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

M. Janowski , Danuta Jasińska-Choromańska , Dymitr Paweł Osiński , Marcin Zaczyk


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.
Author M. Janowski
M. Janowski,,
, Danuta Jasińska-Choromańska (FM / IMPh)
Danuta Jasińska-Choromańska,,
- The Institute of Micromechanics and Photonics
, Dymitr Paweł Osiński (FM / IMPh)
Dymitr Paweł Osiński,,
- The Institute of Micromechanics and Photonics
, Marcin Zaczyk (FM / IMPh)
Marcin Zaczyk,,
- The Institute of Micromechanics and Photonics
Publication size in sheets150.55
Book Vasco M. (eds.): Proceedings of the Conference MMS 2017, 2018, [2261-236x], DOI:10.1051/matecconf/201815701018
Keywords in Englishlower limb turning module / orthotic robot / exoskeleton / change of the gait direction / spinal cord injury / rehabilitation
Languageen angielski
Score (nominal)15
ScoreMinisterial score = 15.0, 11-03-2019, BookChapterMatConf
Ministerial score (2013-2016) = 15.0, 11-03-2019, BookChapterMatConf
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