JRM Vol.34 No.3 pp. 645-653
doi: 10.20965/jrm.2022.p0645


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

October 28, 2020
March 2, 2022
June 20, 2022
biomechanics, orthotic robot, exoskeleton, lower limb drive module
Method of Studying a Process of Turning in an Orthotic Robot

Motion correlation of 6dof exoskeletons

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.

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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Last updated on Dec. 01, 2022