Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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Conference Object Development of a Force Sensor for Biomechanical Simulations of a Cycling Activity(IEEE, 2022) Karacaoğlu, Bilal; Şahin, Ahmet Mert; Çıklaçandır, Samet; Yılmaz, Mehmet; Mihçin, ŞenayKnowing the forces applied to the pedals during a cycling activity is of great importance in the field of biomechanics when calculating the loads acting on the joints. A load cell-based force sensor was designed for this purpose since the force plate fixed to the floor in gait laboratories cannot be used to measure the reaction forces on the bicycle pedal due to physical constraints. To investigate the accuracy and precision of the force plate, a two-stage experiment, static and dynamic force measurement tests were designed. First, the first static measurements were carried out with standard loads of 1000 g, 1200 g, 1500 g. To understand the behavior of the sensors under dynamic loading, dynamic measurements were conducted while the designed force sensor is attached to the bike pedal while using a commercially available power meter simultaneously to cross-validate the measured forces. Standard loads of 1000 g, 1200 g, and 1500 g were measured as 1020 ± 2 g, 1196 ± 2 g, and 1512 ± 1 g respectively. To assess the agreement between measurements Bland-Altman plot analysis was carried out. The Bland-Altman plots showed that the force platform is appropriate for both measuring static loads and dynamic loads. The collected data via this custom-made, affordable force sensor was successfully fed into the biomechanical modeling software to calculate the joint reaction forces.Conference Object Citation - WoS: 3Citation - Scopus: 3Experimental Evaluation of the Success of Peg-In Tasks Learned From Demonstration(IEEE, 2022) Argüz, Serdar Hakan; Ertuğrul, Şeniz; Altun, KeremIndustrial robots are traditionally programmed by hard-coding the desired motion into them. That approach, however, costs significant time and effort and shows little to no promise in transferring human skills to robots. Programming by demonstration (PbD) is an alternative approach that allows robots to learn tasks from demonstrations. Because of its several advantages over the traditional method, PbD is particularly suited for tasks encountered in assembly operations, the most typical of which is the peg-in-hole task. A successful PbD implementation for a peg-in-hole task requires that the peg should still be inserted into the hole even under situations that are not encountered during the demonstrations. Previous research in the field shows that the success rate of a peg-in-hole task under such cases varies greatly. In this study, we use a UR5 manipulator to experimentally investigate how the success rate of a peg-in-hole task changes with respect to the novelty of the task, quantified in terms of the distance of the hole to its original position. It is found that the success ratio decreases as the novelty of the task increases. To increase the performance, the use of strategies that alter the robot's motion dynamically in the run time is suggested for future work.Conference Object Üst Ekstremite Hareket Kabiliyeti Değerlendirmesi için Yeni Bir Sistem Tasarımı(IEEE, 2020) Çizmecioğulları, Serkan; Mihçin, Şenay; Akan, Aydın; Koçak, Mertcan; Tosun, AliyeÜst ekstremite fonksiyon değerlendirilmesinde kullanılan yöntemlerden birisi de Eklem Hareket Açıklığı (EHA) ölçümleridir. Günümüzde bu ölçümler klinisyenin gözlemsel değerlendirmesine ve/veya gonyometrik ölçümlere dayanmaktadır. Bu ölçümlerde tekrarlanabilirlik ve güvenilirlik açısından problemler mevcuttur. Bu çalışmada üst ektremitede EHA ölçümlerinin sayısal değerlendirilmesine bağlı olarak objektif çıkarımlar yapılmasını sağlayabilecek tek kameralı bir sistem önerilmiştir. Bireylerin omuz ve dirsek fleksiyonu hareketleri kaydedilmiştir. Eş zamanlı olarak “Altın Standart” olarak OptiTrack sistemi ile de yapılan hareketler kayıt altına alınmıştır ve analiz edilmiştir. Çalışmaya 9 erkek ve 9 kadın birey katılmıştır. Hareketlerin kaydedilmesi için Kinect kamera kullanılmıştır. Kinect kamera OptiTrack sistemi ile karşılaştırılmıştır. Omuz ve dirsek fleksiyonu açıları her iki sistem ile hesaplanmıştır. Hesaplanan açılar kullanılarak her iki sistemin uyumu istatiksel olarak incelenmiştir. Bland- Altman yöntemi kullanılarak yapılan analizlerde hem erkek hem de kadın bireylerde omuz fleksiyonu ve dirsek fleksiyonu hareketleri açısından %95 güven aralığında her iki kameranın birbiriyle uyumlu olduğu tespit edilmiştir. Bu çalışma önerilen sistemin klinik tanı için güvenirliğine dair delil teşkil etmektedir.Article Citation - WoS: 6Citation - Scopus: 8Flexible and Expandable Robot for Tissue Therapies - Modeling and Design(IEEE, 2021) Atwya, Mohamed; Kavak, Can; Alisse, Elodie; Liu, YanQiang; Damian, Dana D.Objective: Implantable technologies should be mechanically compliant with the tissue in order to maximize tissue quality and reduce inflammation during tissue reconstruction. We introduce the development of a flexible and expandable implantable robotic (FEIR) device for the regenerative elongation of tubular tissue by applying controlled and precise tension to the target tissue while minimizing the forces produced on the surrounding tissue. Methods: We introduce a theoretical framework based on iterative beam theory static analysis for the design of an expandable robot with a flexible rack. The model takes into account the geometry and mechanics of the rack to determine a trade-off between its stiffness and capability to deliver the required tissue tension force. We empirically validate this theory on the benchtop and with biological tissue. Results: We show that FEIR can apply the required therapeutical forces on the tissue while reducing the amount of force it applies to the surrounding tissues as well as reducing self-damage. Conclusion: The study demonstrates a method to develop robots that can change size and shape to fit their dynamic environment while maintaining the precision and delicacy necessary to manipulate tissue by traction. Significance: The method is relevant to designers of implantable technologies. The robot is a precursor medical device for the treatment of Long-Gap Esophageal Atresia and Short Bowel Syndrome.Conference Object Citation - WoS: 1Citation - Scopus: 2Parametric Analysis for the Design of Hip Joint Replacement Simulators(IEEE, 2021) Torabnia, Shams; Mihçin, Şenay; Lazoğlu, İsmailThe simulation of wear, between the components of artificial hip joint implants, is a complicated problem that does not have a robust analytical answer yet. Many studies have been conducted to predict the wear between the femur head and the acetabular cup, as the debris generated due to the wear might produce adverse effects after the surgery. Hip joint simulators provide a means to quantify the amount of wear in preclinical settings, as an in vitro method. However, this brings some other challenges in terms of bio-fidelity. The simulators use force and range of motion data as input and provide wear information as an output. For this reason, it is important to be able to simulate the realistic conditions, by the proper transmission of force and position controlling of the components. Many studies performed on wear simulators but none of them worked on the machine parameters such as power consumption and sensitivity to external inputs in detail. In this study, we perform a sensitivity analysis of the factors affecting the forces acting on the femur head. In silico simulations were performed by changing the values of acting force, friction coefficient, and radius of femur head to understand the effects of each parameter on the frictional moment of the joint. These analyses demonstrate the importance of using correct parameters while designing simulators, which accept flexible boundary conditions. The architecture of the hip simulator was also investigated for the first time. The results are expected to pave the way for improving the bio-fidelity of the simulators in the field of biomechanics. © 2021 IEEE.