Wyniki wyszukiwania - BazTech

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Modelowanie chodu robota ortotycznego przy różnych długościach kroku

Bagiński K., Cegielska A., Wierciak J.

Przegląd Elektrotechniczny

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2014

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R. 90, nr 5

82--85

PL

W artykule opisano problem doboru długości kroku i prędkości chodu robota ortotycznego ze względu na energetyczne zapotrzebowanie układów napędowych robota, który jest zasilany z przenośnego źródła energii elektrycznej. Przeprowadzono badania symulacyjne energii pobieranej przez układy napędowe biodra i kolana podczas jednego cyklu chodu oraz przy założeniu, że robot pokonuje stały dystans 100 m. Uzyskane wyniki stanowią podstawę do optymalizacji algorytmów sterowania robota.

EN

In the paper the effect of length of a step as well as gait velocity on energy demand of orthotic robot is discussed. The authors focused on studying the issue due to the fact that a portable energy supply was used. Simulation test of energy consumption of hip and knee actuators during one gait cycle and for an assumption that robot passes 100 meters were carried out .The results form the basis for the optimization of robot control algorithms.

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Gyroscopic Unit as a Safety Module of the System for Verticalization and Aiding the Motion for Individuals Suffering from Paralysis of the Lower Limbs

Jasińska-Choromańska D., Matyjewicz-Maciejewicz M.

Machine Dynamics Research

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2014

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Vol. 38, No. 1

21-28

EN

The subject of this work was to device and design a safety module compatible with the verticalization and motion aiding system. The main idea of the work was a general approach, with no redundant assumptions and limitations in order to achieve the most innovative solution possible. The first step was the implementation of risk management methods which, in consequence, gave a set of undesirable events with their numerical risk factors. After one of them was chosen as a basic function, methods of its realization were devised. Gyroscopic module has used to realization of the safety system. Two of them were chosen to be further tested on mathematical models. In the end a construction and its three-dimensional model were designed, simulations and calculations were made too.

3

Modelling and simulation of a system for verticalization and aiding the motion of individuals suffering from paresis of the lower limbs

Bagiński K., Jasińska-Choromańska D., Wierciak J.

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2013

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Vol. 61, nr 4

919--928

EN

There has been designed a device for verticalization and aiding the gait of individuals suffering from paresis of the lower limbs. It can be counted in the category of so-called “wearable robots”, whose task is to replace or aid human limbs. Dependently on the function realized, these robots are classified into one of the following three groups: a) exoskeletons - strengthening the force of human muscles beyond their natural abilities, b) orthotic robots - restoring lost or weakened functions of human limbs, c) prosthetic robots - replacing an amputated limb. A significant feature of the device that has been designed is the fact that it has not to replace human limbs, but only restore them to their lost motor capabilities. Thus, according to the presented classification, it is an orthotic robot. Unlike in the case of the existing systems for verticalization, the gait is to be realized in a way that is automatic to the highest possible extent, keeping the user involved as little as possible, and the device is to imitate the natural movements of man with the highest fidelity. Within the works on the system for verticalization and aiding the motion, a simulation model of the device was created. It includes a structure of the robot, a model of the actuators and a model of the human body that constitutes the load for the driving units. Then, simulation studies were carried out, including evaluation of the power demand of the device as well as the influence of the gait rate and of the length of the steps on the operation of the system.

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Mechatronic system for verticalization and aiding the motion of the disabled

Jasińska-Choromańska D., Szykiedans K., Wierciak J., Kołodziej D., Zaczyk M., Bagiński K., Bojarski M., Kabziński B.

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2013

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Vol. 61, nr 2

419--431

EN

Mechatronics is nowadays a dominating concept in design of various kinds of systems and technical devices. High speeds of data processing by control units of mechatronic systems, as well as high dynamics of their actuators allow the systems to be applied in wider fields. This refers to the medicine as well, especially while making attempts to replace lost human motor abilities by means of robots aiding the man. These devices can be divided into three groups: exoskeletons designed to strengthen the natural force of human muscles, orthotic robots that restore lost or weakened functions of human limbs, and prosthetic robots replacing an amputated limb. The first and the third group are known quite well, whereas the orthotic robots are at an initial phase of their development. The authors have worked on a device for aiding the motion of disabled people suffering from paresis of the lower limbs. The paper presents a concept and a structure of the system that has been created, comparing it with similar devices that have already existed. There are indicated some connections and areas where the subunits merge, as well as the rules of their working with the user.

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Selection of Drives for Orthotic Robot Based on Simulation Studies

Bagiński K., Wierciak J.

Machine Dynamics Research

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2012

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Vol. 36, No. 1

5-14

EN

Orthotic robots seem to be very sophisticated mechatronic devices as they are expected to reflect natural movements of human limbs. Drive systems in such robots are subjected to active, frictional and inertial loads varying significantly. This eliminates possibility of using traditional algorithms of designing drives. When selecting electric drives for robot designed for people with paraplegia a special method was developed and used. It employs computer simulation in two phases of design. First it is used to determine the actual demand for driving torque during the gait cycle. Then, each of the preselected motors is tested by means of simulation in order to verify, whether it meets the formulated functional and operational requirements. In the paper details of simulation software as well as exemplary results of tests are presented.

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Urządzenie do wspomagania chodu osób niepełnosprawnych, jako system mechatroniczny

Wierciak J., Jasińska-Choromańska D., Szykiedans K., Bagiński K.

Logistyka

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2010

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nr 4

CD-CD

PL

Współcześnie mechatronika jest dominującą koncepcją budowy różnego rodzaju systemów technicznych. Duże szybkości przetwarzania danych w jednostkach sterujących urządzeń mechatronicznych i wysoka dynamika ich układów wykonawczych umożliwiają poszerzanie obszarów ich zastosowań. Takie zjawisko ma miejsce także w medycynie, w szczególności przy próbach zastępowania utraconych funkcji ruchowych człowieka za pomocą robotów wspomagających. Autorzy pracują nad urządzeniem do wspomagania chodu osób z bezwładem nóg. W artykule przedstawiono strukturalną koncepcję opracowywanego systemu.

EN

Mechatronics is presently the dominating concept of designing machines and devices. High speeds of data acquisition and processing achieved in microprocessor controllers used in such systems make possible to employ mechatronic devices in quite new fields. This also refers to the medical domain. Wearable robots are one of the most spectacular examples. They are person-oriented robots that can be defined as those worn by human operators, whether to supplement the function of a limb or to replace it completely. The authors have recently started with a large project aimed at development of orthotic robot for people with paresis of lower limbs. In the paper there is a functional structure of such device proposed as well as review of similar systems being developed around the world.