Wyniki wyszukiwania - BazTech

1

Neuro-biomechanical coupling in exoskeleton assisted walking for stroke patients demonstrates adaptive compensation

Gao Yujia, Sun Jiayi, Li Chenhao, Lin Yufeng, Wang Zilin, Jiang Chenghua, Niu Wenxin

Biocybernetics and Biomedical Engineering

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2026

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Vol. 46, iss. 1

19--32

EN

Stroke-induced decoupling of neural control and biomechanics impairs walking. The mechanism by which exoskeleton modulates neuro-biomechanical coupling through mechanical support and assistance remains unclear. This study aims to reveal the coupling relationship between neural control and biomechanics in exoskeleton assisted walking for stroke patients through multimodal analysis. Sixteen stroke and sixteen healthy subjects participated, with kinematic, surface electromyography, and cerebral hemodynamic data collected in 4 exoskeleton assisted walking conditions. We analyzed spatiotemporal parameters, movement coordination, muscle synergy, cortical activation and functional connectivity, as well as lateralization and neural network parameters using hierarchical generalized additive mixed-effects model regression and distance correlation to explore the dynamic nonlinear effects of neuro-biomechanics and symmetry associations. Subjects after stroke showed disturbed movement coordination, simplified muscle synergy, and suppressed cortical activation. The exoskeleton activated ankle anti-phase coordination and partially restores muscle synergy, but led to reduced multi-joint coordination and increased gait speed asymmetry. Cortical activation and functional connectivity decreased for stroke subjects, and cognitively oriented lateralization as well as neural network integration efficiency were increased with exoskeleton intervention. Neuro-biomechanical coupling results indicated that subjects after stroke relied on centralized modulation of supplementary motor area activation to integrate motor planning and execution, and dynamic laterality fluctuation of premotor cortex reflected motor control rhythms by regulating movement variability. The exoskeleton reconfigured neuro-biomechanical coupling, prompting a shift from pathological compensatory discoordination toward motor planning-orientated adaptive control strategy, and providing a rationale for rehabilitation assistance targeting the adaptive reorganization of motor function.

2

Zastosowanie egzoszkieletów w budownictwie

Szóstak Mariusz, Solczak Urszula

Przegląd Budowlany

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2025

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R. 96, nr 2

237--239

PL

Egzoszkielety to innowacyjne urządzenia, które wspierają pracowników budowlanych, zmniejszając obciążenia mięśniowo-szkieletowe oraz ryzyko urazów. Artykuł przedstawia przegląd dostępnych rozwiązań, badań nad ich skutecznością oraz przyszłych kierunków rozwoju tej technologii. Badania wykazały, że egzoszkielety mogą poprawiać ergonomię pracy, redukując wysiłek fizyczny i zmniejszając dolegliwości bólowe, zwłaszcza w dolnej części pleców oraz ramionach. Eksperymenty przeprowadzone zarówno w warunkach laboratoryjnych, jak i na terenach budowy potwierdzają ich pozytywny wpływ na zdrowie i wydajność pracowników. Jednocześnie zauważono pewne ograniczenia – niektóre egzoszkielety mogą powodować dyskomfort w klatce piersiowej lub zwiększać obciążenie poznawcze, co może wpływać na koncentrację i świadomość sytuacyjną.

EN

Exoskeletons are innovative devices that support construction workers by reducing musculoskeletal strain and the risk of injuries. This article provides an overview of available solutions, research on their effectiveness, and future directions for the development of this technology. Studies have shown that exoskeletons can improve workplace ergonomics by reducing physical effort and alleviating pain, particularly in the lower back and shoulders. Experiments conducted in both laboratory settings and construction sites confirm their positive impact on workers’ health and productivity. However, some limitations have been noted – certain exoskeletons may cause chest discomfort or increase cognitive load, potentially affecting concentration and situational awareness.

3

The design of 3D-printed open bearings for human assisting robots

Falkowski Piotr, Leczkowski Bazyli

Journal of Automation Mobile Robotics and Intelligent Systems

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2025

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Vol. 19, No. 3

13--24

EN

Wearable technologies, including exoskeletons, significantly impact supporting the motion of people with disabilities. However, activating internal/external rotations in extremity segments requires placing body segments inside bearings, as their rotation axes must overlap. This hinders the exoskeleton mounting process and even excludes some medical cases from using the devices. For this reason, the design of innovative 3D-printed open bearings was presented in this paper. It consists of anthropometric modelling, computer-aided mechanical design, multibody dynamics simulations, strength analysis, and parametric optimization to obtain minimal mass while complying with the strength requirements. The design process resulted in reducing the overall mass of design by 40%. Moreover, it proved that the pow- der additive manufacturing techniques combined with the thin sliding layers printed with FFF/FDM technology are more suiTable for the intended use than monoliths manufactured with FFF/FDM technology. The presented methodology is universally applicable to other robots interacting with humans, which require the use of open bearings without drives, and also if manufactured subtractively.

4

Exoskeletons in reducing physical strain on firefighters. Outline of the problem

Zagórska Aleksandra

Zeszyty Naukowe SGSP / Szkoła Główna Służby Pożarniczej

|

2024

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Nr 92 (tom 1)

103--116

EN

Given the growing demands placed on firefighters during rescue operations, there is a growing need to explore modern technologies that could support their work. One promising solution in this field is the use of exoskeletons, biomechanical devices that reduce the physical load on the wearer. The aim of this research was to outline the current state of knowledge on reducing the physical load of firefighters through the use of exoskeletons and to identify prospective directions for the continuation of this research. This paper sought to provide a comprehensive overview of the existing literature on the worldwide use of exoskeletons in the fire service, emphasising their potential impact on reducing the physical burden faced by firefighters. The focus was on design issues, principles of operation and conclusions regarding their practical application. Particular attention was paid to analyses of potential health benefits, such as reduced musculoskeletal load and improved ergonomics. The study outlined a picture of the current state of knowledge on exoskeletons, as well as indicated directions for further research and development of technologies to assist firefighters during rescue operations.

5

Applications of Internet of Things in hand exoskeletons

Nowak Joanna, Kempiński Marcin, Mikołajewski Dariusz

Studia i Materiały Informatyki Stosowanej

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2024

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T. 16, nr 3

38--41

EN

Hand therapy using a novel robotic exoskeleton can reduce motor deficits and improve functional recovery in patients. Robotic therapy can therefore effectively complement standard rehabilitation by providing therapeutic support to patients. The group of hand exoskeletons is at the beginning of its development and requires further research, and supplementing it with Internet of Things technologies will further increase its capabilities. The aim of this article is to determine the current state of research and development opportunities in this area.

PL

Terapia ręki z wykorzystaniem nowatorskiego exoskeleton robotycznego może zmniejszyć deficyty motoryczne i poprawić odzyskiwanie funkcji u pacjentów. Terapia robotyczna może zatem skutecznie uzupełniać standardową rehabilitację zapewniając wsparcie terapeutyczne pacjentom. Grupa hand exoskeletons znajduje się na początku swojego rozwoju i wymaga dalszych badań, a uzupełnienie jej o technologie Internetu Rzeczy dodatkowo zwiększy jej możliwości. Celem artykułu jest określenie obecnego stanu badań i mozliwości rozwojowych w tym zakresie.

6

Akwizycja danych ruchów ręki oraz ręki w egzoszkielecie z elementami sztucznej inteligencji

Kopowski Jakub, Rojek Izabela, Mikołajewski Dariusz

Studia i Materiały Informatyki Stosowanej

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2024

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T. 16, nr 3

7--11

PL

Badanie ruchów ręki odgrywa kluczową rolę w rozwoju interfejsów człowiek-komputer i konstrukcji ramion robotycznych, co jest szczególnie istotne w kontekście Przemysłu 4.0 oraz egzoszkieletów wspomagających ruch człowieka. Mimo postępów istnieją luki badawcze dotyczące osób z niepełnosprawnościami oraz dzieci. Główne wyzwania obejmują trudności z utrzymaniem ręki w ustalonej pozycji, jakość obrazu w technikach analizy obrazu oraz ochronę urządzeń przed nagłymi ruchami. W celu akwizycji danych ruchu ręki, wykorzystuje się technologie oparte na sensorach, przy czym język Python i biblioteka OpenCV są powszechnie stosowane w analizie obrazu. Aktualne badania koncentrują się na integracji technologii XR (VR, AR, MR) z akwizycją danych otoczenia, co umożliwi analizę manipulacji ręki w kontekście obiektów z otoczenia.

EN

The study of hand movement properties is crucial in developing human-computer interfaces and robotic arms, especially within the context of Industry 4.0 and exoskeletons that support human movement. Despite advancements, there are research gaps regarding people with disabilities and children. Key challenges include maintaining hand and upper limb position, image quality in image analysis techniques, and protecting equipment from sudden movements in individuals with disabilities. To acquire hand motion data, sensor-based technologies are utilized, with Python and the OpenCV library commonly used for image analysis. Current research focuses on integrating XR technologies (VR, AR, MR) with environmental data acquisition, enabling the analysis of hand manipulation in interaction with surrounding objects.

7

Systematic review of mechanical designs of rehabilitation exoskeletons for lower-extremity

Falkowski Piotr, Zawalski Krzysztof, Oleksiuk Jan, Leczkowski Bazyli, Pilat Zbigniew, Aktan Mehmet Emin, Akdogan Erhan, Niedbalski Paweł, Ömürlü Vasfi Emre, Jarek Michał, Wawrzyniak Mateusz, Mazowiec Maciej

Archive of Mechanical Engineering

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2024

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LXXI, nr 4

621--644

EN

Exoskeletons of lower extremities are used mainly for gait treatment in physical rehabilitation. However, they are also capable of being involved in other types of exercises. Nevertheless, their structure needs to be adequately adjusted for such applications. To analyse approaches to that, this review paper investigates the mechanical designs of rehabilitation exoskeletons for lower extremities. The study seeks to identify best practices in designing and implementing these devices by analysing fifty-two articles. It covers aspects such as kinematic structures, materials used, types of drives, and the range of exercises. Standard design features include multiple degrees of freedom, primarily at the hip, knee, and ankle joints, and using lightweight materials to enhance mobility and reduce power consumption. The review also discusses the advantages of different driving systems. The findings provide valuable insights for developing effective and safe rehabilitation exoskeletons, contributing to improved patient outcomes in physiotherapy and rehabilitation settings.

8

Classification of precast concrete façade elements used in contemporary residential buildings

Mika Paweł, Temirkhan Tolkynbayev, Leila Zhaksylykova

Środowisko Mieszkaniowe

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2023

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nr 45

33--37

EN

In recent years, a slow change towards prefabrication has been observed in the construction sector. An increasing amount of construction work is done off site. The benefits of such arrangements are noted, as it results in the construction of better-quality buildings and can lead to lowering a project’s overall carbon footprint. These changes concern every stage of construction and nearly every material solution, including external walls made from concrete panels. The objective of this study was to develop and present a classification of concrete prefabricated elements in terms of their structural properties and to determine which of these elements are most often used in the design of housing. The study found that structural sandwich elements and cladding panels were among the most popular technologies.

9

Analyzis of rehabilitation systems in regards to requirements towards remote home rehabilitation devices

Falkowski Piotr, Rzymkowski Cezary, Pilat Zbigniew

Journal of Automation Mobile Robotics and Intelligent Systems

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2023

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Vol. 17, No. 2

61--73

EN

The contemporary international pandemic proved that a flexible approach towards work, trade and healthcare is not only favorable but a must. Hence, the devices enabling home‐rehabilitation became one of the urgent needs of the medical market. The following overview is a part of an R&D project aimed at designing an exoskeleton and developing methods enabling effective home rehabilitation. It contains a comparison of current devices in terms of their kinematics, applications, weights, sizes, and integration with selected ICT technologies. The data is analyzed regarding conclusions from qualitative research, based on in‐depth interviews with physiotherapists and questionnaires organized beforehand. The investigation assesses whether commercial and developed devices enable feedback from a patient by all possible means; hence, if they could allow effective telerehabilitation. Moreover, their capabilities of increasing engagement and accelerating improvements by supervising techniques and measuring biomechanical parameters are evaluated. These outcomes are a base to set the constraints and requirements before designing an exoskeleton dedicated to home treatment.

10

Elastyczny dobór deskowań. Elastyczna gospodarka deskowaniami

Majkowski Łukasz, Pasławski Jerzy

Inżynieria i Budownictwo

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2023

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R. 79, nr 11-12

694--702

PL

W artykule przedstawiono koncepcję doboru deskowań w celu zagwarantowania wysokiej wydajności procesów związanych z montażem deskowań, montażem zbrojenia, betonowaniem, pielęgnacją i rozdeskowaniem (i ewentualnym demontażem deskowań). W proponowanej metodzie 3F (Flexible Formwork Flow) wykorzystano podstawowe założenia Industry 5.0, Lean i Agile. Oznacza to przyjęcie takich podstawowych strategii, jak: wparcie pracowników przez roboty (industry 5.0 kładzie nacisk na współpracę między ludźmi a robotami - na budowie oznacza to możliwość zastosowania egzoszkieletu do wsparcia pracownika), elastyczność i adaptacja (elastyczność i szybka adaptacja do zmieniających się warunków - w ciągu dnia pracy czy podczas pielęgnacji i dojrzewania betonu mają kluczowe znaczenie dla zapewnienia rytmicznej produkcji - np. modyfikacja mieszanki betonowej w celu zapewnienia możliwości rotacji deskowań pomimo zmiany warunków - np. temperatura otoczenia), cyfryzacja i analiza danych (wykorzystanie technologii cyfrowych zapewnia możliwość monitorowania procesów w toku i otoczenia oraz zarządzania w czasie rzeczywistym), szkolenia i rozwój pracowników (kluczowe znaczenie ma doskonalenie umiejętności pracowników dzięki szkoleniom, doskonaleniu procedur, co stanowi podstawę wzrostu wydajności i ograniczenia konieczności wykonania robót poprawkowych), zrównoważony rozwój (w przypadku budowy może to oznaczać wykorzystanie materiałów w obiegu zamkniętym lub biodegradowalnych - minimalizując wpływ na środowisko), minimalizacja marnotrawstwa (typowe dla lean działanie ma na celu ograniczenie strat wynikających np. z nieuzasadnionego magazynowania, transportu czy oczekiwania). Zaproponowana metoda 3F dzięki zapewnieniu wspomnianych strategii daje możliwość osiągnięcia większej zgodności planowania i realizacji procesów na budowie oraz stabilnej wydajności procesów pomimo konieczności działania w turbulentnie zmiennym otoczeniu. Zastosowanie opisanej metody 3F jest korzystne zarówno dla dostawcy deskowań (niezawodność w funkcjonowaniu magazynu deskowań), jak i wykonawcy na budowie (większa zgodność planowania i realizacji procesów na budowie).

EN

The article presents the concept of formwork selection to guarantee high efficiency of processes related to formwork assembly, reinforcement installation, concreting, maintenance and stripping (and possible dismantling of formwork). The proposed 3F (Flexible Formwork Flow) method uses the basic assumptions of Industry 5.0, Lean and Agile. This means adopting such basic strategies as: employee support by robots (industry 5.0 emphasizes cooperation between people and robots - on construction sites, this means the possibility of using an exoskeleton to support the employee), flexibility and adaptation (flexibility and quick adaptation to changing conditions - during the working day or during the curing and maturation of concrete are crucial to ensuring rhythmic production - e.g. modification of the concrete mix to ensure the possibility of formwork rotation despite changing conditions - e.g. ambient temperature), digitization and data analysis (the use of digital technologies ensures the possibility of monitoring processes in progress and the environment and management in real time), training and development of employees (improving employee skills through training and improving procedures is of key importance, which is the basis for increasing efficiency and reducing the need to perform rework), sustainable development (in the case of construction, this may mean the use of closed-Ioop or biodegradable materials - minimizing the impact on the environment), minimizing waste (an action typical of lean is aimed at limiting losses resulting from, for example, unjustified storage, transport or waiting). The proposed 3F method, thanks to the above-mentioned strategies, makes it possible to achieve greater compliance of planning and implementation of processes on the construction site and stable process performance despite the need to operate in a turbulent environment. The use of the described 3F method is beneficial for both the formwork supplier (reliability in the operation of the formwork warehouse) and the contractor on the construction site (greater consistency of planning and implementation of processes on the construction site).

11

Egzoszkielet na rękę - koncepcja i rozwój w ramach grantu "Rzeczy są dla ludzi"

Rojek Izabela, Kaczmarek Mariusz, Kotlarz Piotr, Kempiński Marcin, Mikołajewski Dariusz, Szczepański Zbigniew, Kopowski Jakub, Nowak Joanna, Macko Marek, Schmidt Tomasz, Leszczyński Paweł

Studia i Materiały Informatyki Stosowanej

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2022

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T. 14, nr 3

26--32

PL

Instytut Informatyki oraz Wydział Mechatroniki Uniwersytetu Kazimierza Wielkiego wraz z firmą Edurewolucje Sp. z o. o. z/s w Bydgoszczy w ramach konkursu Narodowego Centrum Badań i Rozwoju "Rzeczy są dla ludzi" otrzymali dofinansowanie na realizację przedsięwzięcia pn. „Opracowanie funkcjonalnego egzoszkieletu ręki do aktywnego treningu i rehabilitacji”. Celem projektu jest realizacja prac badawczo-rozwojowych prowadzących do opracowania innowacyjnej technologii pozwalającej na samodzielną rehabilitację osób ze szczególnymi potrzebami (przy udziale rehabilitantów i fizjoterapeutów). Projekt przewiduje skonstruowanie prototypu mechanicznego robota rehabilitacyjnego tzw. egzoszkieletu ręki, który wspomoże proces rehabilitacji osób z jej niedowładem oraz innymi szczególnymi potrzebami dotyczącymi braku mobilności w obszarze ręki. W ramach projektu powstanie specjalistyczne, dedykowane oprogramowanie, które będzie dostosowywało siłę i rodzaj pracy egzoszkieletu na rękę do aktualnych potrzeb i celów programu rehabilitacyjnego pacjenta. Celem niniejszej pracy jest przybliżenie powstania i rozwoju ww. koncepcji w ramach zespołu projektowego podczas dotychczasowych prac projektowych.

EN

The Institute of Computer Science and the Faculty of Mechatronics at Kazimierz Wielki University, together with Edurewolucje Sp. z o. o. z/s in Bydgoszcz, received funding under the 'Things are for people' competition of the National Centre for Research and Development for the project entitled 'Development of a functional arm exoskeleton for active training and rehabilitation'. The aim of the project is to carry out research and development work leading to the development of an innovative technology allowing for the independent rehabilitation of people with special needs (with the participation of rehabilitators and physiotherapists). The project envisages the construction of a prototype of a mechanical rehabilitation robot, the so-called hand exoskeleton, which will support the process of rehabilitation of people with paresis and other specific needs regarding lack of mobility in the hand area. The project will develop specialised, dedicated software that will adapt the strength and type of work of the hand exoskeleton to the current needs and goals of the patient's rehabilitation programme. The aim of this paper is to provide an insight into the origins and development of the above concept within the project team during the project work to date.

12

A concept of detecting patient hazards during exoskeleton-aided remote home motor rehabilitation

Wilk Julia, Falkowski Piotr

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2022

|

z. 197, t. 2

101-112

EN

The paper presents a concept of detecting dangerous situations for the patient during exoskeleton-aided home remote rehabilitation. For this purpure, a literature review was conducted to define potential traumas with corresponding causes, measuring approaches and the method of modelling based on these two to assess the risk during treatment. The original concept is based on a numerically modelled digital twin of a patient and an exoskeleton. It consists of a multibody model of a skeletal system and the mechatronic device combined with the soft tissue advanced models. Moreover, the implementation of neural networks and biosignals tracking is suggested in order to predict hazards instead of just monitoring them in real-time. The presented solution can be created within the OpenSim environment. The advantages and challenges of this approach are also discussed.

13

Performance analysis between a hybrid force/position and conventional controllers for a wrist exoskeleton

Avilés Valeria, Avilés Oscar F., Aponte Jorge, Caldas Oscar I., Mauledoux Mauricio F.

Archives of Control Sciences

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2022

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Vol. 32, No. 2

409--427

EN

This study analyses the performances of various path controlling strategies for a 3-degrees of freedom wrist exoskeleton, by comparing key indicators, such as rise time, steady-state error, and implementation difficulty. A model was built to describe both system’s kinematics and dynamics, as well as 3 different controllers (PID, PD+, and a hybrid force/position controller) that were designed to allow each joint to perform smooth motions within anatomic ranges. The corresponding simulation was run and assessed via Matlab (version 2020a). In addition to the performance comparison, remarkable characteristics could be identified among controllers. PD+ showed higher response speed than the other controllers (about 4 times), and PID was reinforced as the technique with the easiest implementation due to the smallest matrices. The study also allowed to greater potential of the hybrid controller to interact with its environment, i.e., the robotic device.

14

Light exoskeleton design with topology optimisation and FEM simulations for FFF technology

Falkowski Piotr

Journal of Automation Mobile Robotics and Intelligent Systems

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2021

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Vol. 15, No. 2

14--19

EN

Among past years interest in robot‐assisted rehabilitation arose significantly; thus, constructions such as exoskele‐ tons are involved in this process much more often. As pa‐ tient’s bio‐signals may be included in a control loop of these devices, they may be also used to support the mo‐ tion of extremities in an everyday life. Therefore, a field of control over them stays a popular research topic. For this reason, an exoskeleton described in a paper was de‐ signed. The most important aim of a project was to ena‐ ble all anatomical movements within ranges required for the lifting of an object while minimising a mass of the device. The following paper consist of a concept of an exoskeleton and description of FEM simulations and to‐ pology optimisation applied to decrease the amount of material needed. Moreover, as an exoskeleton was built with FFF 3‐D printing technology, created parts are mo‐ delled orthotopically based on nominal mechanical para‐ meters of filaments and directions of their beams. The de‐ sign is complemented with a short description of control with EMG signals and analysis of load on a user’s muscu‐ loskeletal system.

15

Kinematics and workspace analysis of a robotic device for performing rehabilitation therapy of upper limb in stroke-affected patients

Valayil Tony Punnoose, Augustine Rose Shaji

Acta of Bioengineering and Biomechanics

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2021

|

Vol. 23, no. 3

175--189

EN

Purpose: Exoskeleton robots generally have multi-functions and one such function is doing rehabilitation therapy in upper limb and lower limb in stroke-affected patients. A novel hybrid (serial-parallel) robot manipulator was proposed in this paper for rehabilitation of upper limb and its kinematics are studied systematically. This robot manipulator intends to perform wrist flexion, wrist extension, wrist radial deviation, wrist ulnar deviation, elbow flexion, elbow extension, elbow pronation and elbow supination motions. The contemporary mechanical designs especially the kinematic structure of upper limb exoskeleton robots have a unique feature that is, almost all of them use serial manipulators, and few others used parallel manipulators. The kinematic structure of the proposed robot is that of a hybrid manipulator (two parallel manipulators connected in series) which has 4-degrees-of-freedom. It is composed of an upper 3SPS-type parallel manipulator and 2SPR-type parallel manipulator connected in series. Methods: The Jacobian and Hessian Matrix method was used to derive the manipulator kinematic formula for solving the displacement, velocity and acceleration. Results: A 3D model of the robotic arm was constructed and analyzed by simulation. The positioning workspace of manipulator was constructed and analyzed. Conclusions: The 3SPS-type parallel manipulator has good kinematic characteristics while performing wrist motions. The 2SPR-type parallel manipulator produced singular configuration, while performing the desired rehabilitation elbow motions, it was found to not be suitable for usage in performing rehabilitation therapy in stroke-affected patients.

16

3D printing technology for the prototyping of prosthesis construction and exoskeletons

Rajczyk Paweł, Bednarczyk Karolina

Zeszyty Naukowe Politechniki Częstochowskiej. Budownictwo

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2020

|

Z. 26 (176)

162-167

EN

The article discusses the manufacturing a limb prosthesis and exoskeleton using 3D printing technology. Hand prostheses available on the market and the direction of development in the construction of exoskeletons have been characterized. An example of a prosthesis made using incremental technology by the FFF/FDM method using a Zortrax M200 printer is presented. The mechanism of prosthesis work and elements of exoskeleton construction as well as the general characteristics of materials used are described. Attention was paid to the low cost of printing the components of the prototype structures.

17

Crane control system using exoskeleton based on programmable logic technology

Ziętek Ryszard, Woźniak Marcin

Zeszyty Naukowe Akademii Morskiej w Szczecinie

|

2020

|

nr 63 (135)

77-83

EN

In this paper, a mini-crane control system using an exoskeleton based on programmable logic technology is presented. The first stage was to identify the parameters of the mini-crane and exoskeleton sub-assemblies. Then, individual crane and exoskeleton control subsystems were designed based on cascade regulation. The final stage was to connect these subsystems into the master-slave control system using the manipulator’s kinematics equations. Parallel processing was used to minimize delays in the control system. Analysis of the results showed that the difference between the set and measured crane position was small.

18

Bydgoski egzoszkielet na rękę - koncepcja i wyniki wstępne

Kopowski Jakub, Rojek Izabela, Mikołajewski Dariusz, Macko Marek

Studia i Materiały Informatyki Stosowanej

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2020

|

T. 12, nr 1

22--28

PL

Możliwość chwytu oraz manipulacje różnymi obiektami stanowią podstawowe umiejętności funkcjonalne umożliwiające dalsze przejście do korzystania z narzędzi, pisania i innych czynności codziennego życia. W niniejszym artykule skupiono się na koncepcji egzoszkieletu na rękę dorosłego człowieka oraz wstępnych wynikach w obszarze poprawy parametrów ręki dysfunkcyjnej w porównaniu z ręką zdrową. Pozwala to nie tylko na natychmiastową poprawę funkcji, ale również na kształtowanie jej w dłuższym okresie czasu podczas dalszych faz rehabilitacji.

EN

Possibility of grasping and manipulation of various object constitute basic finctional abilities allowing for further development toward use of tools, hand writing, and other acitivies od daily living. This paper focuses onthe concept of the hand exoskeleton for adult patients as far as preliminary findings in th area of improvement of the parameters fo hand with deficit comapred to parameters in healthy hand. It causes not only immediate functional recovery but also shapes this recovery during next phases of the rehabilitation.

19

A Comparison of Methods of Controlling the Movement of an Exoskeleton, Supporting Movements of the Upper Limb Using Signals of Muscle Activity and Manual Controls

Jankowski Jarosław, Łach Patrycja

Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa

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2020

|

Vol. 11, Nr 3 (41)

19--32

EN

The paper presents the research methodology and the analysis of the results of the comparison test of two methods of controlling the exoskeleton of the upper limb using signals of muscle activity and manual control devices. The results show the advantage of the joystick method over EMG in terms of usability, task execution time, ease of use and comfort.

PL

W pracy przedstawiono metodykę badawczą oraz analizę wyników testu porównania dwóch metod sterowania egzoszkieletem kończyny górnej wykorzystującą sygnały o aktywności mięśni i manualne urządzenia sterownicze. Wyniki pokazują przewagę metody wykorzystującej joystick nad EMG w aspekcie użyteczności, czasu wykonywania zadania, łatwości użytkowania oraz komfortu.

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Balance and stability issues in lower extremity exoskeletons: A systematic review

Hamza Mukhtar Fatihu, Ghazilla Raja Ariffin Raja, Muhammad Bashir Bala, Yap Hwa Jen

Biocybernetics and Biomedical Engineering

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2020

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Vol. 40, no. 4

1666--1679

EN

The lower extremity exoskeletons (LEE) are used as an assistive device for disabled people, rehabilitation for paraplegic, and power augmentation for military or industrial workers. In all the applications of LEE, the dynamic and static balance, prevention of falling, ensuring controller stability and smooth human-exoskeleton interaction are of critical importance for the safety of LEE users. Although numerous studies have been conducted on the balance and stability issues in LEEs, there is yet to be a systematic review that provides a holistic viewpoint and highlights the current research challenges. This paper reviews the advances in the inclusion of falling recognition, balance recovery and stability assurance strategies in the design and application of LEEs. The current status of research on LEEs is presented. It has been found that Zero Moment Point (ZMP), Centre of Mass (CoM) and Extrapolated Center of mass (XCoM) ideas are mostly used for balancing and prevention of falling. In addition, Lyapunov stability criteria are the dominant methods for controller stability confirmation and smooth human-exoskeleton interaction. The challenges and future trend of this domain of research are discussed. Researchers can use this review as a basis to further develop methods for ensuring the safety of LEE's users.