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1

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.

2

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).

3

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.

4

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

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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.

5

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.

6

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.

7

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

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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.

8

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

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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.

9

Crane control system using exoskeleton based on programmable logic technology

Ziętek Ryszard, Woźniak Marcin

Zeszyty Naukowe Akademii Morskiej w Szczecinie

|

2020

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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.

10

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

|

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.

11

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

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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.

12

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.

13

Bilateral teleoperation system for a mini crane

Herbin Paweł, Woźniak Marcin

Zeszyty Naukowe Akademii Morskiej w Szczecinie

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2019

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nr 57 (129)

63--69

EN

In this paper, two automatic mini-crane control systems have been compared; utilizing feedback as well as both feedback and feedforward structures. The proposed control systems were implemented in a Master-Slave system to provide intuitive control for a mini-crane by human muscles. The control systems that have been designed were tested on constructions with similar structures i.e. an upper limb exoskeleton and a mini-crane with two joints, but using different actuation systems. The mini-crane had hydraulic actuators, whereas the exoskeleton was equipped with electrical actuators.

14

Projekt i badania symulacyjne egzoszkieletu kończyny górnej

Cekus Dawid, Kubik-Maciąg Ilona, Kwiatoń Paweł

Modelowanie Inżynierskie

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2019

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T. 39, nr 70

17--23

PL

Prezentowana praca dotyczy wstępnego projektu egzoszkieletu kończyny górnej w wybranym systemie CAD/CAE oraz opracowania modelu obliczeniowego analizowanego zagadnienia. Rozważany model egzoszkieletu kończyny górnej poddany został badaniom pozwalającym określić własności wytrzymałościowe (lokalizację maksymalnych naprężeń oraz odkształceń dla modelu znajdującego się w spoczynku), co z kolei umożliwiło przeprowadzenie modyfikacji konstrukcji w celu poprawy jego własności wytrzymałościowych oraz ograniczenia masy. W kolejnym etapie badań przeanalizowano model egzoszkieletu kończyny górnej w trakcie działania na niego wymuszeń zmiennych w czasie, odpowiadających ruchowi wspomagającemu przemieszczanie się kończyny górnej współdziałającej z egzoszkieletem.

EN

Presented paper concerns implementation in selected CAD/CAE environment the preliminary project of the upper-limb exoskeleton. Also the paper contains the development of a computational model for the considered problem. Designed model of upper-limb exoskeleton has been used to conduct the structural simulations (which allowed to determine the location of maximum stress and strain in stillness). The obtained results allowed to modification of the exoskeleton structure in order to improve the strength properties and weight reduction. The next part of the studies the analyze of the model of upper-limb exoskeleton during the exemplary duty cycle were conduct. The sample duty cycle corresponded to the movement supporting the upper-limb interacting with designed exoskeleton.

15

Bydgoski egzoszkielet na rękę – aspekty mechaniczne

Kopowski Jakub, Mikołajewski Dariusz, Macko Marek, Rojek Izabela

Mechanik

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2019

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R. 92, nr 4

271--274

PL

Przedstawiono własną konstrukcję egzoszkieletu na rękę. Omówiono ją z mechanicznego punktu widzenia: wychodząc od ograniczeń narzucanych przez biomechanikę zdrowego człowieka poprzez możliwe deficyty funkcjonalne i ich kompensację z użyciem mechaniki egzoszkieletu aż po ograniczenia materiałowe i technologiczne. Opisano wykorzystanie inżynierii odwrotnej w celu zachowania indywidualizacji własności mechanicznych przy silnym zindywidualizowaniu mechaniki ręki, zwłaszcza patologicznej.

EN

The own study on hand exoskeleton is presented. It is described from mechanical point of view: starting from constraints caused by healthy human biomechanics, through possible functional deficits and their compensation by exoskeleton’s biomechanics, up to material and technological limitations. There is described an application of the reverse engineering aiming at personalization of the mechanical features taking into consideration huge individualization of the hand mechanics, including pathological changes.

16

Budowa egzoszkieletu kończyny górnej sterowanego za pomocą dwuosiowego sensora o dużej sztywności

Jankowski Jarosław

Mechanik

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2019

|

R. 92, nr 8-9

565--567

PL

Opisano budowę funkcjonalnego modelu egzoszkieletu prawej kończyny górnej. Zaprezentowano kluczowe podzespoły, takie jak napędy, zasilanie czy stelaż. Opisano kinematykę mechanizmu. Opracowywany egzoszkielet jest sterowany za pomocą joysticka o dużej sztywności, wykonanego z zespołu tensometrów, i umożliwia intuicyjne prowadzenie efektora przez użytkownika.

EN

The work describes the construction of a functional exoskeleton model of the right upper limb. Information on the key components used, i.e. drives, power supply and rack, is included. The kinematics of the mechanism are described. The developed exoskeleton is controlled by a special joystick with high rigidity made of two strain gauge sensors and allows the user to intuitively guide the effector.

17

Strength analysis of polymer conical gear wheel made with 3D printing technique

Śpiewak Szczepan, Awrejcewicz Jan

Journal of KONES

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2019

|

Vol. 26, No. 3

235--242

EN

The article deals with the problem of designing conical gears with a curved line contour. The contour of the tooth flank is described by means of a helix and involutions. In the work, a conical gear designed to drive of the lower limb rehabilitation exoskeleton has analysed. Parameters of the conical gearbox have been adapted to design requirements of the exoskeleton. Gear wheels were made with ABS material using 3D printing technique. The article presents the results of strength calculations obtained using the method classical design of the gear wheals described in the norm ISO 6336-1996. In the strength calculations, bending and contact stresses were taken into account. Creating the contour of gears was aided through the gearbox wizard available in Inventor program. The work contains the results of a static tensile test of the material from which the gear wheels were made. In experimental and numerical studies, the orthotropy of the material used was taken into account. The orthogonal values of the Young’s modulus, the Poisson’s ratio and the Kirchhoff’s modulus were determined. The publication also includes partial results of fatigue tests in the area of normal stresses. In the research used to finite element method (FEM), determine of internal loads in the gear. A structure of the FEM model is described in detail. Maximum values of contact pressures determined by use to FEM models have been compared with the results obtained on the basis of Hertz’s formulas. The article presents basic geometrical and strength parameters of the designed gear. The work demonstrates the validity of the material models used. Limitations in the application of the classic method of calculating conical gears made of orthotropic materials have been indicated. The results of analytical and numerical calculations are presented in tabular and graphical form.

18

Bydgostian hand exoskeleton - own concept and the biomedical factors

Kopowski Jakub, Mikołajewski Dariusz, Macko Marek, Rojek Izabela

Bio-Algorithms and Med-Systems

|

2019

|

Vol. 15, no. 1

art. no. 20190003

EN

An exoskeleton is defined as a distinctive kind of robot to be worn as an overall or frame, effectively supporting, or in some cases substituting for, the user’s own movements. In this paper a new three-dimensional (3D) printed bydgostian hand exoskeleton is introduced and biomedically characterized. The proposed concept is promising, and the described approach combining biomechanical factors and 3D modeling driven by detailed hand exoskeleton patterns may constitute a key future method of ergonomic hand exoskeleton design and validation prior to manufacturing. Despite the aforementioned approach, we should be aware that hand exoskeleton constitutes hand support and rehabilitation robot system developing with the user; thus, certain coordination and continuity of the “hardware” part of the whole system and the training paradigm are essential for therapy efficacy.

19

Gait pattern generator for control of a lower limb exoskeleton

Grzelczyk D., Szymanowska O., Awrejcewicz J.

Vibrations in Physical Systems

|

2018

|

Vol. 29

art. no. 2018007

EN

The aim of the study was to propose a relatively simple central pattern generator (CPG) model, which can be used to control a lower limb exoskeleton. The mentioned generator and the simulation model of the human gait were developed based on experimental observations of the healthy volunteer's gait recorded using a motion tracking system. In order to reproduce the correct movements of the exoskeleton segments, time series of angles in the joints corresponding to the hip and knee joints were calculated based on tracing the trajectories generated by the CPG and the inverse kinematic relations. The proposed model can be implemented to control the lower limb (extremity) exoskeleton and assist various types of gait abnormality in patients with different motor dysfunction by means of changing the parameters of the control system. The presented experimental data, the developed gait simulation model, and the results of numerical simulations can be treated as guidelines for further improvement of the proposed model and its application in the exoskeleton control system. Although the study is mainly focused on rehabilitation applications, the proposed model is general and can be used also for other purposes such as control of bipedal and multi-legged robots.

20

Interfejs mózg-komputer jako moduł mechatroniczny

Tomaszewska Ewa, Karczmarek Mariusz, Mikołajewski Dariusz

Studia i Materiały Informatyki Stosowanej

|

2018

|

nr 2

10--16

PL

Komunikacja z otoczeniem to jedna z podstawowych potrzeb człowieka, z zaspokojeniem której mają problem osoby niepełnosprawne i w podeszłym wieku, napotykając na bariery utrudniające im poruszanie się i przekaz werbalny. Interfejs mózg-komputer to urządzenie, które wykorzystuje oczyszczony i przetworzony sygnał bioelektryczny człowieka do komunikacji z urządzeniem bezprzewodowym. Pomaga zdiagnozować nieprawidłową pracę mózgu. Poprzez gry komputerowe rozwija refleks i uczy koncentracji. Zastosowany jako moduł mechatroniczny umożliwia sterowanie urządzeniami i systemami mechatronicznymi.

EN

Communication to envirnment constitutes one of the basis poaple's need. Meet of this need creates significant problem both for disabled people and elderly people due to mobility limitations and verbal communication limitations. Brain-computer interfaces (BCI) conctitutes device which uses filtered and processed human's bioelectrical signal to communicate to wireless device. It helps diagnise improper work of the brain. It also develops reflex and concentration thanks to BCI0controlled computer games. BCI-based mechatronic module allows to contorl mechatronic devices and systems.