| Language of instruction: |
English |
| Type of course: |
Departmental Elective |
| Course Level: |
Bachelor’s Degree (First Cycle)
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| Mode of Delivery: |
E-Learning
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| Course Coordinator : |
Assoc. Prof. MEHMET BERKE GÜR |
| Course Lecturer(s): |
Dr. Öğr. Üyesi EMEL DEMİRCAN
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| Recommended Optional Program Components: |
None |
| Course Objectives: |
Acquire the fundamentals in robotics and biomechanics for the modeling, simulation, and control of human musculoskeletal systems. Focus given on the definitions, the concepts, and the foundations used in the multi-disciplinary research at the intersection between robotics and biomechanics. Students form reading teams to evaluate classical and recent research articles in robotics and biomechanics and present them to the class. The theory, readings, and student final project presentations aim at engaging students in developing future research questions in robotics. |
| Fundamentals in humanoid robotics and biomechanics for the modeling, simulation, and control of human musculoskeletal systems. Muscle Structure, Hill-Type Muscle Model, Muscle Parameters, Moment and Moment Arm, Joint Moments, Modeling of Musculoskeletal Geometry; Structure of Human Models: Body, Joint, DOF…; Introduction to Robotics, Spatial Description, Direct/Inverse Kinematics, Jacobian, Manipulator Control; Operational Space Control, Redundancy, Task/Posture Decomposition. |
| Week |
Subject |
Related Preparation |
| 1) |
50 Year History of Robotics ; Robotics Areas (i.e., haptics, human motion synthesis, biomimetics, humanoid robotics, underwater robotics, teleoperation, surgical robotics, aerial robotics…); Robots and Human; Why to Study Human Movement? |
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| 2) |
Definition of Terms: Muscle Structure; Hill-Type Muscle Model; Muscle Parameters; Moment and Moment Arm; Joint Moments; Modeling of Musculoskeletal Geometry; Structure of Human Models: Body, Joint, DOF… Assumptions and Limitations; Scaling |
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| 3) |
Haptics, Humanoid Platforms; Guest Lecturer |
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| 4) |
Spatial Description, Direct/Inverse Kinematics, Jacobian, Manipulator Control |
|
| 5) |
Video (passive optical) capture - Force Plates (GRFs); Calibration & Challenges (Noise/Filtering); EMG Electromyography; New Developments |
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| 6) |
Robotics Foundations; Redundancy; Operational Space Control; Task/Posture Decomposition |
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| 7) |
Whole-Body Control & Simulation; Balance Control; Contact/Constraints; Simulation Frameworks |
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| 8) |
Midterm Exam |
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| 9) |
Human Motion Control; Marker Placement; Motion Control Hierarchy; From Motion Capture to Motion Dynamics |
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| 10) |
Robotics Methods (Belted Ellipsoids); Human Muscular Effort; Acceleration Characteristics; Addition of Constraints (Contact, Physiological Constraints) |
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| 11) |
Applications in Robotics; Applications in Rehabilitation, in Sports Medicine, and in Orthopeadics; Future Perspectives in Robotics and Biomechanics |
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| 12) |
Student Presentations |
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| 13) |
Student Presentations |
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| 14) |
Student Presentations |
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| Course Notes / Textbooks: |
Robotics-based Synthesis of Human Motion. PhD tezi, Emel Demircan, Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Stanford, USA, August 2012.
|
| References: |
Robotics-based Synthesis of Human Motion, PhD thesis Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Stanford, USA,August 2012.
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| |
Program Outcomes |
Level of Contribution |
| 1) |
Build up a body of knowledge in mathematics, science and Mechatronics Engineering subjects; use theoretical and applied information in these areas to model and solve complex engineering problems. |
5 |
| 2) |
Identify, formulate, and solve complex Mechatronics Engineering problems; select and apply proper modeling and analysis methods for this purpose. |
4 |
| 3) |
Design complex Mechatronic 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. |
3 |
| 4) |
Devise, select, and use modern techniques and tools needed for solving complex problems in Mechatronics Engineering practice; employ information technologies effectively. |
5 |
| 5) |
Design and conduct numerical or pysical experiments, collect data, analyze and interpret results for investigating the complex problems specific to Mechatronics Engineering. |
5 |
| 6) |
Cooperate efficiently in intra-disciplinary and multi-disciplinary teams; and show self-reliance when working on Mechatronics-related problems. |
5 |
| 7) |
Ability to communicate effectively in English and Turkish (if he/she is a Turkish citizen), both orally and in writing. Write and understand reports, prepare design and production reports, deliver effective presentations, give and receive clear and understandable instructions. |
4 |
| 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. |
3 |
| 9) |
Develop an awareness of professional and ethical responsibility, and behave accordingly. Be informed about the standards used in Mechatronics 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. |
5 |
| 11) |
Acquire knowledge about the effects of practices of Mechatronics Engineering on health, environment, security in universal and social scope, and the contemporary problems of Mechatronics engineering; is aware of the legal consequences of Mechatronics engineering solutions. |
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