehabilitation increases daily as a result of diseases, occupational and traffic accidents and population growth. In the present time, some important problems occur regarding the rehabilitation period: the transportation of... more
The demand for rehabilitation increases daily as a result of diseases, occupational and traffic accidents and population growth. In the present time, some important problems occur regarding the rehabilitation period: the transportation of patients, the acquisition and storage of treatment data and the need to support the physiotherapists with intelligent devices. In order to overcome these challenges, the authors hereby propose a human machine interface to control an intelligent rehabilitation robot system designed for the lower limbs. The human machine interface has a structure that is created with a rule-based intelligent controlling structure, combined with conventional controller and an easy-to-use graphical user interface. By means of this interface, the rehabilitation sessions can be stored and members of the rehabilitation team can reach to this stored data via internet. Additionally, the patient can receive treatment in his house. One physiotherapist is able to treat several patients at a time by utilizing this system. The system’s capacity has been elaborated through the test results.
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Abstract Physiotherapy (physical therapy) is a form of therapy aimed at regaining patients their bodily limb motor functions. The use of what are called therapeutic exercise robots for such purposes is gradually increasing. Therapeutic... more
Abstract Physiotherapy (physical therapy) is a form of therapy aimed at regaining patients their bodily limb motor functions. The use of what are called therapeutic exercise robots for such purposes is gradually increasing. Therapeutic exercise robots have been developed for lower and upper limbs. These robots lighten the workload of physiotherapists (PTs) by providing the movements on patients’ relevant limbs. In order to get robots to perform the movements that the PT expects the patient to perform, it is required to determine the mechanical impedance parameters (inertia, stiffness and damping) due to the contact between the PT and patient's limb's, and to ensure that the robot moves according to these parameters. The aim of this study is to estimate these impedance parameters by using artificial neural networks (ANNs). Data from experiments on real subjects were used to train the network, and success was obtained using new data not presented to the network before. Subsequently, the previously acquired output was re-directed to the network with the purpose of developing a network, which can learn more accurately. Results have provided the designed ANN structure can generate necessary impedance parameter value to imitate PT motions.
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Since prostheses are biomedical devices implanted directly on the patient's body, they carry a higher risk compared to other engineering products. In the development process, it is a critical issue to identify potential errors and... more
Since prostheses are biomedical devices implanted directly on the patient's body, they carry a higher risk compared to other engineering products. In the development process, it is a critical issue to identify potential errors and malfunctions that may arise during the clinical use of prostheses and to take precautions against them. Autonomous tumor prostheses have a higher risk than any other prosthesis due to its extension capacity of approximately 100 mm, having a large battery in its structure and performing non-clinical extension without physician control. In this study, the risk analysis of the autonomous tumor prosthesis previously developed by the authors was performed using the failure mode and effects analysis (FMEA) method. In order to determine potential failure risks, a literature review was performed on clinical errors of tumor prostheses. In addition, malfunctions caused by each component of the prosthesis have been identified. Risk Priority Number (RPN) values ar...
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Colemanite is a preferred boron mineral in industry, such as boric acid production, fabrication of heat resistant glass, and cleaning agents. Dissolution of the mineral is one of the most important processes for these industries. In this... more
Colemanite is a preferred boron mineral in industry, such as boric acid production, fabrication of heat resistant glass, and cleaning agents. Dissolution of the mineral is one of the most important processes for these industries. In this study, dissolution of colemanite was examined in water saturated with carbon dioxide solutions. Also, prediction of dissolution rate was determined using artificial neural networks (ANNs) which are based on the multilayered perceptron. Reaction temperature, total pressure, stirring speed, solid/liquid ratio, particle size, and reaction time were selected as input parameters to predict the dissolution rate. Experimental dataset was used to train multilayer perceptron (MLP) networks to allow for prediction of dissolution kinetics. Developing ANNs has provided highly accurate predictions in comparison with an obtained mathematical model used through regression method. We conclude that ANNs may be a preferred alternative approach instead of conventional...
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Human Activity Recognition is a research area that it is focused on human movements by interpreting sensory information collected from people and environment they live in. Sensory information can be obtained from people using wearable... more
Human Activity Recognition is a research area that it is focused on human movements by interpreting sensory information collected from people and environment they live in. Sensory information can be obtained from people using wearable sensors such as accelerometers, magnetometers and from people's environments using tools such as cameras. Human movements consist of two parts. One part includes basic activities (BAs) and the other includes postural transitions (PTs). Most of the researches are related with basic activities because detection of postural activities is more complex. In this study, human movement is predicted by using artificial neural networks. A public dataset of the smartphone's sensor module is used training and testing the artificial neural network algorithm. The dataset includes six basic activities, acceleration and gyroscope data. Performance analysis is indicated with confusion matrix. 1. Giriş Son yıllarda algılama ve hesaplama teknolojilerinin gelişmes...
Elektromyography (EMG) signals are the electrical signals that are emerged by muscular contraction. In this study, a wireless EMG device was designed and implemented. The EMG signals are collected by surface electrodes, processed with... more
Elektromyography (EMG) signals are the electrical signals that are emerged by muscular contraction. In this study, a wireless EMG device was designed and implemented. The EMG signals are collected by surface electrodes, processed with filters and amplifiers and sent to the computer via wireless module. The EMG signals are obtained and amplified by an instrumentation and an inverting amplifier. Then, filtering is performed to remove noise. Two arduino microcontrollers and two nRF24L01 wireless communication modules are used as a receiver and a transmitter to perform wireless communication. The results were compared with the BIOPAC EMG100C and the difference of 5,3% was detected. The developed system will contribute scientific and economically considering the selling prices of the existing systems to our country.
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The use of robots in physical therapy and rehabilitation is increasing day by day. The contributions of robotic rehabilitation have been proven by clinical trials. Impedance control is the most known and used control method in... more
The use of robots in physical therapy and rehabilitation is increasing day by day. The contributions of robotic rehabilitation have been proven by clinical trials. Impedance control is the most known and used control method in rehabilitation robots. The purpose of the impedance control is to balance mechanical impedance of the end effector of the robot. Authors have developed three impedance-controlled therapeutic exercise robots until now, such as PHYSIOTHERABOT©, PHYSIOTHERABOT/w1©, and DIAGNOBOT©. In these systems, various versions of impedance control have been used such as position-based, force-based, variable, and hybrid impedance control. Therapeutic exercises have been modeled using these impedance control techniques. In this chapter, the fundamental concepts of impedance control are explained. Then application of them in the above-mentioned robotic systems is introduced.
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The use of muscle activation signals in the control loop in biomechatronics systems is extremely important for effective and stable control. One of the methods used for this purpose is motion classification using electromyography (EMG)... more
The use of muscle activation signals in the control loop in biomechatronics systems is extremely important for effective and stable control. One of the methods used for this purpose is motion classification using electromyography (EMG) signals that reflect muscle activation. Classifying these signals with variable amplitude and frequency is a difficult process. On the other hand, EMG signal characteristics change over time depending on the person, task and duration. Various artificial intelligence-based methods are used for movement classification. One of these methods is machine learning. In this study, a total of 24 different models of 6 main machine learning algorithms were used for motion classification. With these models, 7 different wrist movements (rest, grip, flexion, extension, radial deviation, ulnar deviation, expanded palm) are classified. Test studies were carried out with 8 channels of EMG data taken from 4 subjects. Classification performances were compared in terms o...
In this study, an intelligent controller was developed for a rehabilitation robot called DIAGNOBOT, which can be used for assessment and treatment in the rehabilitation of wrist and forearm. The controller has a decision support system... more
In this study, an intelligent controller was developed for a rehabilitation robot called DIAGNOBOT, which can be used for assessment and treatment in the rehabilitation of wrist and forearm. The controller has a decision support system structure strengthened with conventional statistical methods and databases. The controller uses the
patient’s biomechanical parameters to make an assessment and proposes a treatment in line with this. In accordance with the recommended treatment, it produces the control parameters, torque, and position information for the control of the rehabilitation robot. The system’s ability of assessment and treatment was tested with voluntary patients. Through these test studies, the treatments recommended by the developed intelligent controller have been proven to have a very high rate of accuracy.
patient’s biomechanical parameters to make an assessment and proposes a treatment in line with this. In accordance with the recommended treatment, it produces the control parameters, torque, and position information for the control of the rehabilitation robot. The system’s ability of assessment and treatment was tested with voluntary patients. Through these test studies, the treatments recommended by the developed intelligent controller have been proven to have a very high rate of accuracy.
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Therapeutic exercises play an important role in the physical therapy and the rehabilitation. The exercises that can be assisted by a physiotherapist are increasingly being performed by the rehabilitation robots partially or fully due to... more
Therapeutic exercises play an important role in the physical therapy and the rehabilitation. The exercises that can be assisted by a physiotherapist are increasingly being performed by the rehabilitation robots partially or fully due to their various merits. This study aims to develop a complete rehabilitation system, which consists of a rehabilitation robot, an HMI and a hybrid impedance controller that can model all the therapeutic exercises for an upper limb rehabilitation. The 3-DOF upper limb rehabilitation robot is able to perform the movements of flexion–extension and ulnar–radial deviation for the wrist, and the movement of pronation–supination for the forearm. The experimental studies were conducted with healthy subjects and patients. First, the experiments were done with the healthy subjects to prove the control performance of the robotic system. The results showed that the hybrid impedance controlled robot can perform the therapeutic exercises very successfully. Then, the experimental studies were carried out with the real patients in a clinical environment. At the end of the treatment process, remarkable improvements were observed in terms of the limb force in all of the patients.
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In this study, an artificial neural network was developed for estimating Hashimoto’s Thyroiditis sub-groups. Medical analysis and measurements from 75 patients were used to determine the parameters most effective on disease sub-groups.... more
In this study, an artificial neural network was developed for estimating Hashimoto’s Thyroiditis sub-groups. Medical analysis and measurements from 75 patients were used to determine the parameters most effective on disease sub-groups. The study used statistical analyses and an artificial neural network that was trained by the determined parameters. The neural network had four inputs: thyroid stimulating hormone, free thyroxine (fT4), right lobe size (RLS), and RLS2 – fT44, and two outputs for three groups: euthyroid, subclinical, and clinical. After training, the network was tested with data collected from 30 patients. Results show that, overall, the neural network estimated the sub-groups with 90% accuracy. Hence, the study showed that determination of Hashimoto’s Thyroiditis sub-groups can be made via designed artificial neural network.
The number of cerebrovascular and neuromuscular diseases is increasing in parallel with the rising average age of the world’s population. Since the shoulder anatomy is complex, the number of rehabilitation robots for shoulder movements is... more
The number of cerebrovascular and neuromuscular diseases is increasing in parallel with the rising average age of the world’s population. Since the shoulder anatomy is complex, the number of rehabilitation robots for shoulder movements is limited. This paper presents the mechanical design, control, and testing of 4 degrees of freedom (DOF) grounded upper limb exoskeletal robot. It is capable of four different therapeutic exercises (passive, active assistive, isotonic, and isometric). During the mechanical design, the forces to be exposed to the robot were determined and after the design, the system was tested with strength analysis. Also, a low-cost electromyograph device was developed and integrated into the system to measure muscular activation for feedback and instantaneously muscle activation control for the physiotherapist during the therapy. The system can be used for rehabilitation on the shoulder and elbow. A PID controller for position-controlled exercises was developed. T...
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In recent years, the treatment process of patients and disabled people who need rehabilitation and physical medicine has become more effective with the use of new devices and developing technology. The rehabilitation robot is one of the... more
In recent years, the treatment process of patients and disabled people who need rehabilitation and physical medicine has become more effective with the use of new devices and developing technology. The rehabilitation robot is one of the most important developments in new technology. The right therapeutic exercises and the objectivity of the evaluation of the range of motion (ROM; generated torque and muscular activation measurement of the patient) are extremely important factors during treatment. In this study, a lower limb rehabilitation robot was modified and controlled for upper limbs. The retrofitted robot system is able to do passive, active, and active-assistive therapeutic exercises. On the other hand, it performs active-assistive exercises using muscular activation. A web-based human machine interface, which can support home-care service, was developed to control the robotic system. This interface includes a performance evaluation unit, which is able to use not only ROM and torque, but also muscular activation of patients for the assessment of therapy results. Thanks to this system, assessment and physical therapy can be realized by a single robotic system for both upper and lower limbs using physical parameters such as ROM, generated torque, and muscular activation of the limbs. Satisfactory performance of the system is observed in the tests performed with a healthy subject.
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Providing control for suspension systems in vehicles is an enhancing factor for comfort and safety. With the improvement of control conditions, it is possible to design a cost-efficient controller which will maintain optimum comfort... more
Providing control for suspension systems in vehicles is an enhancing factor for comfort and safety. With the improvement of control conditions, it is possible to design a cost-efficient controller which will maintain optimum comfort within harsher environmental conditions. The aim of this study is to design an adaptive PID controller with a predictive neural network model, which will be referred as NPID (NeuralPID), to control a suspension system. For this purpose, a NN (Neural Network) model is designed to produce outputs for PID’s Proportional (P) parameter to provide optimum responses for different road inputs. Also, reliability of the system outputs, which is using adaptive Proportional parameter, is tested. PID parameters for linear quarter vehicle model are decided through Zeigler-Nichols method. An ideal PID model, where Integral (I) and Derivative (D) parameters are bound to Proportional parameter, is used in the system. When the outputs of different controlled and not controlled systems, which are free, PID and NPID, are compared; it has been seen that NPID outputs are more convenient. In addition, it is possible to design controllers, with adaptively adjusting P parameter, which are operating cost-effective.
This paper proposes a novel human-human interface (HHI) using electromyograms (EMGs) and tactile stimulation as an interactive communication tool between human and human. In this system, EMGs is utilized to measure muscle conditions of... more
This paper proposes a novel human-human interface (HHI) using electromyograms (EMGs) and tactile stimulation as an interactive communication tool between human and human. In this system, EMGs is utilized to
measure muscle conditions of human, and then the muscle force and muscular coordination are evaluated based
on EMGs. Evaluated results are converted to stimulation signals, and then sent to another human as tactile stimulation for interactive communication. For accurately communication, stimulation signals are generated based
on human sensory characteristics. In the experiments, utilizing small oscillators as tactile stimulators, human
sensory characteristics for stimulation amplitudes and effective oscillation patterns for multi-channel stimulation
were investigated. Muscle condition during forearm motions of an imaginary therapist was also evaluated and
sent to an imaginary patient for verification of the proposed method. The results lead us to conclude that the
proposed HHI could use to communication tool for motor function rehabilitation.
measure muscle conditions of human, and then the muscle force and muscular coordination are evaluated based
on EMGs. Evaluated results are converted to stimulation signals, and then sent to another human as tactile stimulation for interactive communication. For accurately communication, stimulation signals are generated based
on human sensory characteristics. In the experiments, utilizing small oscillators as tactile stimulators, human
sensory characteristics for stimulation amplitudes and effective oscillation patterns for multi-channel stimulation
were investigated. Muscle condition during forearm motions of an imaginary therapist was also evaluated and
sent to an imaginary patient for verification of the proposed method. The results lead us to conclude that the
proposed HHI could use to communication tool for motor function rehabilitation.
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n this paper, it is intended to make the mechanical design of 3 axis Computer Numerical Control (CNC) router with linear joints, production of electronic control interface cards and drivers and manufacturing of CNC router system which is... more
n this paper, it is intended to make the mechanical design of 3 axis Computer Numerical Control (CNC) router with linear joints, production of electronic control interface cards and drivers and manufacturing of CNC router system which is a combination of mechanics and electronics. At the same time, interface program has been prepared to control router via USB. The router was developed for educational purpose. In some vocational schools and universities, Computer Aided Manufacturing (CAM) courses are though rather theoretical. This situation cause ineffective and temporary learning. Moreover, students at schools which have the opportunity to apply for these systems can face with various dangerous accidents. Because of this situation, these students start to get knowledge about this system for the first time. For the first steps of CNC education, using smaller and less dangerous systems will be easier. A new concept CNC machine and its user interface suitable and profitable for education have been completely designed and realized during this study. To test the validity of the hypothesis which the benefits that may exist on the educational life, enhanced traditional education method with the contribution of the designed machine has been practiced on CAM course students for a semester. At the end of the semester, the new method applied students were more successful in the rate of 27.36 percent both in terms of verbal comprehension and exam grades.
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The aim of this study is to improve the modeling of physiotherapist behaviors on therapy. In order to contribute to a more consistent therapy of the rehabilitation robots used for lower limb, it was aimed that the rehabilitation... more
The aim of this study is to improve the modeling of physiotherapist behaviors on therapy. In order to contribute to a more consistent therapy of the rehabilitation robots used for lower limb, it was aimed that the rehabilitation applications would be made by considering also patient physical information. At this point, the control algorithm of the therapy by means of impedance control has been extended by evaluation of patient physical information can be grouped as weight and length of patient body in addition to force and position (angle) knowledge. The control algorithm using patient physical information as an input was developed by the method of Artificial Neural Networks (ANN) and the architecture of ANN written as multi-layer perceptron (MLP). Also, back propagation learning method is used to train the ANN. The control algorithm computes the impedance parameters by estimating. The proposed method generated successful results in terms of parameter estimation. The obtained results are sufficient for modeling the movements of physiotherapist.
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In this paper, a neural network algorithm, which diagnosis of anemia for children under 18 years of age, is presented. The network is trained by using data from hemogram test results from 30 patients and an expert doctor. The network has... more
In this paper, a neural network algorithm, which diagnosis of anemia for children under 18 years of age, is presented. The network is trained by using data from hemogram test results from 30 patients and an expert doctor. The network has 5 inputs (HGB,
HCT, MCV, MCH, MCHC) and an output. Simulations on 20 different patients show that the artificial neural network detects disease with high accuracy. In this paper, it is shown that anemia diagnosis can be made via neural network methods.
HCT, MCV, MCH, MCHC) and an output. Simulations on 20 different patients show that the artificial neural network detects disease with high accuracy. In this paper, it is shown that anemia diagnosis can be made via neural network methods.
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This paper presents a variable impedance control method, which is used to teach a lower limb rehabilitation robot how to imitate exercise motions applied to a patient by a physiotherapist. To achieve this task, the characteristics of... more
This paper presents a variable impedance control method, which is used to teach a lower limb rehabilitation robot how to imitate exercise motions applied to a patient by a physiotherapist. To achieve this task, the characteristics of physiotherapist’s motion are investigated. The proposed control method is based on estimating stiffness parameter of a physiotherapist’s arm and generating impedance parameters of the robot to model the exercise motions. The effectiveness of proposed method is shown with simulation results.
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The number of people who need rehabilitation increases day by day because of reasons such as laceration, aging, work accidents and etc. Therefore, the need of rehabilitation aids is constantly increasing. There are many research studies... more
The number of people who need rehabilitation increases day by day because of reasons such as laceration, aging, work accidents and etc. Therefore, the need of rehabilitation aids is constantly increasing. There are many research studies about assistive technologies in rehabilitation. Especially, rehabilitation robots have a great importance. Existing rehabilitation robot studies have mostly focused on position and force control. Thus, it is muscular activation that should be evaluated to enhance control results, because the same joint trajectory and/or joint torque can be achieved through different muscular combinations. In this study a muscular activation controlled rehabilitation robot system for lower limbs is proposed. A probabilistic artificial neural network model, which can estimate posteriori probability, was used for discrimination of EMG patterns for robot control with EMG signals.
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ABSTRACT In this study, design steps and system concept of a 3 DOF upper limb rehabilitation robot which is called Physiotherabot/WF are introduced. Functional requirements of design, corresponding design parameters and system concept of... more
ABSTRACT In this study, design steps and system concept of a 3 DOF upper limb rehabilitation robot which is called Physiotherabot/WF are introduced. Functional requirements of design, corresponding design parameters and system concept of the robot were examined in detail. Physiotherabot/WF can perform pronation-supination movement for forearm, abduction-adduction and flexion-extension movements for wrist. It can perform passive, active assisted, isotonic, isometric and isokinetic exercises. In order to control the robot, Hybrid Impedance Control (HIC) method is used. The HIC performance is shown by simulation results.
In this study, gyroscope-free inertial measurement unit interface is developed to simulate new system configurations called YILDIZ using known calculation methods and implementation of MEMS accelerometers based on cubic arrangement.... more
In this study, gyroscope-free inertial measurement unit interface is developed to simulate new system configurations called YILDIZ using known calculation methods and implementation of MEMS accelerometers based on cubic arrangement. Additionally significant effect of different sensing directions and sensor allocations are taken into consideration. Throughout the project, simulation studies, realization of sample gyro-free MEMs-based INS systems, and collection of data through data acquisition systems are performed in given order. Using simulation of the system, parameter-dependent errors are aimed to be minimized on the system output. Then, near-ideal geometry and the sensor configurations can be reached and the system can be realized. Prototype outputs are processed and efficient algorithms are developed using Matlab-Simulink environment.
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There is an increasing trend in using robots for medical purposes. One specific area isthe rehabilitation. There are some commercial exercise machines used for rehabilitation purposes. However, these machines have limited use because of... more
There is an increasing trend in using robots for medical purposes. One specific area isthe rehabilitation. There are some commercial exercise machines used for rehabilitation purposes. However, these machines have limited use because of their insufficient motion freedom. In addition, these types of machines are not actively controlled and thereforecan not accomodate complicated exercises required during rehabilitation. In this study,three degree of freedom exoskeletal robot manipulator is proposed for lower limbsrehabilitation. The control of this robot manipulator is achieved by an intelligentcontroller. The robot operates in two stages; learning and therapy. It can makeabduction-adduction and flexion-extension movements for hip, in addition to flexion-extension movement for knee.
Exhaust gases have many effects on human beings and the environment. Therefore, they must be kept under control. The International Convention for the Prevention of Pollution from Ships (MARPOL), which is concerned with the prevention of... more
Exhaust gases have many effects on human beings and the environment. Therefore, they must be kept under control. The International Convention for the Prevention of Pollution from Ships (MARPOL), which is concerned with the prevention of marine pollution, limits the emissions according to the regulations. In Emission Control Area (ECA) regions, which are determined by MARPOL as ECAs, the emission rates should be controlled. Direct injection (DI) diesel engines are commonly used as a propulsion system on ships. The prediction and control of diesel engine emission rates is not an easy task in real time. Therefore, in this study, an artificial neural network (ANN) structure using the back propagation (BP) learning algorithm and radial basis function (RBF) has been developed to predict the emissions and exhaust temperature for DI diesel engines with emulsified fuel. In order to show the ANN performance, the network outputs and experimental results of the BP and RBF have been compared in this paper. The experimental results were obtained from a real diesel engine. The results showed that the emissions and exhaust temperature were estimated with a very high accuracy by means of the designed neural network structures and the RBF is more reliable than the BP.
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This paper proposes the cybernetic rehabilitation aid (CRA) based on the concept of direct teaching using tactile feedback with electromyography (EMG)-based motor skill evaluation. Evaluation and teaching of motor skills are two important... more
This paper proposes the cybernetic rehabilitation aid (CRA) based on the concept of direct teaching using tactile feedback with electromyography (EMG)-based motor skill evaluation. Evaluation and teaching of motor skills are two important aspects of rehabilitation training, and the CRA provides novel and effective solutions to potentially solve the difficulties inherent in these two processes within a single system. In order to evaluate motor skills, EMG signals measured from a patient are analyzed using a log-linearized Gaussian mixture network that can classify motion patterns and compute the degree of similarity between the patient's measured EMG patterns and the desired pattern provided by the therapist. Tactile stimulators are used to convey motion instructions from the therapist or the system to the patient, and a rehabilitation robot can also be integrated into the developed prototype to increase its rehabilitation capacity. A series of experiments performed using the developed prototype demonstrated that the CRA can work as a human-human, human-computer and human-machine system. The experimental results indicated that the healthy (able-bodied) subjects were able to follow the desired muscular contraction levels instructed by the therapist or the system and perform proper joint motion without relying on visual feedback.
Research Interests: Robotics, Biomedical Engineering, Rehabilitation, Biomechanics, Cybernetics, and 16 moreHumans, Movement, Touch, Feedback, Wrist joint, Electromyography, Computer User Interface Design, Elbow Joint, Reproducibility of Results, Muscle contraction, Sensitivity and Specificity, Pilot Projects, Equipment Design, Equipment Failure Analysis, Electrical And Electronic Engineering, and Man–machine Systems
Some type of electromechanical actuator related driving systems, such as stepper motor driving systems, have various types of implementations in the mechatronic systems. Besides the implementation variety, rapid changes in the actuator... more
Some type of electromechanical actuator related driving systems, such as stepper motor driving systems, have various types of implementations in the mechatronic systems. Besides the implementation variety, rapid changes in the actuator and driver technologies make it a costly and difficult task training about the type of mechatronic systems. It is most acute for undergraduate programs, specially. However, with the introduction of computers and flexible programming techniques, it is now possible to simulate these systems easily. Systems can also be emulated economically, in this way. Therefore, electromechanical actuator related mechatronic systems could be leached and/or trained, by computer simulations and/or emulations. This paper describes such a teaching and training tool study on stepper motor driving systems, including full-step, half-step and micro-step driving implementations. System emulations are fulfilled by using a microcontroller based system interface in the study.
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The evaluation and teaching of motor skills in relation to patients are two important aspects of motor skill training. These two points or problems must be resolved in order to make such training effective. To address the issues... more
The evaluation and teaching of motor skills in relation to patients are two important aspects of motor skill training. These two points or problems must be resolved in order to make such training effective. To address the issues simultaneously within a single system, this study proposes a cybernetic rehabilitation aid (CRA) under the concept of direct teaching using tactile feedback with an EMG-based motor skill evaluation function. The CRA involves a human-machine-human (physiotherapist-rehabilitation robot-patient) interface known as a cybernetic interface platform using biological signals not only to monitor patients' motor skills but also to directly teach such skills to them. The CIP can also be used as a human-human (physiotherapist-patient) system as well as a human-machine (physiotherapist-rehabilitation robot) system. In order to evaluate motor skills, the motions of the physiotherapist (T) and the patient (P) were analyzed using a loglinearized Gaussian mixture model that can classify motion patterns via electromyography (EMG) signals. Tactile stimulators were used to convey the instructions of the therapist or the system to the patients. A rehabilitation robot known as the biodex system was integrated into the developed setup for a number of rehabilitation tasks.
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Kemik kanseri hastalarının tedavisinde hastalığın bulunduğu evreye bağlı olarak kanserli bölümün alınması ve bunun yerine bir implant yerleştirilmesi sık karşılaşılan bir durumdur. Kemik kanseri genellikle çocuklarda ve gençlerde görülen... more
Kemik kanseri hastalarının tedavisinde hastalığın bulunduğu evreye bağlı olarak kanserli bölümün alınması ve bunun yerine bir implant yerleştirilmesi sık karşılaşılan bir durumdur. Kemik kanseri genellikle çocuklarda ve gençlerde görülen bir kanser çeşididir. Kemik kanserinin en sık görüldüğü kısım ise alt uzuvlardır. Çocuklarda büyüme devam ettiği sürece sağlam uzuv ile implant yerleştirilen uzuv arasında boy farkı oluşur. Bu durum yürüme bozuklukları gibi sorunlara sebebiyet verir. Bu sebeple sık sık cerrahi müdahale ile implantın değiştirilmesi gerekir. Bunu önlemek amacıyla geçmişte çok sayıda uzatılabilir protez tasarlanmıştır. Bu çalışmada literatürde bulunan farklı tasarımların sistematik incelemesi yapılmıştır.
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In light of the growing demands of reliable substitutions to vulnerable conventional energy sources, electrical energy manifests as a potent surrogate that has started to prevail in a variety of industries and applications. The... more
In light of the growing demands of reliable substitutions to vulnerable conventional energy sources, electrical energy manifests as a potent surrogate that has started to prevail in a variety of industries and applications. The effectiveness and usability of this energy is highly associated with the development of sophisticated storage systems, a topic that has been increasingly attracting the attention of scientists and engineers. Among all technologies, batteries are the most preponderant solutions for electrical energy storage, in the form of electro-chemical potential energy. Particularly, Lithium-ion (Li-ion) batteries, being characterized by a high energy density and a low self-discharge rate, are considered one of the most effective solutions for this purpose. The State-of-Charge (SOC) represents a crucial parameter estimated by Battery Management Systems (BMS) used in energy and power calculations. Hence, an accurate SOC estimation is indispensable to prolonging the battery life and preventing hazardous usage conditions. Strenuous effort has been put into the development and enhancement of SOC estimation techniques including model-based methods and data-driven approaches. However, data-driven estimators are prone to be inconsistent with physics laws, which make their deployment in real-life applications riskier.
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Over the last two decades, many academic studies have been published on the use of robotic technologies in physical therapy and rehabilitation. These studies have contributed in many ways to the rehabilitation process. Some of them are... more
Over the last two decades, many academic studies have been published on the use of robotic technologies in physical therapy and rehabilitation. These studies have contributed in many ways to the rehabilitation process. Some of them are remote treatment, process monitoring and guidance. An effective communication between doctor, robot and patient are important things in the robotic rehabilitation. For this purpose, a SQL based mobile application called as DiagnoConn has been developed. This application allows communication between doctor, robot and patient. The system stores the treatment history of the patients and allows the doctors to access the all information of patients. The performance of the developed application was evaluated by the questionnaire. The overall satisfaction rate is 88%, indicating that user satisfaction is high enough.
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The use of robotic systems in medical applications is rapidly increasing with the rapidly developing technology. In this context, robots are being used for physical therapy and rehabilitation. One of the important processes of PTR... more
The use of robotic systems in medical applications is rapidly increasing with the rapidly developing technology. In this context, robots are being used for physical therapy and rehabilitation. One of the important processes of PTR (Physical Therapy and Rehabilitation) is therapeutic exercises. On the other hand, commercial rehabilitation robot costs are very high. Therefore, a low-cost knee rehabilitation robot was developed in this study. The design and control technique of a low-cost knee rehabilitation robot for therapeutic exercises to assist physiotherapists were explained. Position and force control techniques were used to control the robot. The robot has one degree of freedom and it can perform passive, active and resistive exercises. It has a stable and robust electronic hardware. In addition to this, the system is able to learn physiotherapist' movements and apply these movements.
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Through the development of technologies such as control systems, high-performance processor and more durable batteries, the investigations on the design of stand-alone limb prosthesis are more achievable. As a result, designing... more
Through the development of technologies such as control systems, high-performance processor and more durable batteries, the investigations on the design of stand-alone limb prosthesis are more achievable. As a result, designing rehabilitation devices for handicapped people opens special field of study for researches. Prosthetic hands stand out in this research because of the functionality in everyday life. Hand movements classifications using EMG signals based on Artificial Neural Network (ANN) has been used very effectively. In this paper, two ANN classification algorithms were developed that allow motion classification for prosthetic hands. Multilayer Perceptron (MLP) and radial basis neural network (RBF) architectures were used and their performance was compared. For this purpose, "holding pen" and "gripping" movements were classified. The experimental results showed that MLP structure has higher performance than RBF structure for these movements.
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Exoskeletal robot manipulators are used as motion supporters in health, defence and industrial fields. There are already various problems in these systems and are still being developed. In this study, a wearable upper limb exoskeletal... more
Exoskeletal robot manipulators are used as motion supporters in health, defence and industrial fields. There are already various problems in these systems and are still being developed. In this study, a wearable upper limb exoskeletal robot system was proposed for motion assist. The robotic system has three degrees of freedom. There are two active and one passive joints in the system. The system is capable of flexion-extension movement and rotation for the shoulder and flexion-extension movement forearm. In this context, the mechanical structure of the system, kinematic and dynamic analysis, electronic hardware structure and control method are explained in this study.
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Nowadays, exoskeletal robot manipulators are used in health, defense and industrial fields. However, development studies of the performance of these systems are being continued. There are many challenges in terms of control of the... more
Nowadays, exoskeletal robot manipulators are used in health, defense and industrial fields. However, development studies of the performance of these systems are being continued. There are many challenges in terms of control of the systems. For the high-performance control of these systems, it is extremely important that the feedback information is accurate, stable and noiseless. Hybrid data fusion approach has been trying to be used in these systems in recent years. In this approach, biological and biomechanical parameters are used together for the feedback. In this study, fundamentals, advantages, and disadvantages of the hybrid data fusion approach are presented. On the other hand, it is proposed the solution methods for existing problems.
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Most of the traffic accidents are because of driver distraction that may be as a result of engagement in a secondary activity (such as texting, eating), or the driver's state of mind (sleepy, tired, angry, nervous, etc.). There are many... more
Most of the traffic accidents are because of driver distraction that may be as a result of engagement in a secondary activity (such as texting, eating), or the driver's state of mind (sleepy, tired, angry, nervous, etc.). There are many studies available in the literature about determining and monitoring the driver attention. These studies can be physical measures; 4) driving performance measures; and 5) hybrid measures. The first 2 approach is not suitable for real-time applications. Physical measures are related to driver posture and can be analyzed real-time by using appropriate sensors. Almost all academic studies and commercial products on some luxury intelligent cars on the market use vision based systems for this purpose. Furthermore, researches are ongoing to improve the algorithms that interpret the driver's physical measures. On the other hand, driver performance can be interpreted using the variables collected in intelligent cars by suitable algorithms. Some commercial products use the history of steering wheel torque and position variables to identify the driver distraction. With continually improving technology, sensors are evolving both in terms of precision and price. An example is the torque sensor which started to be used to measure the torque applied by the driver in order to determine the level of assistance of the steering system. However, 6 axes torque/force sensors are highly expensive to be used in the market. On the other hand, once they become cheap and easily available, they can be used to interpret both the driver posture and the state of mind as the steering wheel is one of the most critical parts of the car where the driver interacts with. For instance, if the driver is maneuvering with single hand, the position of the driver hand can be determined analytically from the torques and forces that the driver exerts to the steering wheel. Hence, interpreting the driver's posture as well as state of mind may become possible using the hand position and the torques and forces that the driver exerts. In this study, a steering wheel jig is designed and produced equipped with a 6 axes torque/force sensor and an encoder in order to develop algorithms to determine the driver's attention.
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Günümüz bilim ve teknoloji dünyasında disiplinler arası alanlar ve çalışmalar oldukça büyük öneme sahiptir. Bu disiplinler arası alanlardan olan biyomekatronik, mekatronik mühendisliğinin bir alt dalıdır. Biyomekatroniğin klasik... more
Günümüz bilim ve teknoloji dünyasında disiplinler arası alanlar ve çalışmalar oldukça büyük öneme sahiptir. Bu disiplinler arası alanlardan olan biyomekatronik, mekatronik mühendisliğinin bir alt dalıdır. Biyomekatroniğin klasik mekatronik sistemler ile arasındaki temel fark, biyolojik geri beslemelere sahip olmasıdır. İnsan vücudu tarafından üretilen çeşitli fiziksel veya kimyasal büyüklükleri algılayıp, gerekli karar mekanizmalarını kullanarak, uygun tahrik elemanlarını harekete geçiren bir sistem, temel bir biyomekatronik sistem olarak adlandırılabilir. Bu çalışmada, biyomekatroniğe ilgi duyan öğrenciler, araştırmacılar ve akademisyenler için bir biyomekatronik araştırma laboratuvarının alt yapısı dünya ve ülkemizdeki örnekler üzerinden tanıtılmıştır.
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Günümüzde fiziksel tıp ve rehabilitasyon alanında, elektriksel stimulasyon, hidroterapi, el ile yapılan egzersizler ve çeşitli terapatik cihazlar kullanılmaktadır. Ancak burada terapatik cihazların yanısıra robotların kullanımı da gün... more
Günümüzde fiziksel tıp ve rehabilitasyon alanında, elektriksel stimulasyon, hidroterapi, el ile yapılan egzersizler ve çeşitli terapatik cihazlar kullanılmaktadır. Ancak burada terapatik cihazların yanısıra robotların kullanımı da gün geçtikçe artmaktadır. Terapatik cihazlar ve el ile yapılan egzersizlerde hasta ve konunun uzmanları için çeşitli problemler mevcuttur. Kullanılan terapatik cihazlar pasif çalışmakta ve hastadan gelen tepkilere cevap verememektedir. Ayrıca serbestlik dereceleri düşük olduğundan kısıtlı kullanıma sahiptirler. El ile yapılan egzersizlerde ise hasta ve terapist için çeşitli problemler mevcuttur. Bu tedavi süreci uzun, zahmetli ve maliyet gerektiren bir süreçtir. Bir terapist aynı anda ancak bir hastayı tedavi edebilmektedir. Bu problemlerden yola çıkarak aktif çalışan, hasta tepkilerine cevap verebilen ve bu tepkilere göre terapistin yaptığı gibi tedavi sürecinde değişikliğe gidebilen bir cihaza ihtiyaç duyulmaktadır. Bu amaçla tasarlanan üç serbestlik dereceli bir robot kolu tanıtılacaktır.
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Mekatronik terimi ilk olarak 1969 yılında Japon Yoshikawa Firması tarafından kullanılmıştır. Mekatronik, hassas makine mühendisliğinin, elektronik kontrolün ve sistem düşüncesinin ürün ve proses tasarımında sinerjik kombinasyonudur [1].... more
Mekatronik terimi ilk olarak 1969 yılında Japon Yoshikawa Firması tarafından kullanılmıştır. Mekatronik, hassas makine mühendisliğinin, elektronik kontrolün ve sistem düşüncesinin ürün ve proses tasarımında sinerjik kombinasyonudur [1]. Diğer bir ifade ile mekatronik, makine ve elektronik mühendisliği ile bilgisayar teknolojisinin hesaplama gücünün sinerjisi sonucu ortaya çıkar. Mekatronik sistem entegrasyonu ve tasarımı, güç elektroniği, hareket ve gürültü kontrol, otomotiv, üretim uygulamaları, tekstil, mikro elemanlar, optoelektronik sistemler ve benzer sistemler mekatroniğin uygulama alanları arasında sayılabilir. Günümüzde mekatronik sistemlerin gelişimi bio-mekatronik, tarımsal mekatronik, tüketici mekatroniği gibi çok değişik terimleri ortaya çıkarmıştır. [2]
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Kemik kanseri hastalarının tedavisinde hastalığın bulunduğu evreye bağlı olarak kanserli bölümün alınması ve bunun yerine bir implant yerleştirilmesi sık karşılaşılan bir durumdur. Kemik kanseri genellikle çocuklarda ve gençlerde görülen... more
Kemik kanseri hastalarının tedavisinde hastalığın bulunduğu evreye bağlı olarak kanserli bölümün alınması ve bunun yerine bir implant yerleştirilmesi sık karşılaşılan bir durumdur. Kemik kanseri genellikle çocuklarda ve gençlerde görülen bir kanser çeşididir. Kemik kanserinin en sık görüldüğü kısım ise alt uzuvlardır. Çocuklarda büyüme devam ettiği sürece sağlam uzuv ile implant yerleştirilen uzuv arasında boy farkı oluşur. Bu durum yürüme bozuklukları gibi sorunlara sebebiyet verir. Bu sebeple sık sık cerrahi müdahale ile implantın değiştirilmesi gerekir. Bunu önlemek amacıyla geçmişte çok sayıda uzatılabilir protez tasarlanmıştır. Bu çalışmada literatürde bulunan farklı tasarımların sistematik incelemesi yapılmıştır.
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Son yıllarda, sağlık bilim ve teknolojisinde gelişmeler farklı bir ivme ile devam etmekte olup, önceki 10 yıllara oranla daha radikal ilerlemelerin olduğu gözlenmektedir. Sağlık profesyonelleri arasında yer alan hemşireler de, yaşanan... more
Son yıllarda, sağlık bilim ve teknolojisinde gelişmeler farklı bir ivme ile devam etmekte olup, önceki 10 yıllara oranla daha radikal ilerlemelerin olduğu gözlenmektedir. Sağlık profesyonelleri arasında yer alan hemşireler de, yaşanan hızlı değişim sürecine uyum sağlamakta ve inovatif yaklaşımlar ile varlığını sürdürmektedir. Bu çalışmada, hemşirelikte yapay zekâ kullanımına, hizmet sürecinde yapay zekâ temelli uygulama örneklerine ve bu teknolojilerin kullanılması ile ortaya çıkabilecek etik sorunlara ilişkin güncel bilgilere yer verilmiştir.
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Bu buluş, üst uzuvlara terapatik egzersiz yaptırmak üzere bir robot kolu (13), robot kolu (13) kontrol etmek için bir kontrol ünitesi (11), terapi gören kişinin (H) tepkilerini ölçmek üzere biyomekanik ölçümleri yapan en az bir kuvvet... more
Bu buluş, üst uzuvlara terapatik egzersiz yaptırmak üzere bir robot kolu (13), robot kolu (13) kontrol etmek için bir kontrol ünitesi (11), terapi gören kişinin (H) tepkilerini ölçmek üzere biyomekanik ölçümleri yapan en az bir kuvvet sensörü (1334), en az bir konum 15 sensörü (1306, 1319, 1329) ve biyolojik ölçümlen yapan bir EMG cihazı (120) ölçtüğü biyomekanik ve biyolojik tepkileri geri besleme olarak kontrol ünitesine (11) gönderen söz konusu bir kuvvet sensörü (1334) ve/veya konum sensörü (1306, 1319, 1329) ve/veya EMG cihazı (120) ve bu gen beslemeye göre egzersiz yaptırılan kişiye uygulanacak olan hareketin hızını ve /veya hareketin şiddetini ve/veya hareketin konumunu ve/veya hareketin tekrar sayısını otomatik olarak değiştirmesi örneğin bir alt değerde çalışmaya devam etmesi veya hareket konumu ve/veya hareket tipi ve/veya hareket tekrar sayısı ve/veya hareket şiddetinin değiştirilmesi için uyan vermesi veya hareketi durdurması işlemlerinden en az birini gerçekleştiren ve hibrid empedans kontrol yöntemi kullanarak tüm denetleme ve/veya değerlendirmeleri yapan kontrol ünitesi (11) içeren, üst uzuvlar için serbestlik derecesine sahip ve terapatik egzersiz türlerinden pasif, aktif yardımlı, izotonik, izometrik ve izokinetik ve aynı modda izotonik-izometrik egzersizlerinin yanı 30 sıra fizyoterapist hareketlerini de (el ile yapılan egzersizler ve aktif yardımlı egzersizler) öğrenerek gerçekleştiren bir terapatik egzersiz robotu (1) ile ilgilidir.
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Bu buluş, bilek ve ön kol robotik rehabilitasyonu amaçlı geliştirilmiş bir robotik platform ile ilgidir. Sistem motorlarla tahrik edilmekte ve konum ve kuvvet sensörleri ile geri besleme sağlanmaktadır. Ölçüm ve egzersiz amaçlı... more
Bu buluş, bilek ve ön kol robotik rehabilitasyonu amaçlı geliştirilmiş bir robotik platform ile ilgidir. Sistem motorlarla tahrik edilmekte ve konum ve kuvvet sensörleri ile geri besleme sağlanmaktadır. Ölçüm ve egzersiz amaçlı kullanılabilir. Bilek ve ön kolun her egzersiz hareketi için ayrı bir manipülatöre sahiptir.
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The present invention proposes a bone lengthening system (100) for tumor prostheses, comprising a prosthesis (202) which includes an internal battery (7) arranged for wireless charging; the system (100) further comprises an extendable... more
The present invention proposes a bone lengthening system (100) for tumor prostheses, comprising a prosthesis (202) which includes an internal battery (7) arranged for wireless charging; the system (100) further comprises an extendable mechanism (1) which is connected to the prosthesis (202) and which is arranged to be lengthened for, when in use, bringing a length (108) of a limb provided with the prosthesis to a value corresponding to a length of a healthy limb (201) based on a healthy limb length data (107).
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The present invention proposes a biofuel cell (1) comprising an anode (2) provided with neural stem cell lines, which preferably include neuroblastoma cell lines, and more preferably include SH-SY5Y cell line. Carbon cloth is found... more
The present invention proposes a biofuel cell (1) comprising an anode (2) provided with neural stem cell lines, which preferably include neuroblastoma cell lines, and more preferably include SH-SY5Y cell line. Carbon cloth is found suitable for being used as a cathode material, and also for growing the neural stem cell lines for being used as an anode material. A medium which includes dissolved glucose as carbon source is found to be suitable for growing the neural stem cell lines, and also for being used as electrolyte. A medium comprising a serum such as FBS, FCS or HS; said medium further comprising antibiotics, L-glutamine, glucose and one or more pH buffers is considered within the above definition. The biofuel cell (1) can be scaled up, and/or connected with an amplifier (4) to increase voltage values.
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Buluş, üst uzuv kaybı yaşamış fiziksel engeli bulunan bireylere veya felçli hastalara, tek başına yemek yiyebilme yetisini geri kazandırmak amaçlı geliştirilmiş, yemek kapları 5 da içeren robotik bir yedirici platformu ile ilgilidir.... more
Buluş, üst uzuv kaybı yaşamış fiziksel engeli bulunan bireylere veya felçli hastalara, tek başına yemek yiyebilme yetisini geri kazandırmak amaçlı geliştirilmiş, yemek kapları 5 da içeren robotik bir yedirici platformu ile ilgilidir. Özellikle, kamera yardımı ile hastanın gözü ile yemeği seçmesi ve robot kolun yemeği hastanın ağzına götürebilmesi için sürekli hasta ağız pozisyonu takip edilerek yedirme işleminin gerçekleştirilmesi buluşun öne çıkan özelliğidir.
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Bu tezde, fizyoterapistlere rehabilitasyon sürecinde yardımcı olmak üzere, diz rehabilitasyonuna yönelik bir robot kolunun zeki kontrolü amaçlanmıştır. Geliştirilen sistemin, pasif ve aktif egzersizleri yapabilmesi, fizyoterapist... more
Bu tezde, fizyoterapistlere rehabilitasyon sürecinde yardımcı olmak üzere, diz rehabilitasyonuna yönelik bir robot kolunun zeki kontrolü amaçlanmıştır.
Geliştirilen sistemin, pasif ve aktif egzersizleri yapabilmesi, fizyoterapist hareketlerini modelleyerek gerçekleştirebilmesi, kullanışlı bir kullanıcı ara yüzüne sahip olması ve egzersiz sonuçlarının rehabilitasyon sürecini değerlendirmek üzere görüntülenebilmesi amaçlanmıştır.
Bu kapsamda üç serbestlik dereceli, diz için “fleksiyon – ekstansiyon” kalça için “fleksiyon – ekstansiyon” ve “abduksiyon – adduksiyon” hareketlerine uygun, uzuv boyutuna göre ayarlanabilen, diz eklemi pantograf yapıda ve tüm motorları tabanda bulunan bir mekanizma tasarlanıp üretilmiştir.
Sistemin kontrolü için karar verebilen ve öğrenebilen, bilgi ve kural tabanlı çalışan konvansiyonel kontrol teknikleri ile desteklenmiş bir zeki kontrolör yapısı geliştirilmiştir. Konvansiyonel kontrol tekniği olarak rehabilitasyon amaçlı robotlarda en kullanışlı kontrol tekniği olduğu kabul edilen mekanik empedansın ayarlanması esasına dayalı empedans kontrol ile PD ve PID konum kontrol teknikleri kullanılmıştır.
Sistemdeki geri besleme bilgileri kuvvet ve konum algılayıcılar ile, analog dijital veri dönüşümleri ise veri toplama kartları ile sağlanmıştır. Sistem yazılımı olarak MATLAB Simulink Real Time Windows Target araç kutusu kullanılmıştır
Geliştirilen sistemin, pasif ve aktif egzersizleri yapabilmesi, fizyoterapist hareketlerini modelleyerek gerçekleştirebilmesi, kullanışlı bir kullanıcı ara yüzüne sahip olması ve egzersiz sonuçlarının rehabilitasyon sürecini değerlendirmek üzere görüntülenebilmesi amaçlanmıştır.
Bu kapsamda üç serbestlik dereceli, diz için “fleksiyon – ekstansiyon” kalça için “fleksiyon – ekstansiyon” ve “abduksiyon – adduksiyon” hareketlerine uygun, uzuv boyutuna göre ayarlanabilen, diz eklemi pantograf yapıda ve tüm motorları tabanda bulunan bir mekanizma tasarlanıp üretilmiştir.
Sistemin kontrolü için karar verebilen ve öğrenebilen, bilgi ve kural tabanlı çalışan konvansiyonel kontrol teknikleri ile desteklenmiş bir zeki kontrolör yapısı geliştirilmiştir. Konvansiyonel kontrol tekniği olarak rehabilitasyon amaçlı robotlarda en kullanışlı kontrol tekniği olduğu kabul edilen mekanik empedansın ayarlanması esasına dayalı empedans kontrol ile PD ve PID konum kontrol teknikleri kullanılmıştır.
Sistemdeki geri besleme bilgileri kuvvet ve konum algılayıcılar ile, analog dijital veri dönüşümleri ise veri toplama kartları ile sağlanmıştır. Sistem yazılımı olarak MATLAB Simulink Real Time Windows Target araç kutusu kullanılmıştır
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Artan nüfus ile birlikte seyahat eden insan sayısı her geçen gün artmaktadır. Özellikle ülkemizde karayolu ulaşımı diğer ulaşım yöntemlerine göre çok daha fazla kullanılmaktadır. İstanbul’ da deniz yolu ulaşımı 2001 verilerine göre %6’... more
Artan nüfus ile birlikte seyahat eden insan sayısı her geçen gün artmaktadır.
Özellikle ülkemizde karayolu ulaşımı diğer ulaşım yöntemlerine göre çok daha fazla kullanılmaktadır. İstanbul’ da deniz yolu ulaşımı 2001 verilerine göre %6’ lık bir paya sahip iken karayolu %90’ lık bir seyir izlemektedir. Dolayısı ile trafiğin kontrolü problemi artan trafik sorunlarıyla birlikte gün geçtikçe önemli bir sorun haline gelmektedir. Ayrıca trafik kontrolü ile ilgili kurum ve kuruluşlarda uzman personel sayısı son derece sınırlıdır.
Trafiğin kontrolündeki en önemli birimlerden biride Kavşak Kontrol
Cihazları’ dır. Bu çalışmanın amacı, trafiğin kontrolü olgusunu öğrenciye kavratmak için bir kavşak kontrol cihazı tasarlamaktır.
Bu amaç doğrultusunda mikrodenetleyici kontrollü bir kavşak kontrol cihazı
tasarlanmaya çalışılmıştır. Sinyal sürelerinin hesaplanması için bir yazılım
geliştirilmiştir. Kavşak kontrol cihazının çalışma modunun seçimi bilgisayar seri port üzerinden bilgisayarla haberleştirilerek yapılmıştır.
Trafik kontrolündeki temel parametreleri ve bunlar arasındaki ilişkileri içeren
ders notları hazırlanmıştır. 80C535 mikrodenetleyicisi çevresinde bir kavşak kontrol cihazı tasarlanmıştır. Ayrıca Avustralya yöntemine göre sinyal sürelerini hesaplayan, delphi programlama diliyle yazılmış, seri port üzerinden kavşak kontrol cihazı ile haberleşebilen bir program geliştirilmiştir. Kavşak kontrol cihazının seri port üzerinden bilgisayarla haberleştirilmesi ile sabit zamanlı çalışma moduna göre çok daha verimli sonuçlar verdiği yapılan çalışmalarla tespit edilmiş trafik uyarımlı çalışma modu gerçekleştirilmiştir. Trafiğin kontrolü olgusunu kavşak kontrol cihazı donanımı ve yazılımı çerçevesinde öğrenciye aktarmak için deney föyleri de hazırlanmıştır. Gerçekleştirilen donanım mikrodenetleyici ve benzeri derslerin
labaratuarlarında da kullanılabilecek nitelikte olduğundan deney föyleri donanımın kullanımına yönelik çalışmalar da içermektedir.
Bu çalışmada daha önce tez çalışması olarak gerçekleştirilmiş sabit zamanlı
çalışan kavşak kontrol cihazlarına göre farklı olarak trafik uyarımlı çalışabilen bir kavşak kontrol cihazı gerçekleştirilmiştir. Gerçekleştirilen, Avustralya yöntemine göre sinyal sürelerini hesaplayan yazılım daha da geliştirilir ise mevcut trafik simulasyon programlarına alternatif olabilecek özelliklere sahiptir.
Özellikle ülkemizde karayolu ulaşımı diğer ulaşım yöntemlerine göre çok daha fazla kullanılmaktadır. İstanbul’ da deniz yolu ulaşımı 2001 verilerine göre %6’ lık bir paya sahip iken karayolu %90’ lık bir seyir izlemektedir. Dolayısı ile trafiğin kontrolü problemi artan trafik sorunlarıyla birlikte gün geçtikçe önemli bir sorun haline gelmektedir. Ayrıca trafik kontrolü ile ilgili kurum ve kuruluşlarda uzman personel sayısı son derece sınırlıdır.
Trafiğin kontrolündeki en önemli birimlerden biride Kavşak Kontrol
Cihazları’ dır. Bu çalışmanın amacı, trafiğin kontrolü olgusunu öğrenciye kavratmak için bir kavşak kontrol cihazı tasarlamaktır.
Bu amaç doğrultusunda mikrodenetleyici kontrollü bir kavşak kontrol cihazı
tasarlanmaya çalışılmıştır. Sinyal sürelerinin hesaplanması için bir yazılım
geliştirilmiştir. Kavşak kontrol cihazının çalışma modunun seçimi bilgisayar seri port üzerinden bilgisayarla haberleştirilerek yapılmıştır.
Trafik kontrolündeki temel parametreleri ve bunlar arasındaki ilişkileri içeren
ders notları hazırlanmıştır. 80C535 mikrodenetleyicisi çevresinde bir kavşak kontrol cihazı tasarlanmıştır. Ayrıca Avustralya yöntemine göre sinyal sürelerini hesaplayan, delphi programlama diliyle yazılmış, seri port üzerinden kavşak kontrol cihazı ile haberleşebilen bir program geliştirilmiştir. Kavşak kontrol cihazının seri port üzerinden bilgisayarla haberleştirilmesi ile sabit zamanlı çalışma moduna göre çok daha verimli sonuçlar verdiği yapılan çalışmalarla tespit edilmiş trafik uyarımlı çalışma modu gerçekleştirilmiştir. Trafiğin kontrolü olgusunu kavşak kontrol cihazı donanımı ve yazılımı çerçevesinde öğrenciye aktarmak için deney föyleri de hazırlanmıştır. Gerçekleştirilen donanım mikrodenetleyici ve benzeri derslerin
labaratuarlarında da kullanılabilecek nitelikte olduğundan deney föyleri donanımın kullanımına yönelik çalışmalar da içermektedir.
Bu çalışmada daha önce tez çalışması olarak gerçekleştirilmiş sabit zamanlı
çalışan kavşak kontrol cihazlarına göre farklı olarak trafik uyarımlı çalışabilen bir kavşak kontrol cihazı gerçekleştirilmiştir. Gerçekleştirilen, Avustralya yöntemine göre sinyal sürelerini hesaplayan yazılım daha da geliştirilir ise mevcut trafik simulasyon programlarına alternatif olabilecek özelliklere sahiptir.
Research Interests:
Robot mekaniği ve kontrolüne basit, sezgisel ve bütüncül bakış… Craig'in Robotiğe Giriş: Mekanik ve Kontrol kitabı, 1986'daki ilk yayınından bu yana, üniversite düzeyinde robotik öğretimi için tüm dünyada önde gelen ders kitaplarından... more
Robot mekaniği ve kontrolüne basit, sezgisel ve bütüncül bakış…
Craig'in Robotiğe Giriş: Mekanik ve Kontrol kitabı, 1986'daki ilk yayınından bu yana, üniversite düzeyinde robotik öğretimi için tüm dünyada önde gelen ders kitaplarından biri olmuştur. Özellikle notasyonun basit olması ve farklı zorluk seviyelerine göre sınıflandırılmış bölüm sonu alıştırmaları, kitabı alanın diğer kaynaklarından farklılaştırmaktadır. Geleneksel makine mühendisliğine ilişkin teorik alt yapıyı bilgisayar bilimi ve kontrol teorisi ile harmanlayan kitap, katı cisim dönüşümleri, ileri ve ters kinematik, hızlar-statik kuvvetler ve Jakobiyen kavramı, dinamik, yörünge planlama, doğrusal ve doğrusal olmayan kontrol, kuvvet kontrol yöntemleri, mekanik tasarım, robotik programlama gibi konuları kapsamaktadır.
4. Baskının özelliği, mekanik manipülasyon bilim ve mühendisliğini bir uygulama ve teori dengesi ile sunmasıdır. Bu noktada kitap, robot mekaniğini kontrol teorisi ve bilgisayar bilimi konuları ile sentezleyerek ve bilgiyi okuyuculara basit ve sezgisel bir yolla problemlerin hesaplamalı yönlerine vurgu yaparak aktarmaktadır.
Craig'in Robotiğe Giriş: Mekanik ve Kontrol kitabı, 1986'daki ilk yayınından bu yana, üniversite düzeyinde robotik öğretimi için tüm dünyada önde gelen ders kitaplarından biri olmuştur. Özellikle notasyonun basit olması ve farklı zorluk seviyelerine göre sınıflandırılmış bölüm sonu alıştırmaları, kitabı alanın diğer kaynaklarından farklılaştırmaktadır. Geleneksel makine mühendisliğine ilişkin teorik alt yapıyı bilgisayar bilimi ve kontrol teorisi ile harmanlayan kitap, katı cisim dönüşümleri, ileri ve ters kinematik, hızlar-statik kuvvetler ve Jakobiyen kavramı, dinamik, yörünge planlama, doğrusal ve doğrusal olmayan kontrol, kuvvet kontrol yöntemleri, mekanik tasarım, robotik programlama gibi konuları kapsamaktadır.
4. Baskının özelliği, mekanik manipülasyon bilim ve mühendisliğini bir uygulama ve teori dengesi ile sunmasıdır. Bu noktada kitap, robot mekaniğini kontrol teorisi ve bilgisayar bilimi konuları ile sentezleyerek ve bilgiyi okuyuculara basit ve sezgisel bir yolla problemlerin hesaplamalı yönlerine vurgu yaparak aktarmaktadır.
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The use of robots in physical therapy and rehabilitation is increasing day by day. The contributions of robotic rehabilitation have been proven by clinical trials. Impedance control is the most known and used control method in... more
The use of robots in physical therapy and rehabilitation is increasing day by day. The contributions of robotic rehabilitation have been proven by clinical trials. Impedance control is the most known and used control method in rehabilitation robots. The purpose of the impedance control is to balance mechanical impedance of the end effector of the robot. Authors have developed three impedance-controlled therapeutic exercise robots until now, such as PHYSIOTHERABOT©, PHYSIOTHERABOT/w1©, and DIAGNOBOT©. In these systems, various versions of impedance control have been used such as position-based, force-based, variable, and hybrid impedance control. Therapeutic exercises have been modeled using these impedance control techniques. In this chapter, the fundamental concepts of impedance control are explained. Then application of them in the above-mentioned robotic systems is introduced.
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Yapay Zeka Ders Notları
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Yapay Zeka Ders Notları
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Yapay Zeka Ders Notları
Research Interests:
Yapay Zeka Ders Notları