| Language of instruction: |
English |
| Type of course: |
Departmental Elective |
| Course Level: |
Bachelor’s Degree (First Cycle)
|
| Mode of Delivery: |
E-Learning
|
| Course Coordinator : |
Assoc. Prof. MEHMET BERKE GÜR |
| Course Lecturer(s): |
Dr. Öğr. Üyesi EMEL DEMİRCAN
|
| Recommended Optional Program Components: |
NONE |
| Course Objectives: |
The goal of this course to teach the fundamentals in robotics and human biomechanics for the modeling, simulation, and control of multi-body articulated systems; to give the knowledge of technologies used in movement modeling, sensing, and control; to define basic concepts in robotics and biomechanics. Focus given on the definitions, the concepts, and the methodologies used in multi-disciplinary research at the intersection between robotics and human biomechanics. The course presents the current and possible future applications of human movement study in robotics, orthopeadics, sports medicine, biomechanics, and computer animation. |
Introduction and Motivation, Spatial descriptions (Euler angles, cosines) Newton - Euler algorithm, Forward kinematics, Inverse kinematics , joint space, manipulator workspace, Modeling, scaling, definitions (body, joint, tree like branching structure) , muscle moment arm, musculo-skeletal geometry, Forward / inverse dynamics, Muscle physiology and mechanics, muscle parameters, force and torque production, Conventional and advanced motion sensing and capture systems , Operational space control, introduction to simulators (task-level , bio mechanical), Production of human movement: from brain excitation to joint space accelerations, Human motion control and reconstruction, Human motion synthesis and analysis using robotics and biomechanics, Applications in Robotics Rehabilitation, Motion Training, Ergonomics, Physical Therapy, and Computer Animation
|
| Week |
Subject |
Related Preparation |
| 1) |
Introduction and Motivation |
|
| 2) |
Spatial Descriptions, Rigid Body Configuration, Manipulator Kinematics, Generalized Coordinates |
|
| 3) |
Kinematics, Kinematic Model, Jacobian Matrix |
|
| 4) |
Ters Kinematik |
|
| 5) |
Musculoskeletal Modeling, Multi-body Dynamics, Musculoskeletal Geometry |
|
| 6) |
Articulated Body Model and Dynamics |
|
| 7) |
Muscle Physiology and Mechanics, Mechanical Properties of Muscle and Tendon |
|
| 8) |
Motion Capture Systems, Force Plates, Electromyography, Inertial Systems |
|
| 9) |
Task-level and Biomechanical Simulation |
|
| 10) |
Production of Human Movement |
|
| 11) |
Task-Space Control, Human Motion Control and Reconstruction |
|
| 12) |
Advanced Topics I: Human Motion Characterization |
|
| 13) |
Advanced Topics II: Applications in Robotics Rehabilitation, Motion Training, Ergonomics, Physical Therapy, and Computer Animation |
|
| 14) |
Course Review |
|
| |
Program Outcomes |
Level of Contribution |
| 1) |
Adequate knowledge of subjects specific to mathematics (analysis, linear, algebra, differential equations, statistics), science (physics, chemistry, biology) and related engineering discipline, and the ability to use theoretical and applied knowledge in these fields in complex engineering problems. |
|
| 2) |
Identify, formulate, and solve complex Biomedical Engineering problems; select and apply proper modeling and analysis methods for this purpose |
2 |
| 3) |
Design complex Biomedical systems, processes, devices or products under realistic constraints and conditions, in such a way as to meet the desired result; apply modern design methods for this purpose. |
2 |
| 4) |
Devise, select, and use modern techniques and tools needed for solving complex problems in Biomedical Engineering practice; employ information technologies effectively. |
3 |
| 5) |
Design and conduct numerical or physical experiments, collect data, analyze and interpret results for investigating the complex problems specific to Biomedical Engineering. |
1 |
| 6) |
Cooperate efficiently in intra-disciplinary and multi-disciplinary teams; and show self-reliance when working on Biomedical Engineering-related problems. |
1 |
| 7) |
Ability to communicate effectively in Turkish, oral and written, to have gained the level of English language knowledge (European Language Portfolio B1 general level) to follow the innovations in the field of Biomedical Engineering; gain the ability to write and understand written reports effectively, to prepare design and production reports, to make effective presentations, to give and receive clear and understandable instructions. |
3 |
| 8) |
Recognize the need for life-long learning; show ability to access information, to follow developments in science and technology, and to continuously educate oneself. |
1 |
| 9) |
Having knowledge for the importance of acting in accordance with the ethical principles of biomedical engineering and the awareness of professional responsibility and ethical responsibility and the standards used in biomedical engineering applications |
1 |
| 10) |
Learn about business life practices such as project management, risk management, and change management; develop an awareness of entrepreneurship, innovation, and sustainable development. |
1 |
| 11) |
Acquire knowledge about the effects of practices of Biomedical Engineering on health, environment, security in universal and social scope, and the contemporary problems of Biomedical Engineering; is aware of the legal consequences of Mechatronics engineering solutions. |
4 |
BAHÇEŞEHİR UNIVERSITY BİLGİ PAKETİ / DERS KATALOĞU
