Erhan Akdogan

Bio: Erhan Akdogan is an academic researcher from Yıldız Technical University. The author has contributed to research in topics: Impedance control & Rehabilitation. The author has an hindex of 10, co-authored 36 publications receiving 455 citations. Previous affiliations of Erhan Akdogan include Marmara University.

Knee rehabilitation using an intelligent robotic system

Abstract: There is an increasing trend in using robots for medical purposes. One specific area is the 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 therefore can not accommodate complicated exercises required during rehabilitation. In this study, a rule based intelligent control methodology is proposed to imitate the faculties of an experienced physiotherapist. These involve interpretation of patient reactions, storing the information received, acting according to the available data, and learning from the previous experiences. Robot manipulator is driven by a servo motor and controlled by a computer using force/torque and position sensor information. Impedance control technique is selected for the force control.

The Use of Artificial Neural Network for Prediction of Dissolution Kinetics

Abstract: 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 statistical methods for prediction of boron minerals.

The Cybernetic Rehabilitation Aid: Preliminary Results for Wrist and Elbow Motions in Healthy Subjects

Abstract: 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.

I and i

Abstract: There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality. Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

Foundations of robotics : analysis and control

Abstract: Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators It explains the physical meaning of the concepts and equations used, and it provides, in an intuitively clear way, the necessary background in kinetics, linear algebra, and control theory Illustrative examples appear throughoutThe author begins by discussing typical robot manipulator mechanisms and their controllers He then devotes three chapters to the analysis of robot manipulator mechanisms He covers the kinematics of robot manipulators, describing the motion of manipulator links and objects related to manipulation A chapter on dynamics includes the derivation of the dynamic equations of motion, their use for control and simulation and the identification of inertial parameters The final chapter develops the concept of manipulabilityThe second half focuses on the control of robot manipulators Various position-control algorithms that guide the manipulator's end effector along a desired trajectory are described Two typical methods used to control the contact force between the end effector and its environments are detailed For manipulators with redundant degrees of freedom, a technique to develop control algorithms for active utilization of the redundancy is described Appendixes give compact reviews of the function atan2, pseudo inverses, singular-value decomposition, and Lyapunov stability theoryTsuneo Yoshikawa teaches in the Division of Applied Systems Science in Kyoto University's Faculty of Engineering

A Survey of Applications and Human Motion Recognition with Microsoft Kinect

Abstract: Microsoft Kinect, a low-cost motion sensing device, enables users to interact with computers or game consoles naturally through gestures and spoken commands without any other peripheral equipment. As such, it has commanded intense interests in research and development on the Kinect technology. In this paper, we present, a comprehensive survey on Kinect applications, and the latest research and development on motion recognition using data captured by the Kinect sensor. On the applications front, we review the applications of the Kinect technology in a variety of areas, including healthcare, education and performing arts, robotics, sign language recognition, retail services, workplace safety training, as well as 3D reconstructions. On the technology front, we provide an overview of the main features of both versions of the Kinect sensor together with the depth sensing technologies used, and review literatures on human motion recognition techniques used in Kinect applications. We provide a classification of motion recognition techniques to highlight the different approaches used in human motion recognition. Furthermore, we compile a list of publicly available Kinect datasets. These datasets are valuable resources for researchers to investigate better methods for human motion recognition and lower-level computer vision tasks such as segmentation, object detection and human pose estimation.

Mechatronics기술개발 현황과 과제

Abstract: Mechatronics Technology is a growing career field that deals with the integration of mechanical and electronic components managed by control systems. Mechatronics technicians troubleshoot, maintain and repair mechanical equipment controlled by electrical, electronic and computer systems. These types of systems are increasingly used in a wide variety of manufacturing and industrial settings. Clark College's Mechatronics Technology (MTX) classes emphasize current concepts and technology by providing practical, hands-on experiences with the latest, industry standard equipment. In addition to the technical knowhow needed to maintain and repair equipment, the certificate and degree programs will help prepare students to think critically, function as a successful team member and communicate clearly too internal and external customers.