Transcript bme-lifesci-inovita-isek joint seminar

BME-LIFESCI-INOVITA-ISEK JOINT SEMINAR
(2014-SPR-9)
20 May (Tue)
Time: 14.00 - 16.00
@ Room AZ-19,
BME-TAM Bldg, B.U. Kandilli Campus
EMG in INDUSTRY: Pneumatic Muscle Actuated
Multigrasp Hand Design&Control
Erkan KAPLANOĞLU
Marmara University, Mechatronics Department
In industry, robotic arms are used pick&place systems, in some cases, classic robot grippers
may not be enough for grasping because of material structures and shapes. Also sometimes
it's need to remote control for safety regulations. Those problems can be solved with
anthropomorphic hand design. In this work, the humanoid arm, hand, and its fingers have
been designed based on the human skeleton system and its grasping capability. In
comparison to previous designed robot arm-hand systems, this study targets the ability to
grasp various shaped objects. Arm is controlled using by EMG signal for multi-grasp
performance. Multi-grasp hand is capable of performing the cylindrical, spherical, lateral,
tripod, tip and hook grasps, which comprise 85% of the activities of daily living. Also with
EMG control, it can be used for remote control applications such as hazardous waste or
explosive disposal in industry. Due to the industrial purposes of this study, and depending on
the requested actions, pneumatic muscle has been chosen as an actuator.
Biography
He received the bachelor's degree from Marmara University
Electric Department, in 1996. He completed his M.Sc.
and Ph.D. thesis at Computer-Control Department of
Marmara University, Institute for Graduate Studies in Pure and Applied Sciences, in 2000 and 2006,
respectively. In September 2008, Dr. Kaplanoğlu became Assistant Professor at Marmara University,
Mechatronics Department. He has been awarded YGGDRASIL Award (Young Guest Doctoral
Researchers in Norway) in 2010. He worked as research assistant professor at Department of
Mechanical Eng. Vanderbilt University Faculty of Engineering Nashville/TN,USA from 2011 to 2012.
He has worked in “Vanderbilt Multigrasp Hand Prosthesis” project (Supported by DARPA and NSF)
as a researcher. His research areas are Biomechatronics systems, Lower limb
Prosthesis, modeling, identification and control. Multivariable, Model
Predictive Control, Data Acquisition Systems(DAQ).
For seminar info; to receive electronic notices; for suggestions please contact: Dr. Cengizhan Ozturk, [email protected]