Mıthat YANIKOREN, Sezcan YILMAZ, Bilal USANMAZ, Selim TEZGEL, Mehmet YAZAR, Ömer GÜNDOĞDU

Giyilebilir Hareket Sensörü Kullanılarak Dinamik Model ile Üst Uzuv Eklemleri Üzerine Etkiyen Kuvvetlerin ve Torkların Belirlenmesi

Bu çalışmada günlük hayatta en sık kullanılan vücut bölümlerinin başında gelen üst uzuvlara ait omuz ve dirsek eklemlerindeki kuvvet ve tork değerlerinin belirlenmesi amaçlanmıştır. Denekten dik konumda iken masada duran belirli bir yükü alması kendisine yaklaştırması ve geri bırakması istenmiştir. Deneğin bu görevi yerine getirirken gerçekleştirdiği hareketler esnasında omuz ve dirseğinde meydana gelen eklem kuvvet ve torklarının belirlenebilmesi için Newton-Euler metodu kullanılarak dinamik bir model oluşturulmuştur. Eklemlere ait konum verilerinin ölçülmesinde giyilebilir hareket sensörleri kullanılmıştır. Bu sensörlerden alınan hareket verileri ile oluşturulan dinamik model kullanılarak eklemlerdeki tork ve bağ kuvveti değerleri hesaplanmıştır. Elde edilen hesaplama sonuçları karşılaştırmalı olarak değerlendirilerek eklem kuvvet ve torklarının hangi durumlarda arttığı ve ne gibi tedbirlerle azaltılabileceği ortaya konulmuştur.

Anahtar Kelimeler:

Dinamik Analiz, Üst Uzuv, Giyilebilir Hareket Sensörü, Ters Dinamik

Determination of the Forces and Torques Acting on the Upper Limb Joints with Dynamic Model Using Wearable Motion Sensors

In this study, it was aimed to determine the forces and torques acting on the shoulder and elbow joints of the upper limbs, which are the most commonly used body parts in daily life. The subject was asked to take a certain load on the table while standing upright, bring him closer to himself and leave it back. A dynamic model was created using the Newton-Euler method to determine the joint force and torque occurring in the shoulder and elbow during the movements performed by the selected subject while performing this task. Wearable motion sensors were used to measure the location data of the joints. The torque and link force values in the joints were calculated using the dynamic model created with the motion data received from these sensors. The calculation results obtained were evaluated comparatively and it was revealed in which cases the forces and torques acting on the joints increased and what measures could be reduced.

Keywords:

Dynamic Analysis, Upper Extremity, Wearable Motion Sensor, Inverse Dynamic,

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