DEVELOPMENT OF FACIAL MUSCLES CONTROLLED ROBOTIC SYSTEM BY AHMAD JORAIMEE BIN MOHAMAD A dissertation submitted in partial fulfillment of the requirements for the degree of Master of Science (Mechatronic Engineering) Kulliyyah of Engineering International Islamic University Malaysia MAY 2013
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DEVELOPMENT OF FACIAL MUSCLES
CONTROLLED ROBOTIC SYSTEM
BY
AHMAD JORAIMEE BIN MOHAMAD
A dissertation submitted in partial fulfillment of the
requirements for the degree of Master of Science
(Mechatronic Engineering)
Kulliyyah of Engineering
International Islamic University
Malaysia
MAY 2013
i
ABSTRACT
The work in this dissertation focuses on the development of the facial muscles
controlled robotic system. The main idea of the work is to control the movement of
the small mobile robot by the recorded facial muscle signals. The characteristic of the
recorded facial muscles is discussed thoroughly in the dissertation. The facial muscle
signals used, which are known as Electromyography (EMG) are obtained after passing
the raw signals through EMG system that consist of stage-by-stage amplification and
filtering circuits. A set of three channels of EMG circuit consists of a set of
instrumentation amplifier INA128P and four precision amplifiers OP177 are used to
build the circuit. The raw captured signal is amplified by the gain of 8,415 and band
pass filtered from 50Hz to 500Hz. A microcontroller PIC16F877A starter kit is used
to convert the analogue signal from the circuit into digital form before the signal is
transferred to the receiver on the small mobile robot wirelessly by using XBee module
which can work within 100m radius. The alternative features of the system can be
used to create more interesting facial muscle rehabilitation therapy for the patients
who suffer from strokes.
البحثملخص
. الإنسان الآلييتركزالعمل في هذه الأطروحة على تطوير عضلات الوجه بواسطة السيطرة عن طريق عن طريق الإشارات المحمول الصغير الإنسان الآليالعمل هو السيطرة على حركة الفكرة الرئيسية لهذ
المسجله لعضلات الوجه في هذه الأطروحه تم مناقشة المزايا . عضلات الوجه المسجلة من الصادرةيتم الحصول عليها بعد (EMG)إشارات عضلات الوجه المسجلة والمعروفه بنظام ال . بشكل مستفيظ
والذي يتكون من دوائر التضخخيم والترشيح مرحلة تلو EMG المرور بالإشارات الأصليه خلال نظام التتكون من مجموعة الأجهزه المكبره (EMG)ن من ثلاث قنوات من الدوائر هناك مجموعة تتكو .أخرى
INA128P وآربعة مكبرات ضبطOP177 الإشارة الاصلية المحتجزه تكبر عن . تستخدم لبناء الدائرةوالذي PIC16F877A المتحكم الدقيقهرتز. 500هرتز الى 50موجة ترشيح من 8,415طريق اكتسابها
الإنسان الآليوتنقل إلى المستقبل في هو البادئ يستخدم لتغيير الإشارة الرقمية قبل أن تبدأ الإشارةمميزات هذ النظام م. 100والذي يعمل بنصف قطر XBee المحمول الصغير لاسلكيا بواسطة نموذج
ين يعانون من السكتات هتمام بتأهيل عضلات الوجه لعلاج المرضى الذللإهوامكانية خلق إثارة أكثر الدماغية.
iii
APPROVAL PAGE
I certify that I have supervised and read this study and that in my opinion it conforms
to acceptable standards of scholarly presentation and is fully adequate, in scope and
quality, as a dissertation for the degree of Master of Science in Mechatronics
Engineering.
…………………………………..
Shahrul Naim Sidek
Supervisor
I certify that I have read this study and that in my opinion it conforms to acceptable
standards of scholarly presentation and is fully adequate, in scope and quality, as a
dissertation for the degree of Master of Science in Mechatronics Engineering
…………………………………..
Amir Akramin Shafie
Examiner
This dissertation was submitted to the Advanced Engineering & Innovation Center
and is accepted as a fulfillment of the degree of Master of Science in Mechatronics
Engineering.
…………………………………..
Iskandar Idris Yaacob
Head, Advanced Engineering &
Innovation Center
This dissertation was submitted to the Kulliyyah of Engineering and is accepted as a
fulfillment of the degree of Master of Science in Mechatronics Engineering.
…………………………………..
Md. Noor Bin Salleh
Dean, Kulliyyah of Engineering
iv
DECLARATION
I hereby declare that this dissertation is the result of my own investigations, except
where otherwise stated. I also declare that it has not been previously or concurrently
submitted as a whole for any other degrees at IIUM or other institutions.
No part of this unpublished research may be reproduced , stored in a retrieval
system, or transmitted, in any form or by any means, electronic, mechanical,
photocopying, recording or otherwise without the permission of the copyright holder
except as provided below.
1. Any material contained in or derived from this unpublished research may
only be used by others in their writing with due acknowledgement.
2. IIUM or its library will have the right to make and transmit copies (print
or electronic) for institutional and academic purpose.
3. The IIUM library will have the right to make, store in retrieval system and
supply copies of this unpublished research if requested by other
universities and research libraries.
Affirmed by Ahmad Joraimee bin Mohamad
……………………….. …….……………….
Signature Date
vi
To:
My parent
Dr Norulakma Zainon
Najwan Hakimi
Najlaa Farhani
Nadhirah Kamilia
Nayli Sofiyya
vii
ACKNOWLEDGEMENT
First and foremost, praise to Allah who has given me guidance and support in
completing this research work and receiving His blessing.
I would like to express my deepest appreciation to my supervisor, Dr. Shahrul
Naim Bin Sidek for all the supports he has given towards completing this research
work. His precious time and dedication has pushed me through the difficult gain.
Also a special thanks to the staff of Faculty of Electrical and Automation
Engineering Technology TATI University College especially En Mohd Tarmizi
Ibrahim and En Kharuddin Ali for giving me the technical support and advises, which
has significantly contributed to the success of this research work.
Last but not least, a very special thanks to my parent and wife, Dr Norulakma
bt Zainon for their boundless love and patience to encourage me towards realizing my
goals.
viii
TABLE OF CONTENTS
Abstract .......................................................................................................................... i Abstract in Arabic ........................................................................................................ ii
Approval Page ............................................................................................................. iii Declaration ................................................................................................................... iv Acknowledgement ...................................................................................................... vii List of Figures ............................................................................................................... x List of Tables ............................................................................................................. xiii
List of Symbols .......................................................................................................... xiv
List of Abbreviations ................................................................................................. xv
CHAPTER ONE: INTRODUCTION ........................................................................ 1 1.1 Background ................................................................................................. 1 1.2 Problem statement ....................................................................................... 2 1.3 Research objectives ..................................................................................... 3
1.4 Research Methodology................................................................................ 3 1.5 Research Scope ........................................................................................... 6 1.6 Thesis organization ..................................................................................... 7
CHAPTER TWO: LITERATURE REVIEW ........................................................... 8 2.1 Introduction ................................................................................................. 8
2.2 Method for Rehabilitation of Facial Muscle for Stroke Patient ................ 12
2.3 Review of previous researches and projects ............................................. 15 2.4 Summary ................................................................................................... 22
CHAPTER THREE: SYSTEM DEVELOPMENT AND DESCRIPTION ......... 23 3.1 Introduction ............................................................................................... 23 3.2 Block Diagram of the Research ................................................................ 23
3.3 Flow Chart of the Research ....................................................................... 24 3.4 Relation between Facial Muscles and Facial Expression ......................... 27
3.5 Method to Acquire EMG signal ................................................................ 29 3.6 Signal conditioning ................................................................................... 30
3.8 Radio Frequency (RF) communication ..................................................... 44 3.8.1 X-Bee transreceiver ....................................................................... 45
3.9 Small mobile robot .................................................................................... 46
CHAPTER FOUR : RESULTS AND DISCUSSION ............................................. 50 4.1 Introduction ............................................................................................... 50 4.2 Analysis of Signal Conditioning Circuit ................................................... 50
4.4.1 Algorithm for data input and output. ............................................. 58 4.5 Summary ................................................................................................... 63
CHAPTER FIVE : CONCLUSION AND RECOMMENDATION ...................... 64 5.1 Conclusion ................................................................................................ 64 5.2 Recommendation....................................................................................... 65