Arşiv ve Dokümantasyon Merkezi
Dijital Arşivi

Providing contact sensory feedback for upper limb robotic prosthesis

Basit öğe kaydını göster

dc.contributor Graduate Program in Mechanical Engineering.
dc.contributor.advisor Samur, Evren.
dc.contributor.author Aziziaghdam, Mohammad.
dc.date.accessioned 2023-03-16T11:15:54Z
dc.date.available 2023-03-16T11:15:54Z
dc.date.issued 2014.
dc.identifier.other ME 2014 A85
dc.identifier.uri http://digitalarchive.boun.edu.tr/handle/123456789/15000
dc.description.abstract Lack of the sense of touch is the fundamental problem of today's robotic prostheses. Considering the fact that touch feedback plays a signi cant role in identifying contacted objects, our aim in this study is to use acceleration signals, occurring due to physical contact of a prosthetic hand with objects, as sensory feedback. We apply these signals on the clavicle bone using a tactor as a haptic interface. First, a library of the acceleration signals occurring as a result of tapping on di erent materials is collected. E ect of the impact velocity is studied and used as a scalar for real-time applications. In order to model the contact accelerations, a stochastic signal model is developed. Due to the distinct waveform characteristics of di erent materials, the rate of the change of acceleration (Jerk) response signals are used to identify the hardness of the objects. In a human subject study, the whole procedure of recording, identifying and replaying the signals by the tactor is studied. Results of the human subject study showed the ability of the designed tactor to provide distinguishable hardness sensations of di erent materials in real time.
dc.format.extent 30 cm.
dc.publisher Thesis (M.S.) - Bogazici University. Institute for Graduate Studies in Science and Engineering, 2014.
dc.subject.lcsh Robotics in medicine.
dc.subject.lcsh Robotic exoskeletons.
dc.subject.lcsh Prosthesis.
dc.title Providing contact sensory feedback for upper limb robotic prosthesis
dc.format.pages xiv, 79 leaves ;


Bu öğenin dosyaları

Bu öğe aşağıdaki koleksiyon(lar)da görünmektedir.

Basit öğe kaydını göster

Dijital Arşivde Ara


Göz at

Hesabım