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1

Przegląd narzędzi stosowanych w pomiarach siłowników miękkich

Koter Katarzyna, Dominik Ilona, Zubrzycki Igor

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2022

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z. 197, t. 2

123-134

PL

Praca przedstawia przegląd literatury dotyczącej stanowisk pomiarowych siłowników robotów miękkich, w celu określenia jakie parametry oraz metody pomiarowe pozwolą na odpowiednie zweryfikowanie ich cech. W przeglądzie skupiliśmy się głownie na siłownikach napędzanych pneumatycznie. W pracy przedstawiono stosowane najczęściej układy zasilania oraz elementy funkcjonalne stanowisk służące do pomiaru ciśnienia, siły, kąta i przemieszczenia. Opisano także programy i systemy sterowania wykorzystywane w stanowiskach pomiarowych. Na podstawie wykonanego przeglądu określiliśmy jakie elementy pneumatycznych stanowisk pomiarowych najczęściej występują w literaturze oraz jakie elementy składowe są niezbędne do zebrania danych potrzebnych do określenia charakterystyki badanych siłowników.

EN

The paper presents a literature review of the soft pneumatic robot actuators measurement stations. The paper presents the most frequently used power supply systems and functional elements of the stands for measuring pressure, force, angle and displacement, the programs and control systems used in measuring stations are also described. On the basis of the performed review, we determined which components are necessary to collect the data needed to determine the characteristics of the tested actuators.

2

Analysis of needs and requirements of kinesiotherapists in Poland for robot design purposes

Falkowski Piotr, Osiak Tomasz, Pastor Anna

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2022

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z. 197, t. 2

113-122

EN

The presented paper addresses the problem of defining the design intent for rehabilitation robots. The presented investigation consists of in-depth interviews with professional physiotherapists and questionnaire research involving a survey based on their responses. Twenty-four questions were blocked within four sections – personal questions, therapy process, difficulties during sessions, and future of the rehabilitation. The answers were gathered online from a group of 138 active Polish physiotherapists. They were interpreted to identify actual needs and requirements regarding conventional therapy to be provided with the robotic aid. Analysis of results proves that future motor rehabilitation is expected to focus on task-oriented treatment and accurate assessment of progress. Moreover, this supports that implementing robots and teleinformatics technologies into kinesiotherapy may solve problems such as losing patients’ motivation, the physical tiredness of therapists, or spending time commuting for home rehabilitation. The results can be interpreted for the Polish market and those with a similar economy and cultural code.

3

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.

4

Bezpieczeństwo pracy z robotami rehabilitacyjnymi

Mikołajewska E., Mikołajewski D.

Bezpieczeństwo Pracy : nauka i praktyka

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2012

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nr 2

9-11

PL

Robotyka rehabilitacyjna jest postrzegana jako użycie robotów w rehabilitacji różnych schorzeń, szczególnie związanych z motoryką człowieka, kardiologicznych i neurologicznych. Może być postrzegana jako dobre rozwiązanie, aby poprawić efektywność, zaoszczędzić czas oraz zmniejszyć koszty opieki zdrowotnej osób niepełnosprawnych, ciężko chorych i w podeszłym wieku. Artykuł jest próba oceny, w jakim stopniu wykorzystuje się możliwości w tym obszarze, kładąc nacisk na bezpieczeństwo robotów rehabilitacyjnych oraz analizę zagrożeń. Ze względu na brak badań i publikacji konieczne są dalsze badania w omawianym zakresie.

EN

Rehabilitation robotics is perceived as the use of robotic devices in rehabilitating various conditions, especially motor, cardiological and neurological ones. It can be perceived as a good solution in improving efficiency, saving time and reducing the cost of healthcare of patients with disabilities, those severely ill and elderly ones. This article aims at investigating the extent to which the available opportunities are used, with a particular focus on how safe of rehabilitation robots are and what threat they pose. As there are no relevant studies or publications, further research is necessary.

5

Robotic rehabilitation of stroke patients using an expert system

Natarajan P., Agah A., Liu W.

Journal of Automation Mobile Robotics and Intelligent Systems

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2011

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Vol. 5, No. 1

47-57

EN

Approximately 50 to 60 percent of the more than five million stroke survivors are moderately or minimally impaired, and may greatly benefit from rehabilitation. There is a strong need for cost-effective, long-term rehabilitation solutions, which require the therapists to provide repetitive movements to the affected limb. This is a suitable task for specialized robotic devices; however, with the few commercially available robots, the therapists are required to spend a considerable amount of time programming the robot, monitoring the patients, analyzing the data from the robot, and assessing the progress of the patients. This paper focuses on the design, development, and clinically testing an expert systembased post-stroke robotic rehabilitation system for hemiparetic arm. The results suggest that it is not necessary for a therapist to continuously monitor a stroke patient during robotic training. Given the proper intelligent tools for a rehabilitation robot, cost-effective long-term therapy can be delivered with minimal supervision.