| MATHEMATICS (TURKISH, PHD) | |||||
| PhD | TR-NQF-HE: Level 8 | QF-EHEA: Third Cycle | EQF-LLL: Level 8 | ||
| Course Code | Course Name | Semester | Theoretical | Practical | Credit | ECTS |
| MCH4307 | Introduction to Robotics and Biomechanics | Fall | 2 | 2 | 3 | 6 |
| The course opens with the approval of the Department at the beginning of each semester |
| Language of instruction: | En |
| Type of course: | Departmental Elective |
| Course Level: | |
| Mode of Delivery: | E-Learning |
| Course Coordinator : | Assoc. Prof. MEHMET BERKE GÜR |
| Course Lecturer(s): |
Dr. Öğr. Üyesi EMEL DEMİRCAN |
| 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. |
|
The students who have succeeded in this course; I. Describe basic concepts of kinematic model, spatial descriptions, and manipulator kinematics II. Define the Jacobian matrix, generalized coordinates, Euler Angles, Laplace Formulation III. Describe the task-level and biomechanical simulation IV. Define the sensing and tracking systems in robotics and biomechanics V. Describe basic concepts of musculoskeletal geometry, multi-body dynamics, and articulated body model VI. Describe muscle physiology, muscle mechanics, and muscle force production VII. Define the concept of inverse kinematics VIII. Define the concept of task-space control, human motion control and human motion reconstruction |
| 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 | ||
| Course Notes: | Skeletal Muscle Structure, Function, and Plasticity, R. L. Lieber, 2009, ISBN-10: 0781775930 |
| References: | YOK |
| Semester Requirements | Number of Activities | Level of Contribution |
| Attendance | 0 | % 0 |
| Laboratory | 4 | % 20 |
| Application | 0 | % 0 |
| Field Work | 0 | % 0 |
| Special Course Internship (Work Placement) | 0 | % 0 |
| Quizzes | 0 | % 0 |
| Homework Assignments | 5 | % 15 |
| Presentation | 0 | % 0 |
| Project | 0 | % 0 |
| Seminar | 0 | % 0 |
| Midterms | 1 | % 25 |
| Preliminary Jury | 0 | % 0 |
| Final | 1 | % 40 |
| Paper Submission | 0 | % 0 |
| Jury | 0 | % 0 |
| Bütünleme | % 0 | |
| Total | % 100 | |
| PERCENTAGE OF SEMESTER WORK | % 60 | |
| PERCENTAGE OF FINAL WORK | % 40 | |
| Total | % 100 | |
| Activities | Number of Activities | Duration (Hours) | Workload |
| Course Hours | 14 | 2 | 28 |
| Laboratory | 13 | 2 | 26 |
| Application | 0 | 0 | 0 |
| Special Course Internship (Work Placement) | 0 | 0 | 0 |
| Field Work | 0 | 0 | 0 |
| Study Hours Out of Class | 14 | 7 | 98 |
| Presentations / Seminar | 0 | 0 | 0 |
| Project | 0 | 0 | 0 |
| Homework Assignments | 0 | 0 | 0 |
| Quizzes | 0 | 0 | 0 |
| Preliminary Jury | 0 | 0 | 0 |
| Midterms | 0 | 0 | 0 |
| Paper Submission | 0 | 0 | 0 |
| Jury | 0 | 0 | 0 |
| Final | 0 | 0 | 0 |
| Total Workload | 152 | ||
| No Effect | 1 Lowest | 2 Low | 3 Average | 4 High | 5 Highest |
| Program Outcomes | Level of Contribution |