Sistem za merjenje sile interakcije na robotski napravi za vadbo prstov in zapestja

VODEB, ERIK (avtor), Kamnik, Roman (mentor)

Pričujoča diplomska naloga se ukvarja s problemom zasnove, izdelave in testiranja sistema za zajemanje sile interakcije na robotski napravi za vadbo prstov in zapestja. Cilj diplomskega dela je bil razviti merilni sistem, ki silo zajema na distalnem naslonu omenjene naprave, njegovo delovanje pa temelji na tehnologiji merilnih lističev. Naprava je namenjena predvsem bolnikom, ki se rehabilitirajo po možganski kapi. Temu primerno so v prvem delu predstavljeni etiologija možganske kapi, poteki rehabilitacije po tem obolenju ter vpeljava robotskih naprav v ta proces. V nadaljevanju so opisani možni načini zajemanja sile interakcije in opis izbrane metode zajemanja z merilnimi lističi. Predstavljen je njihov princip delovanja in možne konfiguracije Wheatstonovega mostiča, na katerem temelji delovanje našega merilnega sistema. Sledi predstavitev vezja, s katerim smo izhodni signal mostiča ustrezno ojačali in omogočili branje podatkov, ki je potekalo preko mikroračunalnika Raspberry Pi. Za pridobitev vpogleda v delovanje našega merilnega sistema, smo izmerili značilne karakteristike sistema, kot so linearnost odziva in spreminjanje odmika začetne vrednosti. Ojačeni podatki, ki smo jih z meritvijo zajemali, so bili v neobdelani obliki, zato smo razvili programske kode, s katerimi smo sistem kalibrirali v dveh korakih. V prvem koraku smo opravili kalibracijo preko meritev z znanimi utežmi. Drugi, natančnejši korak, pa je bil izveden z uporabo robotskega sistema, opremljenega s kalibriranim referenčnim merilnikom sile. V vsakem koraku kalibracije smo izračunali faktor pretvorbe, ki nam je neobdelane podatke pretvoril v fizikalno veličino. Z uporabo izračunanih faktorjev pretvorbe, smo razvili programsko kodo, ki omogoča zajemanje sile in izris njenega poteka v realnem času. Na koncu so prikazani rezultati meritev, zajeti z razvito merilno celico in ugotovitve, do katerih smo prišli tekom razvoja merilnega sistema.

• Jezik: Slovenski jezik
• Ključne besede: Ključne besede: merilni sistem, robot, rehabilitacija, naprava, merilni lističi, kalibracija
• Vrsta gradiva: Diplomsko delo/naloga
• Organizacija: FE - Fakulteta za elektrotehniko
• Leto izida: 2023
• PID: 20.500.12556/RUL-149708
• COBISS.SI-ID: 164476675
• Datum objave v RUL: 08.09.2023

VODEB, ERIK, 2023, Sistem za merjenje sile interakcije na robotski napravi za vadbo prstov in zapestja [na spletu]. Diplomsko delo. [Dostopano 18 april 2025]. Pridobljeno s: https://repozitorij.uni-lj.si/IzpisGradiva.php?lang=slv&id=149708

Sekundarni jezik

• Jezik: Angleški jezik
• Naslov: Interaction force measurement system on a robotic device for finger and wrist exercises

Izvleček

This thesis addresses the problem of designing, manufacturing, and testing a system for capturing the force of interaction on a robotic device for fingers and wrist exercises. The goal of the thesis was to develop a measuring system that captures force at the distal support of the mentioned device. The operation principle of the measuring system is based on strain gauge technology. The device is intended primarily for patients rehabilitating after a stroke. Accordingly, the first part introduces the etiology of stroke, the rehabilitation process after this condition, as well as the introduction of robotic devices into this process. Subsequently, possible methods for capturing the force of interaction and the description of the selected method using strain gauges are described. Their operating principle is presented, as well as possible configurations of the Wheatstone bridge, on which the operation of our measuring system is based. This is followed by a presentation of the circuitry with which we properly amplified the bridge output and enabled data reading, which took place via Raspberry Pi microcomputer. To gain insight into the operation of our measuring system, its characteristic features, such as response linearity and changes in offset were measured. The amplified data that we captured during the measurement were in raw format, so we developed software codes with which we calibrated the system through two steps. In the first step the calibration process, was performed through measurements with known weights. The second, more precise step, was carried out using a robotic system equipped with a calibrated reference force measurement system. Within each step, we calculated a conversion factor that converted the raw data into the desired physical quantity. Using the calculated conversion factors, we developed software code that enables force capturing and real-time plotting of its course. Lastly, the results of the measurements captured with our measuring cell are presented, along with the conclusions that we reached during the development of the measuring system.

• Ključne besede: Keywords: measuring system, robot, rehabilitation, device, strain gauge, calibration