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Öğe Design and production of a novel cable supported hand and wrist rehabilitation robot: Prototype study(SPRINGER, 2025) Marul, Musa; Gürsel Özmen, NurhanRehabilitation robots are being used to assist limbs in performing basic functions. Most of the existing rehabilitation robots are not accessible for home environments, mainly due to lack of portability and high costs. In this study, a versatile rehabilitation robot is developed that can improve individuals' quality of life and can be used in clinical and in home environments, supporting treatment, and offering portability, wearability, and adaptability to individual needs. A novel four bar mechanism supported position controller is developed which is equipped with Bowden cable transmission on the fingers. Electrical actuators that facilitate hand movement have been selected based on their lightweight design and the ability to generate the necessary power. The robot is aimed to perform passive, isometric and active exercises regarding flexion/extension and radial/ulnar deviation movement experiments in order to illustrate performance of the proposed design. Experiments with a healthy subject are planned and followed through a human-machine interface software that is controlled by a microcontroller with an embedded program. Finally, the results of the experiments are presented separately for each finger owing to exercise type. The results of a healthy subject show that the developed rehabilitation robot sufficiently performed the planned tasks in the selected range. Moreover, it is proved that the designed and manufactured robot is feasible for clinical use to acquire the planned tasks after patient trials.Öğe Meslek yüksekokulu mekatronik eğitiminin incelenmesi (Artvin ili örneği)(Bilgehan ATSIZ GÖKDAĞ, 2018) Marul, Musa; Aydın, ErmanYapılan bu çalışmada, Artvin ilinde üretim sektörüne ara eleman yetiştiren Meslek Yüksekokulu (MYO) mekatronik programının fiziki yapısı, önemi ve öğrenci sayısı araştırılmıştır. Artvin Çoruh Üniversitesi Hopa MYO’da teknik bölüm olarak eğitim veren mekatronik programının 2010 yılından 2016 yılına kadar öğrenci sayısı ortaya konulmuştur. Öğrenci kontenjanının 41 kişilik olduğu programda 7 yılın ortalama öğrenci sayısı 33,08 olarak tespit edilmiştir. Ön lisans Mekatronik eğitimi veren Rize, Trabzon, Ordu, Çorum, Sinop ve Sakarya illerinde 2017 yılında yeni sistemdeki ortalama öğrenci sayısı 24,83 iken son 3 yılda 37,55 olduğu tespit edilmiştir. Ayrıca bu programlara yerleştirme sonuçları incelenmiştir. Bu 6 ilin, son 3 yıldaki öğrenci sayıları ve Hopa MYO’nun 7 yıllık öğrenci sayısı ortalaması dikkate alınarak, kapatılan mekatronik programının 2017 ve 2018 yılındaki öğrenci sayısı tahmin edilmeye çalışılmıştır. 2017 yılında Artvin Çoruh Üniversitesi Borçka Acarlar MYO’daki 41 kişilik kontenjana 2 öğrenci yerleşmiştir. Bu düşüşün sebepleri araştırılarak ortaya konmuştur. 2018 yılı ön lisans mekatronik programının Türkiye geneli yerleştirme oranın yaklaşık %99,31 olduğu tespit edilmiştir. Sonuç olarak Artvin Çoruh Üniversitesinde kapatılan mekatronik programının gerekli teknik alt yapıya sahip Meslek Yüksek okulları bünyesinde tekrar açılması gerektiği ve tekrar açılması durumunda Türkiye geneli yerleştirme oranına ulaşabileceği kanısına varılmıştır.Öğe Metaheuristic methods optimized HSMC control of a multi dof hand and wrist rehabilitation robot design(Konya Teknik Univ, 2025) Marul, Musa; Gürsel Özmen, NurhanRehabilitation is a process that aims to restore individuals to full functionality following an injury or illness that has compromised their ability to perform daily activities. A significant challenge in addressing these needs is the selection of robotic devices that can adequately respond to the complex requirements of rehabilitation. This study presents a simulation study for the position control of the wrist and fingers using Hierarchical Sliding Mode Control (HSMC) that is optimized via metaheuristic algorithms. A novel hierarchical approach is applied that is optimized with Particle Swarm Optimization (PSO) and Differential Evolution (DE) algorithms. The model was simulated under disturbances to track the desired trajectory. Simulation results are compared with Hierarchical PID controller results. The findings demonstrate that HSMC-based control effectively improve trajectory tracking, reducing mean absolute and normalized root mean square (NRMS) errors compared to HPID controllers. The proposed approach shows promising potential for real implementation, enhancing the efficiency of rehabilitation devices.Öğe Stabilization and tracking control of an x-z type inverted pendulum system using Lightning Search Algorithm tuned nonlinear PID controller(Cambridge University Press, 2021) Gürsel Özmen, Nurhan; Marul, MusaInverted pendulum systems (IPSs) are mostly used to demonstrate the control rules for keeping the pendulum at a balanced upright position due to a slight force applied to the cart system. This paper presents an application for nonlinear control of an x-z type IPS by using a proportional-integral-derivative (PID) controller with newly established evolutionary tuning method Lightning Search Algorithm (LSA). A single, double and triple PID controller system is tested with the conventional and the self-tuning controllers to get a better understanding of the performance of the given system. The mathematical modelling of the x-z type IPS, the theoretical explanation of the LSA and the simulation analysis of the x-z type IPS is put forward entirely. The LSA algorithm solves the optimization problem of PID controller in an evolutionary way. The most effective way of making comparisons is evaluating the performance results with a well-known optimization technique or with the previous accepted results. We have compared the system's performance with particle swarm optimization and with a classical control study in the literature. According to the simulation results, LSA-tuned PID controller has the ability to decrease the overshoot better than the conventional-tuned controllers. Finally, it can be concluded that the LSA-supported PID can better stabilize the pendulum angle and track the reference better for non-disturbed and the slightly disturbed systems.Öğe Vibration effects examination of cushions used on tractor driving seat(De Gruyter Open Ltd, 2012) Marul, Musa; Karabulut, AbdurrahmanVibration effect of driver's seat of agricultural tractor which works in land condition has been researched. In this research, three different cushions on driver's seat have been used. These are wool, sponge and cotton. Pad acceleration receiver is put on seat. Moreover, HVM100 tool has been used to record data. Data has been converted to graphs in BLAZE software. Statistical methods have been used in examining the graphs. In vibration isolation, ordering has been achieved as wool, cotton and sponge and without a cushion, respectively. Wool cushion has the best isolation. It is seen that data obtained from test results is appropriate according to ISO 2631 standards and scientific researches.
