Akademik Veri Yönetim Sistemi
OTOMATİK KONTROL ULUSAL TOPLANTISI (TOK2023), İstanbul, Türkiye, 14 - 16 Eylül 2023, ss.142-149
Abstract Musculoskeletal problems and movement restrictions which are caused by them have been globally increased each year. Especially during daily life activities, the upper extremity (upper and lower arm) plays an important role in every movement, therefore this part of the human body can be counted as the most problematic part in terms of musculoskeletal complications. In recent years, upper limb exoskeleton systems have been proposed as the main tools for the treatment and rehabilitation of such diseases. The most important point of designing such robots is to control the joints. The stochastic nature of the muscle signals (EMG-Electromyogram) brings about the necessity for pre-processing of this type of signal. In this study, an upper limb exoskeleton robot has been designed to assist a problematic human arm by altering some EMG signals under myopathic and neuropathic conditions. Such signals have been converted into driver signals based on the desired path signal for the joints of the robotic arm. This aim has been accomplished by designing one of the model-free controllers, an extremum-seeking control-based controller block. The designed robot has been simulated successfully.