Papers by Author: Tadeusz Mikolajczyk

Abstract: Given the large variability of pathological gait and the high specificity of gait phenotypes, it is very difficult to design a gait rehabilitation system able to adapt to the functional requirements of every person with ambulation disabilities, in every stage of the complex process of gait rehabilitation. Another approach is that of ambiental gait rehabilitation, with focus on adaptability, not on adaptation, on synthetical training, not on analytical training, on integrative training, not on step by step training. Our focus is not on controlling the movement itself, but on controlling the environment that shapes human functionality and assuring the appropriate level of support, resistance and persuasion, with consequent stimulation of the explorative behavior and the active involvement of the person in gait training. A mechatronic system designed for such a therapeutical approach has specific functional requirements.

Abstract: Vision is one of the most important senses. As a result of different medical conditions and of changes occurring with age, vision may be disturbed or even disappear completely. In many situations ophthalmologists prescribe glasses. However, there are other methods that can provide not compensation of the visual deficits, but visual rehabilitation, providing maintenance and improvement of the quality of eyesight. These include among others, the Bates method. This method is based on the assumption that vision exercises can keep the eye muscles in good shape and maintain appropriate nutritive and oxygen supply to the eye, making possible vision without eye glasses. The paper presents an application that supports the implementation of the sight exercises by Bates concept and the results of a preliminary study applying this method.

Abstract: The paper presents a system of numerical control conventional milling machine, however with drives equipped with electromagnetic clutches. In control system was used relay controlled using PC. There are connected to buttons to manually panel milling machine with an electromagnetic system feeds. Developed using VB6 special software to control the machine with G-code.

Abstract: The effectiveness of rehabilitation is closely linked with suitably chosen therapy. The treatment can be performed only by specialized personnel or through the use of automated devices. One of the potential solution of this problem is exoskeleton. It is the kind of suit that allows the user assumed to support or even replace the human motor. The paper presents a proposal of the exoskeleton with 1 degree of freedom providing upper extremity rehabilitation in the elbow with the master-slave program. Control is via stepper motor which ensures high accuracy in the implementation of programmed movements.

Abstract: The most important in the study of the robots is the kinematic and dynamic analyze. Many researchers studied the kinematics or dynamics without simulation and assisted analyze that it is very heavy to understand the behavior and to show some characteristics. The paper shows one assisted method by using the virtual proper LabVIEW instrumentation (VI). For the forward kinematics (FK) and for direct dynamics (DD) was used one recurrent matrix method which was developed with quaternion algebra, that will be possible to use in many different other types of robots, only by initial settings of the type of joints, the movement axis, the home position, the dimension of each robot’s body, the application point in the working space of the manufacturing cells and the internal coordinates in each joint. For the inverse kinematics (IK) we used the Iterative Pseudo Inverse Jacobian Matrix Method (IPIJMM) coupled with the proper Sigmoid Bipolar Hyperbolic Tangent Neural Network with Time Delay and Recurrent Links (SBHTNN-TDRL). The paper describe all steps in one case study to obtain the space curve in different Euller planes by using one arm type robot and the proposed VI-s. The presented method and the LabVIEW VI-s are generally and they can be used in all other robots types and for all other conventional and unconventional space curves.

Abstract: Nowadays increase using of tools with geometric and kinematical flexibility (GKF). In paper present idea of this tool with drive as mechatronics tool. Was shown an examples of some market mechatronics tools. Was presented too own solutions of mechatronic tools with one degree of freedom (DOF) for turning. This tools are controlled using stepper motor by use of PC. To control of the tool was used PC with the motor control interface connected to the LPT port. The first tool with rotary axis perpendicular to lathe axis was used to control rake angle or angle of edge. Second presented tool is equipped in linear axis perpendicular to lathe axis. Tool placed in the guides was driving using the stepper motor and a screw cooperating with the nut joined with the tool. This tool mounted to the holder tool allows machining shape surface using the universal lathe.

Abstract: A special control system of IRb 60 industrial robots by using PC computer was shown in this work. Robots steering system equipped with the controller connected to computer’s LPT port was made and tested. This interface was connected to a manual control panel of the robot. The system was controlled by special VB 6.0 software. It is possible manual or automated control of robot move. Using this system was made other applications for many tasks of using an industrial robot equipped with tool and sensors in research and manufacturing.

Abstract: The paper presents compare methods of approximation results of studies using regression analysis and neural networks. As a research facility used theoretical values of surface roughness based on theoretical values of surface roughness calculated as kinematics-geometric projection of the cutting edge on finish surface. Pointed to the limitations of the presented methods of research results approximation.

Abstract: This paper presents an overview of the state of art of mobile robots presenting aspects of their current level of sophistication, fields mobile robots are being presently used, the future application and scope of mobile robots. Classifying the primary research topics of multi-robot systems into seven major categories (Biological inspirations, architecture, localization/mapping/exploration, object transport and manipulation, motion co-ordination, reconfigurable and learning robot systems, vision), we discuss the current state of research in these areas. An attempt to cover the points for which a general agreement has emerged within the scientific domain, are then presented, followed by a discussion of alternative approaches and currently unsolved problems. This paper also reviews the most relevant literature and previous research activity regarding mobile robotics. We conclude by identifying more topics of scientific consensus, open research issues and a discussion of some application areas where mobile robots could be used with existing technology.

Abstract: The work described involves the implementation of a testing bench prototype, used to control the behavior of heart valves, taking into account the characteristics of the blood.