Method of Studying a Process of Turning in an Orthotic Robot

Mateusz Janowski; Danuta Jasińska-Choromańska; Marcin Zaczyk

doi:10.20965/jrm.2022.p0645

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JRM Vol.34 No.3 pp. 645-653

doi: 10.20965/jrm.2022.p0645

(2022)

Paper:

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Method of Studying a Process of Turning in an Orthotic Robot

Mateusz Janowski, Danuta Jasińska-Choromańska, and Marcin Zaczyk

Institute of Micromechanics and Photonics, Faculty of Mechatronics, Warsaw University of Technology
Św. Andrzeja, Boboli 8, Warsaw 02-525, Poland

Received:

October 28, 2020

Accepted:

March 2, 2022

Published:

June 20, 2022

Keywords:

biomechanics, orthotic robot, exoskeleton, lower limb drive module

Abstract

This paper analyzes an orthotic robot’s capability of changing the direction of motion as part of its gait process while it is being worn by a user. Exoskeletons and orthotic robots are presented, focusing on their capabilities regarding the implementing a turn of their lower limbs. The devices are analyzed, and a method is proposed, being safe for the user, which ensures the required change of the angular position of the user’s trunk, having performed a turn of the device. The smallest movement of each lower limb, which is necessary to enable a turn of the trunk in such a way that the turn can be performed by both lower limbs, is determined.

Motion correlation of 6dof exoskeletons

Cite this article as:

M. Janowski, D. Jasińska-Choromańska, and M. Zaczyk, “Method of Studying a Process of Turning in an Orthotic Robot,” J. Robot. Mechatron., Vol.34 No.3, pp. 645-653, 2022.

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References

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[13] M. Janowski, D. Jasińska-Choromańska, D. Osiński, and M. Zaczyk, “Universal compact lower limb turning module intended for use in orthotic robots,” Proc. of the Conf. MMS 2017, pp. 1-10, 2018.
[14] D. Osiński, M. Zaczyk, and D. Jasińska-Choromańska, “Conception of Turning Module for Orthotic Robot,” Advanced Mechatronics Solutions, Advances in Intelligent Systems and Computing, pp. 147-152, 2016.
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[18] P. Sale, M. Franceschini, A. Waldner, and S. Hesse, “Use of the robot assisted gait therapy in rehabilitation of patients with stroke and spinal cord injury,” Eur. J. Phys. Rehabil. Med., No.48, pp. 111-121, 2012.
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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] C. R. Sarah, M. J. Nandor, and L. Lu, “A muscle-driven approach to restore stepping with an exoskeleton for individuals with paraplegia,” J. of NeuroEngineering and Rehabilitation, Vol.14, 2017.

[2] [2] W. Choromański, “Ekomobilność,” Wydawnictwo Komunikacji i Łaczności Warszawa, pp. 178-185, 2015.

[3] [3] K. Bagiński, D. Jasińska-Choromańska, and J. Wierciak, “Modelling and simulation of a system for verticalization and aiding the motion of individuals suffering from paresis of the lower limbs,” Bulletin of the Polish Academy of Sciences, Vol.61, No.4 pp. 919-927, 2013.

[4] [4] R. Bogue, “Exoskeletons and robotic prosthetics: a review of recent developments,” Industrial Robot: An Int. J., Vol.36, Issue 5, pp. 421-427, 2009.

[5] [5] G. Chen, C. K. Chan, Z. Guo, and H. Yu, “A review of lower extremity assistive robotic exoskeletons in rehabilitation therapy,” Crit. Rev. Biomed. Eng., No.41, pp. 343-363, 2013.

[6] [6] D. Jasińska-Choromańska, K. Szykiedans, J. Wierciak, D. Kołodziej, M. Zaczyk, K. Bagiński, M. Bojarski, and B. Kabziński, “Mechatronic system for verticalization and aiding the motion of the disabled,” Bulletin of the Polish Academy of Sciences, Vol.61, No.2, pp. 419-431, 2013.

[7] [7] M. J. Hall, M. P. H. S. Levant, and C. J. DeFrances, “Centers for Disease Control and Prevention,” Hospitalization for Stroke in U.S. Hospitals, pp. 1989-2009, 2012.

[8] [8] N. D’Elia, F. Venetti, and M. Cempini, “Physical human-robot interaction of an active pelvis orthosis: toward ergonomic assessment of wearable robots,” J. of Neuroengineering and Rehabilitation, Vol.14, 2017.

[9] [9] Y. Tingfang, M. Cempini, C. M. Oddo, and N. Vitiello, “Review of assistive strategies in power elbow-limb orthoses and exoskeletons,” Robotics and Autonomous Systems, Vol.64, pp. 120-136, 2015.

[10] [10] Y. Matsumoto, M. Seki, T. Ando, Y. Kobayashi, Y. Nakashima, H. Iijima, M. Nagaoka, and M. G. Fujie, “Development of an Exoskeleton to Support Eating Movements in Patients with Essential Tremor,” J. Robot. Mechatron., Vol.25, No.6, pp. 949-958, 2013.

[11] [11] M. Zaczyk, D. Ośiński, and D. Jasińska-Choromańska, “Hip Articulation in Orthotic Robot,” Recent Global Research and Education: Technological Challenges, Advances in Intelligent Systems and Computing, Vol.519, pp. 419-423, 2017.

[12] [12] T. Kosaki and S. Li, “A Water-Hydraulic Upper-Limb Assistive Exoskeleton System with Displacement Estimation,” J. Robot. Mechatron., Vol.32, No.1, pp. 149-156, 2020.

[13] [13] M. Janowski, D. Jasińska-Choromańska, D. Osiński, and M. Zaczyk, “Universal compact lower limb turning module intended for use in orthotic robots,” Proc. of the Conf. MMS 2017, pp. 1-10, 2018.

[14] [14] D. Osiński, M. Zaczyk, and D. Jasińska-Choromańska, “Conception of Turning Module for Orthotic Robot,” Advanced Mechatronics Solutions, Advances in Intelligent Systems and Computing, pp. 147-152, 2016.

[15] [15] D. Osiński and D. Jasińska-Choromańska, “Kinematic structure of turning modules in orthotic robots,” Procedia Enginiering, Vol.177, Proc. XXI Polish-Slovak Scientific Conf., pp. 450-454, 2017.

[16] [16] D. Osiński and D. Jasińska-Choromańska, “Parametric Model of Human Body for Orthotic Robot Simulation Study,” Advances in Intelligent Systems and Computing, Vol.644, pp. 380-386, 2018.

[17] [17] T. Ando, M. Watanabe, K. Nishimoto, Y. Matsumoto, M. Seki, and M. G. Fujie, “Myoelectric-Controlled Exoskeletal Elbow Robot to Suppress Essential Tremor: Extraction of Elbow Flexion Movement Using STFTs and TDNN,” J. Robot. Mechatron., Vol.24, No.1, pp. 141-149, 2012.

[18] [18] P. Sale, M. Franceschini, A. Waldner, and S. Hesse, “Use of the robot assisted gait therapy in rehabilitation of patients with stroke and spinal cord injury,” Eur. J. Phys. Rehabil. Med., No.48, pp. 111-121, 2012.

[19] [19] Y. Muramatsu, H. Kobayashi, Y. Sato, H. Jiaou, T. Hashimoto, and H. Kobayashi, “Quantitative Performance Analysis of Exoskeleton Augmenting Devices – Muscle Suit – for Manual Worker,” Int. J. Automation Technol., Vol.5, No.4, pp. 599-567, 2011.

[20] [20] K. A. Strausser and H. Kazerooni, “The Development and Testing of a Human Machine Interface for a Mobile Medical Exoskeleton,” Int. Conf. on Intelligent Robots and Systems, pp. 4911-4916, 2011.