Fuzzy Logic Control of a Head-movement Based Semi-autonomous Human–machine Interface

作     者：YasirÖzlük Eda Akman Aydin Yasir ?zlük;Eda Akman Aydin

作者机构：Institute of SciencesSelçuk UniversityAlaaddin Keykubad CampusSelçukluKonya42130Turkey Faculty of TechnologyElectrical and Electronics EngineeringGazi University06500 Teknikokullar BesevlerAnkara06500Turkey 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2023年第20卷第2期

页      面：645-655页

核心收录：

学科分类：07[理学] 070104[理学-应用数学] 0701[理学-数学] 

基　　金：the Scientific and Technological Research Council of Turkey(TUBITAK) 

主　　题：Human-machine interface(HMI) Head-movement Obstacle avoidance Inertial measurement unit(IMU) Fuzzy logic 

摘      要：Quadriplegia is a neuromuscular disease that may cause varying degrees of functional loss in trunk and *** such cases,head movements can be used as an alternative communication *** this study,a human–machine interface which is controlled by human head movements is designed and *** proposed system enables users to steer the desired movement direction and to control the speed of an output device by using head *** movements of the users are detected using a 6 DOF IMUs measuring three-axis accelerometer and three-axis *** head movement axes and the Euler angles have been associated with movement direction and speed,*** ensure driving safety,the speed of the system is determined by considering the speed requested by the user and the obstacle distance on the *** this context,fuzzy logic algorithm is employed for closed-loop speed control according to distance sensors and reference speed data.A car model was used as the output device on the machine ***,the wireless communication between human and machine interfaces provides to adapt this system to any remote device or *** implemented system was tested by five *** of the system was evaluated in terms of task completion times and feedback from the subjects about their experience with the *** indicate that the proposed system is easy to use;and the control capability and usage speed increase with user *** control speed is improved with the increase in user experience.