Analysis of a Structural Model of an Orthotic Robot Hip Subsystem

• Autorzy: Osiński D. , Zaczyk M. , Jasińska-Choromańska D.
• Języki publikacji: EN

Abstrakty

EN

The paper describes a design solution for realizing turns of the lower limbs to be implemented in the "Veni-Prometheus" orthotic robot, developed at the Division of Design of Precision Devices, Faculty of Mechatronics, Warsaw University of Technology. The paper presents a conception of the device, connected with the hip belt and enabling flexion, extension and rotation of the hip joint. The realized simulation studies enabled evaluation of chosen parameters of the structural model of the proposed module with respect to possibilities of its implementation in the System for Verticalization and Aiding the Motion for the disabled and patients suffering from a declined use of the lower limbs.

Słowa kluczowe

EN

orthotic robot; hip articulation; turning system; structural model; analysis of kinematics

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Machine Dynamics Research
• Rocznik: 2016
• Tom: Vol. 40, No. 3
• Strony: 163--169
• Opis fizyczny: Bibliogr. 7 poz., il., rys., wykr.

Twórcy

autor

Osiński D.

• Warsaw University of Technology, Faculty of Mechatronics

autor

Zaczyk M.

• Warsaw University of Technology, Faculty of Mechatronics

autor

Jasińska-Choromańska D.

• Warsaw University of Technology, Faculty of Mechatronics

Bibliografia

• 1. Bober, T. and Zawadzki, J. (2006). Biomechanics of the human motor system (original title in Polish: Biomechanika układu ruchu człowieka). Wydawnictwo BK.
• 2. Choromański, W. (2015). Ecomobility. Innovative solutions for aiding and reinstaiting human mobility (original title in Polish: Ekomobilność. Innowacyjne rozwiązania poprawy i przywracania mobilności człowieka). Wydawnictwa Komunikacji i Łączności.
• 3. Jasińska-Choromańska, D., Szykiedans, K., Wierciak, J., Kołodziej, D., Zaczyk, M., Bagiński, K., Bojarski, M., and Kabziński, B. (2013). Mechatronic system for verticalization and aiding the motion of the disabled. Bulletin of the Polish Academy of Sciences: Technical Sciences, 61(2):419–431.
• 4. Osiński, D. and Jasińska-Choromańska, D. (2016). Survey of turning systems used in lower extremity exoskeletons. In Challenges in Automation, Robotics and Measurement Techniques, pages 447–457. Springer.
• 5. Osiński, D., Zaczyk, M., and Jasińska-Choromańska, D. (2016). Conception of turning module for orthotic robot. Advanced mechatronics solutions. Adv. Intell. Syst. Comput, 393:147–152.
• 6. Winter, D. A. (2009). Biomechanics and motor control of human movement. John Wiley & Sons.
• 7. Zatsiorsky, V. M. (1998). Kinetics of human motion. Human Kinetics.