Sensorimotor Control Using Adaptive Neuro-Fuzzy Inference for Human-Like Arm Movement

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dc.contributor.authorGungor, Gokhan
dc.contributor.authorAfshari, Mehdi
dc.date.accessioned2024-09-29T16:08:05Z
dc.date.available2024-09-29T16:08:05Z
dc.date.issued2024
dc.departmentKarabük Üniversitesien_US
dc.description.abstractIn this study, a sensorimotor controller is designed to characterize the required muscle force to enable a robotics system to perform a human-like circular movement. When the appropriate muscle internal forces are chosen, the arm end-point tracks the desired path via joint-space feedback. An objective function of the least-change rate of muscle forces is determined to find suitable feedback gains. The parameter defining the muscle force is then treated as a learning parameter through an adaptive neuro-fuzzy inference system, incorporating the rate of change of muscle forces. In experimental section, the arm motion of healthy subjects is captured using the inertial measurement unit sensors, and then the image of the drawn path is processed. The inertial measurement unit sensors detect each segment motion's orientation using quaternions, and the image is employed to identify the exact end-point position. Experimental data on arm movement are then utilized in the control parameter computation. The proposed brain-motor control mechanism enhances motion performance, resulting in a more human-like movement.en_US
dc.identifier.doi10.3390/app14072974
dc.identifier.issn2076-3417
dc.identifier.issue7en_US
dc.identifier.scopus2-s2.0-85192515242en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.urihttps://doi.org/10.3390/app14072974
dc.identifier.urihttps://hdl.handle.net/20.500.14619/7328
dc.identifier.volume14en_US
dc.identifier.wosWOS:001201163400001en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherMdpien_US
dc.relation.ispartofApplied Sciences-Baselen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectsensorimotor controlen_US
dc.subjectadaptive neuro-fuzzy inference systemen_US
dc.subjecthuman-like movementen_US
dc.titleSensorimotor Control Using Adaptive Neuro-Fuzzy Inference for Human-Like Arm Movementen_US
dc.typeArticleen_US

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