Forming of Operational Characteristics of an Orthotic Robot by Influencing Parameters of Its Drive Systems

Bagiński, Karol; Wierciak, J.

doi:10.1007/978-3-319-15847-1_1

Cited by 5 publications

(4 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…where t is the current time (s), and Tc is the gait cycle length (s). The robot is equipped with four identical drive systems to move the hip and knee joints of a disabled person [15]. The design of the drive system according to [16] is shown in Figure 5, and its functional block diagram is shown in Figure 6.…”

Section: Model Of the Robotmentioning

confidence: 99%

“…The screw gear nut moves linearly and displaces the which causes the driven joint to rotate. The total ratio of the gears used is equal ip = The robot is equipped with four identical drive systems to move the hip and knee joints of a disabled person [15]. The design of the drive system according to [16] is shown in Figure 5, and its functional block diagram is shown in Figure 6.…”

Section: Model Of the Robotmentioning

confidence: 99%

“…Energies 2022, 15,2674 where i g denotes the current gear ratio, i g1 denotes the first gear ratio, i g2 denotes the second gear ratio, t denotes time, and T c denotes the period of the gait cycle. In addition, it was assumed that the drive system allows only two values of gear ratios to be set, and their change takes place abruptly at certain moments of the gait cycle.…”

Section: Development Of Proposals For Changes In the Ratiomentioning

confidence: 99%

See 2 more Smart Citations

Method of Reduction in Energy Consumption by the Drive Systems of a Mobile Device with a Controlled Gear Ratio

et al. 2022

View full text Add to dashboard Cite

The degree of autonomy of a battery-powered mobile device depends, among others, on the efficient use of energy by the powered devices. Using an example of electric drive systems of an orthotic robot, the authors present a method of reducing the energy demand of these systems by using a gear with a controlled ratio. The gear ratios are selected on the basis of special graphs illustrating the instantaneous energy consumption during drive operations. The simulation studies proved a possibility of achieving energy savings during the implementation of the robotic functions of the robot as high as 50%. The article presents the course and results of the research as well as the concept of their use while designing electric drive systems for mobile devices.

show abstract

Section: Model Of the Robotmentioning

confidence: 99%

Section: Model Of the Robotmentioning

confidence: 99%

Section: Development Of Proposals For Changes In the Ratiomentioning

confidence: 99%

See 1 more Smart Citation

Method of Reduction in Energy Consumption by the Drive Systems of a Mobile Device with a Controlled Gear Ratio

et al. 2022

View full text Add to dashboard Cite

show abstract

“…At the Institute of Micromechanics and Photonics, Faculty of Mechatronics, Warsaw University of Technology, a 'Veni-Prometheus' System for Verticalization and Aiding Motion (Fig. 1) was built, which was designed to restore lost motor abilities for the handicapped as well as to aid rehabilitation of individuals, who were not fully able [4,5]. The device offers five functions: moving over a plane, sitting down and rising up as well as going up/down the stairs.…”

Section: Introductionmentioning

confidence: 99%

Universal compact lower limb turning module intended for use in orthotic robots

et al. 2018

View full text Add to dashboard Cite

In this paper, a model of an orthotic robot’s lower limb rotation system is presented. The system is intended for use in typical contemporary orthotic robots such as the ‘Veni-Prometheus’ System for Verticalization and Aiding Motion designed at the Faculty of Mechatronics, Warsaw University of Technology. In the paper, the state of the art is briefly stated, with the relatively low number of orthotic robots allowing realization of pivoting turns highlighted. The intended two-stage pivoting turning movement is analyzed in detail and the operating conditions as well as limitations of the turning module are indicated. The conception of a turning module introduces additional degree of freedom to the existing orthotic robot designs by realizing the rotation about the lengthwise axis in the thigh link. A three-dimensional model and its analysis are shown. The proposed design ensures the necessary movement of the lower limb and the torso of an impaired person during the execution of pivoting turn while remaining compact in order to ease the introduction of the turning system to different orthotic robot designs.

show abstract