{"title":"Implementation and Comparison of Wearable Exoskeleton Arm Design with Fuzzy Logic and Machine Learning Control","authors":"Çağatay Ersin, Mustafa Yaz","doi":"10.1155/2024/6808322","DOIUrl":null,"url":null,"abstract":"In this study, a wearable exoskeleton arm was designed and controlled with different control methods to help people with muscle disorders in their arms and support treatment. The developed robot arm was transferred to Simulink software with the Simmechanics application. Two electromyography (EMG) muscle sensors and the ADXL335 position and acceleration sensors attach to the human arm’s biceps and triceps muscle areas. As the human moved the arm, data were obtained from the EMG muscle sensors and the ADXL335 position and acceleration sensor. The received data were first trained with the fuzzy logic algorithm. The same data were then trained with machine learning algorithms in Simulink software. It has been determined that the best result is the quadratic support vector machine (SVM) algorithm. The fuzzy logic algorithm trained with the PID controller block and the received sensor data have been added to the degrees of freedom regions that will enable rotation in the block diagram of the previously exported system. Later, the fuzzy logic block was removed and the machine learning algorithm, the quadratic SVM algorithm, was added. The designed system was operated with two different control systems, and the control algorithm closest to the human arm movement was determined. In addition, each part of the system, whose design was prepared, was removed and assembled separately with a 3D printer. ESP32 microcontroller development board was used to control the system, and it was run in real-time with EMG muscle sensors and position sensors.","PeriodicalId":1,"journal":{"name":"Accounts of Chemical Research","volume":null,"pages":null},"PeriodicalIF":16.4000,"publicationDate":"2024-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Accounts of Chemical Research","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1155/2024/6808322","RegionNum":1,"RegionCategory":"化学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"CHEMISTRY, MULTIDISCIPLINARY","Score":null,"Total":0}
引用次数: 0
Abstract
In this study, a wearable exoskeleton arm was designed and controlled with different control methods to help people with muscle disorders in their arms and support treatment. The developed robot arm was transferred to Simulink software with the Simmechanics application. Two electromyography (EMG) muscle sensors and the ADXL335 position and acceleration sensors attach to the human arm’s biceps and triceps muscle areas. As the human moved the arm, data were obtained from the EMG muscle sensors and the ADXL335 position and acceleration sensor. The received data were first trained with the fuzzy logic algorithm. The same data were then trained with machine learning algorithms in Simulink software. It has been determined that the best result is the quadratic support vector machine (SVM) algorithm. The fuzzy logic algorithm trained with the PID controller block and the received sensor data have been added to the degrees of freedom regions that will enable rotation in the block diagram of the previously exported system. Later, the fuzzy logic block was removed and the machine learning algorithm, the quadratic SVM algorithm, was added. The designed system was operated with two different control systems, and the control algorithm closest to the human arm movement was determined. In addition, each part of the system, whose design was prepared, was removed and assembled separately with a 3D printer. ESP32 microcontroller development board was used to control the system, and it was run in real-time with EMG muscle sensors and position sensors.
期刊介绍:
Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance.
Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.