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1

Analysis of a Structural Model of an Orthotic Robot Hip Subsystem

Osiński D., Zaczyk M., Jasińska-Choromańska D.

Machine Dynamics Research

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2016

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Vol. 40, No. 3

163--169

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.

2

Możliwości zastosowania sygnałów bioelektrycznych (EMG) w systemach sterowania

Kegler M., Jasińska-Choromańska D., Fiok K.

Inżynier i Fizyk Medyczny

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2016

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Vol. 5, nr 6

329--334

PL

W dobie rozwoju inżynierii biomedycznej, technologie mające dotychczas zastosowanie jedynie w diagnostyce klinicznej zyskują coraz większą popularność w dziedzinach niebezpośrednio związanych z medycyną. W artykule przedstawiono przykłady możliwego zastosowania sygnałów elektromiograficznych (EMG) w systemach sterowania.

EN

In times of rapid development of biomedical engineering, technologies previously used exclusively in clinical diagnostics are becoming increasingly popular and applicable in other fields, less related to medicine. The examples of successful applications of control systems based on electromyographic (EMG) biosignals, are introduced in the article.

3

Experimental studies of the quality of embossed characters of the Braille alphabet

Barczyk R., Jasińska-Choromańska D.

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2016

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Vol. 64, nr 3

607--614

EN

The paper presents studies pertaining to the quality of embossed characters of the Braille alphabet used, among other applications, for tagging drug labels. The following parameters of embossed inscriptions were measured: height, diameter of the dots and surface roughness (18 samples with various combinations of their values). 48 blind individuals assessed the quality of the printed text. Statistical analysis proved that a text with dots having height of 0.9 millimeter, diameter of 1.6 millimeters and roughness Ra of about 1 micrometer to be the best. The samples had been made using two different methods of rapid prototyping: PolyJet and SLS. 3D printing is increasingly popular and the studies proved the usefulness of these methods for labeling with embossed inscriptions, due to the repeatability, durability and quality they ensure. The assessing group of blind individuals was comprised of 24 persons 14–17 years old and other 24 persons aged over 60 who were not proficient in reading Braille alphabet, This allows to conclude that a text featuring the above values of the parameters will be easy to read for the majority of blind persons.

4

Modelowanie pasa biodrowego Systemu Pionizacji i Wspomagania Ruchu

Credo W., Jasińska-Choromańska D.

Pomiary Automatyka Kontrola

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2014

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R. 60, nr 4

212--215

PL

W artykule opisano problem projektowania pasa biodrowego stanowiącego element składowy robota ortotycznego. Pas ten pełni istotną funkcję w mechanicznej strukturze systemu. Dla mechanizmów robota jest on ostoją, czyli zespołem zapewniającym stałe, wzajemne położenie elementów łańcuchów kinematycznych obu kończyn. Z tego względu musi on spełniać wymagania dużej sztywności i określonej wytrzymałości. Pas biodrowy służy ponadto do połączenia systemu z tułowiem użytkownika. W tym przypadku ważne są zasady ergonomii takie jak możliwość łatwego ubierania systemu i wygoda jego użytkowania. Wiąże się to z potrzebą wprowadzenia niezbędnych podatności i nieciągłości mechanicznych, które utrudniają osiągnięcie wymaganych charakterystyk wytrzymało-ściowych. Pogodzenie tych sprzeczności jest rolą konstruktora. Przeprowadzone badania wytrzymałościowe, wykorzystujące metodę elementów skończonych pozwoliły na wybranie konstrukcji pasa biodrowego, który przy spełnieniu podstawowych wymagań, umożliwił ograniczenie masy elementu.

EN

The paper describes a problem related to design of a hip belt, which is a member of an orthotic robot. The belt plays an important role in the mechanical structure of the system. It is a bearing frame for mechanisms of the robot, i.e. it is a unit that ensures a constant mutual position of the members of kinematic chains of both limbs. Because of this fact, it must satisfy requirements pertaining to high rigidity and appropriate mechanical strength. Besides, the hip belt serves also a purpose of connecting the system with the user’s trunk. In this case, the principles related to ergonomics are of utmost importance: it must be easy for the user to put on the system and to use it in a comfortable way. This is connected with a necessity of introducing indispensable mechanical compliances and discontinuities, which makes it difficult to obtain the required strength characteristics. To reconcile these contradictions is a task of the design engineer, who is expected to strike a happy medium. Studies related to the strength, using the finite element method, that were carried out, allowed one to choose a design of the hip belt, which made it possible to reduce the mass of this element and to meet the basic requirements at the same time.

5

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.

6

Analytical Description of the Biomechanics of the Hip Joint in the Process of Standing on One Leg with Regard to Human Anthropometric Features

Zaczyk M., Jasińska-Choromańska D., Bagiński K.

Machine Dynamics Research

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2014

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Vol. 38, No. 4

79-87

EN

The paper describes the biomechanics of the hip joint in the process of loa ing one limb under static conditions. The paper refers to data related to anthropometric features of men and women qualified to the 50th percentile [Skubiszak L., 2009, Trzaskoma Z., 2003]. Kinematics of the hip joint is analyzed, and an attempt is made to determine an influence of variations of the body weight on the forces that occur in the hip joint of a chosen geometry. This information is very important while selecting implants for patients qualified for surgical intervention of implanting the hip joint.

7

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.

8

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.

9

Effect of user’s individual features on energy consumption of the orthotic robot

Bagiński K., Jasińska-Choromańska D.

Archives of Transport

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2013

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Vol. 27-28, iss. 3-4

5--13

EN

While working on a system for verticalization and aiding the motion of the disabled, the problem emerged related to evaluation of the effect of individual traits of the users of the system on the obtained characteristics of the actuators. Studies that have been carried out so far were limited strictly to a case of an ordinary male. The traits of the user will significantly influence operation of the robot, therefore it was decided to carry out studies within a wide range of variability of the basic anthropometric traits. The paper presents a way of determining parameters, which were being changed during the studies, as well as a general structure of the simulation model. Then, a method of computing the energy consumed by the actuators is described, and results of the realized simulation experiments are presented.

PL

Podczas pracy nad systemem pionizacji i wspomagania ruchu osób niepełnosprawnych, pojawił się problem związany z oceną wpływu poszczególnych cech użytkowników systemu na uzyskane charakterystyki siłowników. Badania, które zostały przeprowadzone do tej pory były ściśle ograniczone do przypadku zwykłego mężczyzny. Cechy użytkownika znacząco wpływają na działania robota, dlatego zdecydowano się przeprowadzić badania w szerokim przedziale zmienności podstawowych cech antropometrycznych. Przedstawiono sposób określania parametrów, które były zmieniane w trakcie badań, a także ogólną strukturę modelu symulacyjnego. Następnie opisano metodę obliczania energii zużywanej przez siłowniki i przedstawiono wyniki zrealizowanych eksperymentów symulacji.

10

Use of Active Dynamisation Mode in the External Bone Fixation System

Kołodziej D., Jasińska-Choromańska D.

Machine Dynamics Research

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2012

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Vol. 36, No. 2

57-63

EN

The paper considers problems related to healing of long bones with application of an apparatus for external fixation of the bone fragments and mechanical stimulation of the osteogenic processes taking place in the interstice within the region between the bone fragments, which exist due to the applied method of functional healing of bone fractures. The presented problem is related to a technological approach to the essential healing process and rehabilitation of the motor system of the patient with structural destabilization - fracture of the long bone of the lower limb, regarding the biological aspects of the phenomenon of osteogenesis as a source of inspiration, and not the main subject of the considerations.

11

Making Use of Anthropometric Data while Designing Drive Units of an Orthotic Robot

Jasińska-Choromańska D., Credo W., Szykiedans K.

Machine Dynamics Research

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2012

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Vol. 36, No. 1

90-98

EN

The paper describes a project whose aim was elaboration and building of original physical models of drives to be applied in a System for Verticalization and Aiding the Motion (SVAM). The system is intended for individuals suffering from paresis of the lower limbs, what refers to the latest trends in the field of bionics (Pons, 2008; Zielińska, 2003). According to the proposed solution a disabled person moves about owing to application of a mechanical system attached to his lower limbs. The system replaces functions of the limbs by a forced motion, reconstructing in a large measure the natural movement of the lower limbs (Bagiński et al., 2011; Jasińska-Choromańska et al., 2010; Wierciak et al., 2011). The paper discusses the problems related to selection of drive units of the system.

12

Comparative studies of various methods of mounting the implant mandrel within the bone

Zaczyk M., Jasińska-Choromańska D.

Journal of Automation Mobile Robotics and Intelligent Systems

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2012

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Vol. 6, No. 3

33-36

EN

The paper presents results of studies pertaining to evaluation of a quality (compressive strength of mounting the implant within the bone) of mounting the implant mandrel within the osseous tissue for various relevant techniques. The presented results are related to selected techniques of mounting the implant mandrel within a bone. The comparison has been carried out for cement-less mandrels with a smooth mandrel of the endoprosthesis, porous cementless endoprostheses as well as mandrels made of bioactive materials.

13

Problemy projektowania napędów do układu wspomagania ruchu osób niepełnosprawnych

Jasińska-Choromańska D., Credo W., Szykiedans K., Rzeszotek Ł., Semeniuk J., Zaczyk M.

Aktualne Problemy Biomechaniki

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2012

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z. 6

43--50

PL

Celem projektu było opracowanie i zbudowanie oryginalnych technicznych modeli napędów do zastosowania w Systemie Pionizacji i Wspomagania Ruchu (SPiWR).System ten przeznaczony jest dla osób z niedowładem kończyn dolnych, zgodnie z najnowszymi tendencjami występującymi w dziedzinie bioniki[8,9]. W proponowanym rozwiązaniu osoba niepełnosprawna porusza się dzięki zastosowaniu mechanicznego układu do którego mocowane są kończyny dolne, zastępującego ich funkcje poprzez wymuszony ruch odtwarzający w znacznym zakresie naturalny ruch kończyn dolnych [2,3,4]. W artykule przedstawiono problematykę doboru układów napędowych systemu.

14

Symulacyjny model układów wykonawczych robota ortotycznego

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

Pomiary Automatyka Kontrola

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2011

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R. 57, nr 6

583-586

PL

W Zakładzie Konstrukcji Urządzeń Precyzyjnych na Wydziale Mechatroniki Politechniki Warszawskiej trwają prace nad systemem do pionizacji i realizowania chodu osób z bezwładem kończyn dolnych. Projektowanie urządzenia jest wspomagane badaniami modelowymi. W artykule przedstawiono symulacyjny model elektromechanicznej części systemu opracowany w środowisku Matlab/SimMechanics. Model wykorzystano m.in. do wyznaczenia zapotrzebowania energetycznego układów wykonawczych i oceny błędów odwzorowania profili ruchu.

EN

In the Division of Design of Precision Devices at the Faculty of Mechatronics of Warsaw University of Technology works there are performed upon a system for verticalisation and substituting gait for people with paresis (Fig. 1). Works are supported with simulation software. Simulation model of the system actuators is described in the paper. The purpose of simulation was to estimate energy consumption of actuators and to assess quality of their movements. Main assumption for the model is that mechanisms activating user's legs are of a planar kind. Matlab-SimMechanics mathematical environment was used for modelling. Structure of the model is presented in Fig. 2. Parts of human body are sources of load for actuators as described by eq. (2) and (3). Their parameters are inserted into "body" blocs (Fig. 3), which represent stiff elements of mechanisms in the model. Mechanical contact between the device and a ground was modelled as reaction forces occurring in "foot" parts of the device when distance between them and the ground is less than the assumed value. The drives of actuators' employ DC motors equipped with reduction gearboxes (Fig. 4). Typical equations (4) - (9) were used for modelling DC motors and gears. Input signals are reference angular displacements of joints expressed in the form of functions approximating experimental data (Fig. 5). Simulation experiments revealed strong relation between length of gait cycle and energy consumption of actuators (Fig. 6). Reduction gear ratio also influences energy needs as well as quality of the device movements (Fig. 8). The model is being currently modified and enhanced in order to be used at the next stages of design process.

15

Projekt stanowiska badawczego do pomiarów pionowych i poziomych kątów widzenia monitorów LCD

Barczyk R., Jasińska-Choromańska D, Kabziński B., Stienss A.

Pomiary Automatyka Kontrola

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2011

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R. 57, nr 9

981-984

PL

W artykule przedstawiono projekt oraz realizację stanowiska pomiarowego służącego do pomiarów kątów patrzenia monitorów LCD. Przedstawione zostały założenia, które przyjęto na etapie projektu, zgodność z normami ISO oraz przykładowe wyniki pomiarów. Przedstawione wyniki pomiarów pokazują, że zmierzona wartość kąta patrzenia może się znacznie różnić od wartości podawanej przez producenta monitora.

EN

The paper deals with project and realization of a laboratory stand for measuring viewing angles of LCD displays. There is a need to build such stands in order to check whether the parameters of displays reflect the ones provided by their producers. The ISO norms guidelines as regards tests of displays (ISO 9241-303:2008 "Ergonomics of human-system interaction - Part 303: Requirements for electronic visual displays" and ISO 9241-305:2008 "Ergonomics of human-system interaction - Part 305: Optical laboratory test methods for electronic visual displays") were used to make sure that the results of such research were reliable. The stand together with additional accessories (spectrophotometer and measuring probes) as well as software allow measuring a wide range of parameters (colour gamut, response time, contrast coefficient and its irregularity, luminance of black colour and its irregularity, luminance of white colour and its irregularity, changes of luminance depending on the viewing angle). In this paper there is described the stand construction as well as the method for measuring the luminance change depending on the viewing angles, which is one of the most important parameters in the situation when there are several people looking at a certain screen. The presented measurement results also show differences between particular pieces of the same model of a display screen (investigations were performed on 5 pieces of the same model of a display). The presented results show that the measured value of the viewing angle may significantly differ from the value provided by producers of displays.

16

Pomiary równomierności oświetlenia matryc LCD

Barczyk R., Kabziński B., Jasińska-Choromańska D, Stienss A.

Pomiary Automatyka Kontrola

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2011

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R. 57, nr 11

1355-1358

PL

Artykuł porusza kwestie pomiaru równomierności oświetlenia oraz parametrów związanych z tym zjawiskiem: współczynnika kontrastowości, nierównomierności kontrastu, luminancji i jej nierównomierności. Przedstawia powody, dla których te parametry są istotne pod względem użytkowym, oraz opisuje metody, jakimi można badać wymienione powyżej parametry. Przedstawia wyniki badań wykonanych na próbie pięciu monitorów tego samego modelu.

EN

The illumination uniformity in LCD monitors is analyzed in the paper. The phenomenon is described and explained by taking into consideration the following parameters: contrast ratio, luminance, uniformity of display contrast, and luminance. No defined measurement method of these values exists (except partially different standards by ISO, VESA, ANSI). The method which unify and minimize measurements is described in the paper. The same measurement points are used to measure all parameters under consideration. Luminance measurements are made in a dark room, on center of a screen surface emitting white color. The same is also used in uniformity measurement (Eq. 1). It describes luminosity difference values in different places of monitor. Contrast ratio (Eq. 2) measurements were made using electronic set of photodiode and transimpedance amplifier in one structure (Fig. 2). Uniformity measurement of display contrast have been made in few points, defined by VESA organization (Figs. 3, 4, 5, 6). 5 monitors of the same model were tested (Tab. 1). Contrast ratio show significant difference for each monitor and between each other. Similar results are for luminance and luminance uniformity (Tab. 4) where difference in uniformity reached almost 40%. Type of monitor backlight is main cause of poor uniformity, but also quality of LCD matrices may have influence on overall comfort of using such moni-tors. The results show that luminance and contrast uniformity should be given in technical specification of products.

17

Pomiar wybranych parametrów biomechanicznych w trakcie realizacji

Zaczyk M., Jasińska-Choromańska D

Pomiary Automatyka Kontrola

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2011

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R. 57, nr 6

575-578

PL

Praca przedstawia jedną z metod badania osadzenia implantu w tkance kostnej. Opisano metodykę badań, dzięki której możliwa jest ocena jakości osadzenia implantu w tkance kostnej. W badaniach eksperymentalnych nowo poznawanych zjawisk kluczowe staje się odpowiednie dobranie aparatury pomiarowej. Poprawny dobór przyrządów pomiarowych pozwala na jednoznaczny opis badanego zjawiska lub obiektu.

EN

The paper presents one of the methods of testing an implant mounting within the osseous tissue. It describes a methodology of the studies, which makes it possible to evaluate quality of the implant mounting within the osseous tissue. In the case of experimental studies of new phenomena being just investigated, it is crucial to appropriately select the measurement equipment. A correct selection of the measuring instruments allows one to unequivocally describe the studied phenomenon or object. A specific character of biomechanical properties of bones makes it impossible to carry out experiments using universal measuring machines, what results in a necessity of building custom test stations as well as special measure-ment systems based on well-developed measurement applications. As far as the described method of testing is concerned, there can be distinguished the following three stages:- the first, including preparations of the objects for the studies,- the second, including carrying out of measurements using the objects that have been prepared beforehand,- the third, including analytical determination of numerical values of the studied parameters. At the first stage, a minimum of the sample should be prepared, using an osseous tissue taken from a closer shaft of a cow thigh bone. After a pretreatment of the bone, a fragment of the tested mandrel should be mounted within it. The test station for experimental studies of the mandrel mounting within the osseous tissue must ensure a possibility of a real-time recording of the related displacements and load forces. The experiment was repeated many times in order to minimize the scatter of the indications. Basing on the obtained results, mutual correlations of particular data were determined, e.g. displacements of the mandrel within the bone in relation to the applied load. The obtained results make it possible to specify what kind of dynamics of the load applying influences the osseous tissue reaction rate.

18

Ocena dokładności wyników eksperymentalnego badania połączenia implant-kość

Zaczyk M., Jasińska-Choromańska D., Kołodziej D.

Pomiary Automatyka Kontrola

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2011

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R. 57, nr 6

579-582

PL

Praca zawiera opis metodyki wyznaczenia niepewności dla pomiarów biomechanicznych realizowanych podczas badań eksperymentalnych osadzenia implantu w tkance kostnej. Przedstawiona procedura szacowania niepewności pozwoliła określić, które z etapów procesu pomiarowego eksperymentu miały znaczący wpływ na błędy wyników i z jaką ufnością można podchodzić do wartości liczbowych, opisujących badaną własność biomechaniczną.

EN

The paper presents a methodology of determining uncertainty in biomechanical measurements realized during experimental studies of an implant mounting within an osseous tissue. The presented procedure of evaluating the uncertainty allows one to determine which of the stages of the measurement process of the experiment had a significant influence on the errors of the obtained results, and how much is a confidence level corresponding to the numerical values describing a studied biomechanical property. Values of biomechanical properties are usually obtained in an experimental way. A unification of the analysis of the studies is a decisive factor with respect to the reliability and usability of the results, as well as a possibility of comparing these values for a given property obtained in other experiment. Analysis of the sources of the measurement uncertainties with respect to the realized process of recording the given numeric values of the properties searched for, provided it has been carried out reliably, allows one to create a mathematical equation of the related process. Analysis of evaluating uncertainty related to the presented experiment proved that both the measurement equipment and the methodology of experimental studies were selected correctly, and the most significant influence on the resultant errors had its source in biomechanical properties of the materials used for building the object of experiments. It was impossible to eliminate error sources related to the applied osseous material, since each bone used for building a sample originated from a different specimen, having at the same time its own individual characteristics.

19

Koncepcja systemu sterowania urządzenia do wspomagania chodu

Wierciak J., Jasińska-Choromańska D, Szykiedans K., Bartyś M.

Pomiary Automatyka Kontrola

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2011

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R. 57, nr 9

1016-1019

PL

Mechatronika, jako koncepcja budowy urządzeń jest obecna niemal we wszystkich działach techniki. Rozwój mikroprocesorowych układów przetwarzania danych, a także postęp w dziedzinie budowy układów wykonawczych i pomiarowych stwarzają możliwości realizowania przez urządzenia funkcji, które jeszcze do niedawna pozostawały jedynie w sferze marzeń. Postęp nie ominął również medycyny, a ściślej wyposażenia technicznego pracującego na rzecz osób chorych. Roboty ortotyczne, których szybki rozwój następuje w wielu ośrodkach naukowych na całym świecie, zastępują u ludzi utracone funkcje ruchowe. Autorzy pracują nad urządzeniem do pionizacji i wymuszania chodu osób z bezwładem nóg. W artykule przedstawiono koncepcję systemu sterowania opracowywanego urządzenia.

EN

Mechatronics seems to be nowadays the leading idea of design of machines and devices. Integration of mechanic devices with the powerful microelectronic technology forced synergy effects resulting in new applications also in medical domain. Here, wearable robots are most spectacular examples. They are person-oriented robots that may be defined as those worn by human operators, whether to support the function of a limb or to replace it completely. The authors focussed their attention on the development of an orthotic robot suited for people with paresis of lower limbs (Fig. 1). The role of the robot is to improve standard of life of handicapped people. However, for safety reasons, its usage needs additional assistance of third party persons. It leads to a conclusion, that control system of the device should be designed in such a way that movements of limbs are allowed only and only in cases when all safety conditions are fulfilled. Upon this statement, the device under design can be classified as a self optimising system. The general structure of such a system is shown in Fig. 2. This system consists of: knowledge base, multi- control subsystem, communication ports and inference machines. The block diagram of automatic control system is depicted in Fig. 3. The main purpose of knowledge base is to store and update reference data for decisions upon the device performance. This data contains records of values of selected signals, collecting information about the state of the device and a robot user, in order to detect non-safety behaviour. Tilt of the user's body and acceleration of its certain parts, as well as reaction forces between feet and crushes against ground can be considered as signals useful for decision making. A structure of the control system meeting the above considerations is presented in Fig. 4. A brief survey of data transmission protocols was carried out. A survey was focused on systems used for industrial applications taking into considerations its approved high immune against electromagnetic field transients and easiness of building redundant structures of communication networks and controllers. Finally, CAN standard was proposed as a communication protocol for the device broadly used in automotive industry (Fig. 5). In the conclusions future works are presented together with the risk analysis.

20

Wykorzystanie systemu pionizacji i wspomagania ruchu w pojeździe PRT

Jasińska-Choromańska D., Radziemski B., Szykiedans K., Getko K., Wierciak J.

Prace Naukowe Politechniki Warszawskiej. Transport

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2010

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z. 73

35-44

PL

Projekt ECO-Mobliność zakłada powstanie szeregu nowych rozwiązań technicznych ułatwiających przemieszczanie się zarówno w ramach transportu zbiorowego (PRT) jak i indywidualnego (eco-samochód, wózek inwalidzki z napędem, system pionizacji i wspomagania ruchu). Zakład Konstrukcji Urządzeń Precyzyjnych, jednostka Wydziału Mechatroniki Politechniki Warszawskiej, realizująca jeden z podtematów projektu podjął próbę określenia kompatybilności opracowywanego systemu pionizacji i wspomagania ruchu z pozostałymi elementami systemu ECO-Mobilność. W niniejszym artykule przedstawiono koncepcję współpracy systemu pionizacji i wspomagania ruchu z wybranym urządzeniem systemu ECO-Mobilność, z pojazdem PRT (Personal Rapid Transit) wraz z jego możliwym otoczeniem i wyposażeniem technicznym.

EN

ECO-Mobility research project is granted to design new types of transportation devices or system. There will be solutions dedicated for public transport such as Personal Rapid Transit (PRT) or for individual transportation: eco-car, articulated wheelchair or orthotic wearable robot for aided standing and walking. Division of Fine Devices Design of Faculty of Mechatronics which is developing wearable orthotic robot has made some effort to determine possible compatibility and cooperation of his design with other devices. Following paper present concept of cooperation between orthotic robot being used by a passenger of Personal Rapid Transit within its vehicle and possible surroundings.