The research is related to modeling of human motion dynamics in bipedal walking. The model of bipedal walking mimics the kinetic and kinematic parameters of human in groundlevel walking. Special attention was devoted to modeling of a toewalking and determination of parameters for mimicking the real situation.
COBISS.SI-ID: 1633385
Cognitively challenging robot assisted training is the key requirement for successful rehabilitation. Biocooperative feedback loop adapts the difficulty of a training task based on a fusion of task performance, biomechanical measurements (force and movements), and four psychological signals (heart rate, skin conductance, respiration, and peripheral skin temperature). Respiratory rate, its variability, and skin temperature show significant differences between difficulty levels regardless of physical load and can be used to estimate the cognitive workload.
COBISS.SI-ID: 8541012
Multipurpose rehabilitation haptic robot is based on variable structure pantograph mechanism combined with a spring suspension system. It provides training of the shoulder, elbow, and wrist. The mechanism is driven by series elastic actuators. A single device with minimal setup changes can be used for training of most upperlimb activities of daily living in stroke, brain injury, or other direct trauma to the arm. The developed multimodal haptic device significantly reduces the costs of robotic hardware for fullarm rehabilitation.
COBISS.SI-ID: 1081449
We have developed a control system for a commercially available hydraulic telescopic handler. The target application for the handler was a semiautomated assembly of facade panels produced by Trimo, Trebnje. A closed loop control approach was implemented, and algorithms were developed that enable handler usage in manual, semiautomatic and automatic mode of operation. For a supervision of assembly process the optical, ultrasound and laser sensors were incorporated into the control system.
COBISS.SI-ID: 7953492
Active bionic prostheses for lower extremities that generate the additional forces in joints enable the user to move in a way not possible with passive prosthesis. The motion pattern using bionic prosthesis is more natural, joint and segment loadings are lower, walking is less exhausting and dangerous. The problem with usage of bionic prosthesis is functional incorporation of user’s voluntary activity. The CYBERLEGs system incorporates a bionic prosthesis for transfemoral amputees with controlled operation of ankle and knee joints, and the sensory and control systems which accounts for user’s voluntary activity. The wearable sensory system is based on wireless inertial sensors placed on human body segments. The control system operates as finite-state controller with states triggered with respect to identified phases or motion maneuvers. The developed wearable cognitive system was evaluated in experimental study. The accuracy of performance was confirmed by gait pattern analysis and intention detection statistics. The subjects were able to walk with the prosthesis without training, demonstrating the functionality of the CYBERLEGs approach.
COBISS.SI-ID: 10954324