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Modeling, kinematic-dynamic analysis and simulation of an exoskeleton prototype for the rehabilitation of people with motor disabilities of the lower limbs

2015/17/B/ST8/01700

Keywords

Descriptors

  • ST8_3: Inżynieria obliczeniowa, komputerowe wspomaganie modelowania, projektowania i produkcji
  • ST8_6: Mechatronika, mechanika precyzyjna

Panel

ST8 – Production and processes engineering: modelling, product design, process design and control, construction methods and engineering, power units and systems

Host institution

Politechnika Łódzka, Wydział Mechaniczny

Voivodeship: łódzkie

Other projects carried out by the institution »

Principal investigator (from the host institution)

prof. Jan Awrejcewicz

Number of co-investigators in the project: 13

Call

OPUS 9 – announced on 2015-03-16

Amount awarded
999 600 PLN
Project start date
2016-02-12
Project end date
2019-06-11
Project duration
40 months (the same as in the proposal)
Project status
Project settled

Project description

Download the project description in a pdf file

Note — project descriptions were prepared by the authors of the applications themselves and placed in the system in an unchanged form.

Equipment purchased [PL]

  1. Elektromiograf MyoPlus 2 Pro. Cost: 5 600 PLN
  2. Komutery obliczeniowe (laptopy wysokowydajne) - 2 szt.. Cost: 9 448 PLN
  3. Zestaw komputerowy stacjonarny do modelowania. Cost: 11 000 PLN
  4. Zestaw komputerowy stacjonarny do układu kontrolno-pomiarowego. Cost: 29 000 PLN
  5. Zestaw pomiarowy EMG. Cost: 40 000 PLN
  6. egzoszkielet kończyn dolnych - budowa aparatury. Cost: 48 421 PLN
  7. kamera termowizyjna. Cost: 45 000 PLN
  8. klucz licencyjny do systemu wizyjnego (odnowienie licencji). Cost: 17 332 PLN
  9. platforma dynamometryczna. Cost: 58 176 PLN
  10. platforma dynamometryczna. Cost: 80 000 PLN
  11. zestaw 2 kamer wysokiej rozdzielczości z oprogramowaniem. Cost: 23 800 PLN

Information in the final report

Publication in academic press/journals (22)

  1. Effects of severe hallux valgus on metatarsal stress and the metatarsophalangeal loading during balanced standing: A finite element analysis

    Authors:
    Y. Zhang; J. Awrejcewicz, O. Szymanowska, S. Shen, X. Zhao, J.S Baker, Y. Gu
    Academic press:
    Computers in Biology and Medicine (year: 2018, volume: 97, pages: 46029), Publisher: Elsevier
    Status:
    Published
    DOI:
    10.1016/j.compbiomed.2018.04.010 – link to the publication

  2. On the choice of thickness of the cement mantle in cemented hip arthroplasty

    Authors:
    I. Levadnyi, J. Awrejcewicz, A. Loskutov, O. Szymanowska
    Academic press:
    Journal of Theoretical and Applied Mechanics (year: 2017, volume: 55(4), pages: 1235-1244), Publisher: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
    Status:
    Published
    DOI:
    10.15632/jtam-pl.55.4.1235 – link to the publication

  3. Kinematics, Dynamics and Power Consumption Analysis of the Hexapod Robot During Walking with Tripod Gait

    Authors:
    D. Grzelczyk, B. Stanczyk, J. Awrejcewicz
    Academic press:
    International Journal of Structural Stability and Dynamics (year: 2017, volume: 17(5), pages: 1740010-1-1740010-17), Publisher: World Scientific
    Status:
    Published
    DOI:
    10.1142/S0219455417400107 – link to the publication

  4. Modeling and control of an eight-legged walking robot driven by different gait generators

    Authors:
    D. Grzelczyk, J. Awrejcewicz
    Academic press:
    International Journal of Structural Stability and Dynamics (year: 2019, volume: 19(5), pages: 1941009-1-1941009-23), Publisher: World Scientific Publishing Company
    Status:
    Published
    DOI:
    10.1142/S0219455419410098 – link to the publication

  5. Kinematic and dynamic simulation of an octopod robot controlled by different central pattern generators

    Authors:
    D. Grzelczyk, O. Szymanowska, J. Awrejcewicz
    Academic press:
    Journal of Systems and Control Engineering (year: 2019, volume: 233(4), pages: 400-417), Publisher: SAGE Publishing
    Status:
    Published

  6. A two dimensional approach for modelling of pennate muscle behaviour

    Authors:
    W. Wojnicz, B. Zagrodny, M. Ludwicki, J. Awrejcewicz, E. Wittbrodt
    Academic press:
    Biocybernetics and Biomedical Engineering (year: 2017, volume: 37, pages: 302-315), Publisher: Elsevier
    Status:
    Published
    DOI:
    10.1016/j.bbe.2016.12.004 – link to the publication

  7. Finite Element Analysis of Impact for Helmeted and Non-helmeted Head

    Authors:
    I. Levadnyi, J. Awrejcewicz, Y. Zhang, M.F. Goethel, Y. Gu
    Academic press:
    Journal of Medical and Biological Engineering (year: 2017, volume: 2017, pages: 9), Publisher: Springer
    Status:
    Published
    DOI:
    10.1007/s40846-017-0324-3 – link to the publication

  8. Numerical evaluation of bone remodelling and adaptation considering different hip prosthesis designs

    Authors:
    I. Levadnyi, J. Awrejcewicz, J.E. Gubaua, J.T. Pereira
    Academic press:
    Clinical Biomechanics (year: 2017, volume: 50, pages: 122-129), Publisher: Elsevier
    Status:
    Published
    DOI:
    10.1016/j.clinbiomech.2017.10.015 – link to the publication

  9. Dynamic simulation of a novel broomstick human forward fall model and finite element analysis of the radius under the impact force during fall

    Authors:
    D. Grzelczyk, P. Biesiacki, J. Mrozowski, J. Awrejcewicz
    Academic press:
    Journal of Theoretical and Applied Mechanics (year: 2018, volume: 56(1), pages: 239-253), Publisher: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
    Status:
    Published
    DOI:
    10.15632/jtam-pl.56.1.239 – link to the publication

  10. Cooperation of mono- and bi- articular muscles: human lower limb

    Authors:
    B. Zagrodny, M. Ludwicki, W. Wojnicz, J. Mrozowski, J. Awrejcewicz
    Academic press:
    Journal of Musculosceletal and Neuronal Interactions (year: 2018, volume: 18(2), pages: 176-182), Publisher: Hylonome Publications
    Status:
    Published

  11. 'A 4-link model of a human for simulating a forward fall'

    Authors:
    D. Grzelczyk, P. Biesiacki, J. Mrozowski, J. Awrejcewicz
    Academic press:
    Vibrations in Physical Systems (year: 2018, volume: 29, pages: 2018008), Publisher: Poznan University of Technology
    Status:
    Published

  12. Dynamics, stability analysis and control of a mammal-like octopod robot driven by different central pattern generators

    Authors:
    D. Grzelczyk, J. Awrejcewicz
    Academic press:
    Journal of Computational Applied Mechanics (year: 2019, volume: 50, pages: 76-99), Publisher: University of Teheran
    Status:
    Published
    DOI:
    10.22059/jcamech.2019.278583.375 – link to the publication

  13. Modelling and experimental validation of the walking processes

    Authors:
    R. Nigmatullin, A.L. Morozov, J. Awrejcewicz, M. Ludwicki
    Academic press:
    Biocybernetics and Biomedical Engineering Journal (year: 2020, volume: 40, pages: 200-210), Publisher: Elsevier
    Status:
    Published
    DOI:
    10.1016/j.bbe.2019.03.005 – link to the publication

  14. Generation of a gait pattern for a lower limb rehabilitation exoskeleton

    Authors:
    O. Jarzyna, D. Grzelczyk, B. Stańczyk, J. Awrejcewicz
    Academic press:
    Mechanics Based Design of Structures and Machines (year: 2020, volume: 2020, pages: 21), Publisher: Taylor & Francis Group
    Status:
    Published
    DOI:
    10.1080/15397734.2020.1858868 – link to the publication

  15. Analysis of contact forces between the ground and hexapod robot legs during tripod gait

    Authors:
    D. Grzelczyk, J. Awrejcewicz
    Academic press:
    Machine Dynamics Research (year: 2018, volume: 42(2), pages: 17-26), Publisher: Warsaw University of Technology
    Status:
    Published

  16. Fingers movements control system based on artificial neural network model

    Authors:
    K. Vonsevych, M.F. Goethel, J. Mrozowski, J. Awrejcewicz, M. Bezuglyi
    Academic press:
    Radioelectronics and Communications Systems (year: 2019, volume: 62(1), pages: 23-33), Publisher: Elsevier
    Status:
    Published

  17. Development of control for the ankle joint simulator applied to the problem on vertical posture balance of a human

    Authors:
    O. Kuzmych, J. Awrejcewicz, O. Mekush, P. Pekh, K. Bortnik, E. Potemkina, I. Shubala
    Academic press:
    Eastern-European Journal of Enterprise Technologies (year: 2018, volume: 6(7(96)), pages: 49-57), Publisher: PC Technology Center
    Status:
    Published
    DOI:
    10.15587/1729-4061.2018.150321 – link to the publication

  18. 'Gait pattern generator for control of a lower limb exoskeleton'

    Authors:
    D. Grzelczyk, O. Szymanowska, J. Awrejcewicz
    Academic press:
    Vibrations in Physical Systems (year: 2018, volume: 29, pages: 2018007), Publisher: POZNAN UNIVERSITY OF TECHNOLOGY
    Status:
    Published

  19. Biomechanical rationale for choice of cement mantle thickness around a femoral stem

    Authors:
    I. Levadnyi, J. Awrejcewicz, O. Szymanowska, D. Grzelczyk, J.E. Gubaua, J.T. Pereira, G.W.O. Dicat
    Academic press:
    Journal of Mechanics in Medicine and Biology (year: 2018, volume: 18 (6), pages: 1850064), Publisher: World Scientific
    Status:
    Published
    DOI:
    10.1142/S0219519418500641 – link to the publication

  20. Influence of the fixation region of a press–fit hip endoprosthesis on the stress–strain state of the bone–implant system

    Authors:
    I. Levadnyi, J. Awrejcewicz, M.F. Goethel, A. Loskutov
    Academic press:
    Computers in Biology and Medicine (year: 2017, volume: 84, pages: 195-204), Publisher: Elsevier
    Status:
    Published
    DOI:
    10.1016/j.compbiomed.2017.03.030 – link to the publication

  21. Model numeryczny kończyny górnej człowieka i jego analiza w aspekcie upadków do przodu

    Authors:
    P. Biesiacki, D. Grzelczyk, J. Mrozowski, J. Awrejcewicz
    Academic press:
    Aktualne Problemy Biomechaniki (year: 2017, volume: 43070, pages: 46156), Publisher: Katedra Biomechatroniki Politechniki Śląskiej
    Status:
    Published

  22. Comparative Biomechanical Analysis of Stress–Strain State of the Elbow Joint After Displaced Radial Head Fractures

    Authors:
    S. Strafun, I. Levadnyi, V. Makarov, J. Awrejcewicz
    Academic press:
    Journal of Medical and Biological Engineering (year: 2017, volume: 2017, pages: 7), Publisher: Springer
    Status:
    Published
    DOI:
    10.1007/s40846-017-0334-1 – link to the publication

Articles in post-conference publications (22)

  1. 'A simple approach to simulate lower limb movement during gait'

    Authors:
    O Szymanowska, D. Grzelczyk, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics 'Biomechanics 2018' (year: 2018, pages: 221-222), Publisher: Polskie Towarzystwo Biomechaniki
    Date:
    conference September 5-7, 2018
    Status:
    Published

  2. Modelling and analysis of the human upper extremity in various forearm configurations resulting from a fall

    Authors:
    D. Grzelczyk, P. Biesiacki, J. Mrozowski, J. Awrejcewicz
    Conference:
    23rd Congress of the European Society of Biomechanics (year: 2017, pages: 908), Publisher: The Higher Technical School of Engineering of the University of Seville
    Date:
    conference 2-5 lipca 2017
    Status:
    Published

  3. Muscle activity during gait - electromyographic and thermographic point of view

    Authors:
    B. Zagrodny, M. Ludwicki, W. Wojnicz, J. Mrozowski, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics 'Biomechanics 2018' (year: 2018, pages: 259-260), Publisher: Polskie Towarzystwo Biomechaniki
    Date:
    conference September 5-7, 2018
    Status:
    Published

  4. 'Determination of the relationship between lower limb muscle activities, centre of mass and centre of pressure displacement over stepping'

    Authors:
    W. Wojnicz, B. Zagrodny, M. Ludwicki, J. Mrozowski, J. Awrejcewicz, E. Wittbrodt
    Conference:
    International Conference of the Polish Society of Biomechanics 'Biomechanics 2018' (year: 2018, pages: 251-252), Publisher: Polskie Towarzystwo Biomechaniki
    Date:
    conference September 5-7, 2018
    Status:
    Published

  5. 'Criterion of gait stability based on centre of mass displacement'

    Authors:
    M. Ludwicki, B. Zagrodny, W. Wojnicz, J. Mrozowski, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics 'Biomechanics 2018' (year: 2018, pages: 137-138), Publisher: Polskie Towarzystwo Biomechaniki
    Date:
    conference September 5-7, 2018
    Status:
    Published

  6. 'Open and scalable trajectory-based exoskeleton control system architecture'

    Authors:
    W. Kunikowski, O. Szymanowska, M. Krain, D. Grzelczyk, J. Mrozowski, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics 'Biomechanics 2018' (year: 2018, pages: 125-126), Publisher: Polskie Towarzystwo Biomechaniki
    Date:
    conference September 5-7, 2018
    Status:
    Published

  7. Stability and control of a hybrid walking robot on vibrating and unstable terrain

    Authors:
    Dariusz Grzelczyk, Jan Awrejcewicz
    Conference:
    15th INTERNATIONAL CONFERENCE Dynamical Systems — Theory and Applications (year: 2019, pages: 268), Publisher: Politechnika Łódzka
    Date:
    conference December 2-5, 2019
    Status:
    Published

  8. The study of stress state in the case of different types of fixation of the stem prosthesis in the femoral bone

    Authors:
    I. Levadnyi, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics (year: 2016, pages: 159-160), Publisher: Mazowieckie Centrum Poligrafii, Marki
    Date:
    conference 5-7 września 2016
    Status:
    Published

  9. Multibody models for gait analysis

    Authors:
    Wiktoria Wojnicz, Bartłomiej Zagrodny, Michał Ludwicki, Jerzy Mrozowski, Jan Awrejcewicz, Edmund Wittbrodt
    Conference:
    15th INTERNATIONAL CONFERENCE Dynamical Systems — Theory and Applications (year: 2019, pages: 146), Publisher: Politechnika Łódzka
    Date:
    conference December 2-5, 2019
    Status:
    Published

  10. The rational choice of the thickness of the cement mantle in total hip arthroplasty

    Authors:
    I. Levadnyi, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics (year: 2016, pages: 157-158), Publisher: Mazowieckie Centrum Poligrafii, Marki
    Date:
    conference 5-7 września 2016
    Status:
    Published

  11. Finite element analysis of fixation of intertrochanteric fractures of the femur using different designs

    Authors:
    I. Levadnyi, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics (year: 2016, pages: 155-156), Publisher: Mazowieckie Centrum Poligrafii, Marki
    Date:
    conference 5-7 września 2016
    Status:
    Published

  12. Biomechanical investigation of contact interactions on articular surfaces of elbow joint

    Authors:
    I. Levadnyi, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics (year: 2016, pages: 153-154), Publisher: Mazowieckie Centrum Poligrafii, Marki
    Date:
    conference 5-7 września 2016
    Status:
    Published

  13. Forward fall on outstretched hands as a 4-DOF biomechanical model

    Authors:
    P. Biesiacki, J. Mrozowski, D. Grzelczyk, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics (year: 2016, pages: 47-48), Publisher: Mazowieckie Centrum Poligrafii, Marki
    Date:
    conference 5-7 września 2016
    Status:
    Published

  14. Coordinative patterns and gait stability accessed by nonlinear dynamics approach: a preliminary study

    Authors:
    M.F. Goethel, J. Mrozowski, J. Awrejcewicz
    Conference:
    23rd International Conference on Engineering Mechanics (year: 2017, pages: 346-349), Publisher: Institute of Theoretical and Applied Mechanics Academy of Sciences of the Czech Republic
    Date:
    conference 15-18 maja 2017
    Status:
    Published

  15. A 5-link mechanical model simulating a forward fall process on the outstreched arms

    Authors:
    D. Grzelczyk, P. Biesiacki, J. Mrozowski, J. Awrejcewicz
    Conference:
    23rd Congress of the European Society of Biomechanics (year: 2017, pages: 905), Publisher: The Higher Technical School of Engineering of the University of Seville
    Date:
    conference 2-5 lipca 2017
    Status:
    Published

  16. Cooperation of mono- and biarticular muscles: human lower limb

    Authors:
    B. Zagrodny, M. Ludwicki, W. Wojnicz, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics (year: 2016, pages: 321-322), Publisher: Mazowieckie Centrum Poligrafii, Marki
    Date:
    conference 5-7 września 2016
    Status:
    Published

  17. The influence of the thickness of the cement mantle on the quality of total hip arthroplasty

    Authors:
    I. Levadnyi, O. Szymanowska, W. Kunikowski, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics (year: 2016, pages: 161-162), Publisher: Mazowieckie Centrum Poligrafii, Marki
    Date:
    conference 5-7 września 2016
    Status:
    Published

  18. Biomechanical model for gait analysis in a sagittal plane

    Authors:
    W. Wojnicz, B. Zagrodny, M. Ludwicki, J. Mrozowski, J. Awrejcewicz, E. Wittbrodt
    Conference:
    International Conference of the Polish Society of Biomechanics (year: 2016, pages: 311-312), Publisher: Mazowieckie Centrum Poligrafii, Marki
    Date:
    conference 5-7 września 2016
    Status:
    Published

  19. Influence of the shoe type on the ground reaction forces during gait

    Authors:
    Małgorzata Klepczyńska, Bartłomiej Zagrodny, Wiktoria Wojnicz, Michał Ludwicki, Jan Awrejcewicz
    Conference:
    15th INTERNATIONAL CONFERENCE Dynamical Systems — Theory and Applications (year: 2019, pages: 140), Publisher: Politechnika Łódzka
    Date:
    conference December 2-5, 2019
    Status:
    Published

  20. Portable system for upper limb movement tracking

    Authors:
    Michał Ludwicki, Kinga Ostrowska, Natalia Marcinowska, Mateusz Kaszowski
    Conference:
    15th INTERNATIONAL CONFERENCE Dynamical Systems — Theory and Applications (year: 2019, pages: 318), Publisher: Politechnika Łódzka
    Date:
    conference December 2-5, 2019
    Status:
    Published

  21. Modelling and control of a lower limb exoskeleton driven by linear actuators

    Authors:
    Dariusz Grzelczyk, Olga Jarzyna, Jan Awrejcewicz
    Conference:
    15th INTERNATIONAL CONFERENCE Dynamical Systems — Theory and Applications (year: 2019, pages: 269), Publisher: Politechnika Łódzka
    Status:
    Accepted for publication

  22. A simple pattern generator for biped walking

    Authors:
    Olga Jarzyna, Dariusz Grzelczyk, Jan Awrejcewicz
    Conference:
    15th INTERNATIONAL CONFERENCE Dynamical Systems — Theory and Applications (year: 2019, pages: 279), Publisher: Politechnika Łódzka
    Status:
    Accepted for publication

Book publications / chapters in book publications (10)

  1. Influence of the fixation region of a hip stem on the behaviour of the bone–implant system

    Authors:
    I. Levadnyi, D. Grzelczyk, J. Awrejcewicz, O. Loskutov
    Book:
    Engineering Dynamics and Life Sciences, (Eds.) J. Awrejcewicz, M. Kaźmierczak, J. Mrozowski, P. Olejnik (year: 2017, volume: 2017, pages: 321-328), Publisher: DAB&M of TUL Press
    Status:
    Published

  2. A novel human broomstick forward fall model and its application in the strength analysis of the human upper extremity

    Authors:
    P. Biesiacki, D. Grzelczyk, J. Mrozowski, J. Awrejcewicz
    Book:
    Engineering Dynamics and Life Sciences, (Eds.) J. Awrejcewicz, M. Kaźmierczak, J. Mrozowski, P. Olejnik (year: 2017, volume: 2017, pages: 65-72), Publisher: DAB&M of TUL Press
    Status:
    Published

  3. Exoskeleton - control by pressure sensors - practical solution

    Authors:
    M. Krain, B. Zagrodny, J. Awrejcewicz
    Book:
    Engineering Dynamics and Life Sciences, (Eds.) J. Awrejcewicz, M. Kaźmierczak, J. Mrozowski, P. Olejnik (year: 2017, volume: 2017, pages: 285-296), Publisher: DAB&M of TUL Press
    Status:
    Published

  4. Simulation of the octopod robot controlled by different Central Patterns Generators

    Authors:
    D. Grzelczyk, B. Stańczyk, O. Szymanowska, J. Awrejcewicz
    Book:
    Engineering Dynamics and Life Sciences, (Eds.) J. Awrejcewicz, M. Kaźmierczak, J. Mrozowski, P. Olejnik (year: 2017, volume: 2017, pages: 229-238), Publisher: DAB&M of TUL Press
    Status:
    Published

  5. Mathematical modelling and investigations of the hexapod robot

    Authors:
    D. Grzelczyk, B. Stańczyk, J. Awrejcewicz
    Book:
    Research Advances in Applied Mechanics, R. Mania (Ed.) (year: 2016, volume: 6, pages: 169-190), Publisher: Wydawnictwo Politechniki Łódzkiej
    Status:
    Published

  6. Hydraulically Driven Unit Converting Rotational Motion into Linear One

    Authors:
    O. Szymanowska, G. Szymkiewicz, D. Lewandowski, D. Grzelczyk, J. Awrejcewicz
    Book:
    Springer Proceedings in Mathematics and Statics - Dynamical Systems: Modelling (year: 2016, volume: 181, pages: 361-373), Publisher: Springer
    Status:
    Published

  7. A 3-link model of a human for simulating a fall in forward direction

    Authors:
    D. Grzelczyk, P. Biesiacki, J. Mrozowski, J. Awrejcewicz
    Book:
    Dynamical Systems in Applications - Springer Proceedings in Mathematics and Statistics (year: 2018, volume: 249, pages: 135-146), Publisher: Springer
    Status:
    Published

  8. Influence of Additional Loads on Chosen Gait Parameters and Muscles Activity

    Authors:
    M. Ludwicki, B. Zagrodny, W. Wojnicz, J. Mrozowski, J. Awrejcewicz
    Book:
    Vibrations in Physical Systems (year: 2016, volume: 27, pages: 227-236), Publisher: Agencja Reklamowa COMPRINT, Poznań
    Status:
    Published

  9. Approach for determination of functioning of lower limb muscles

    Authors:
    W. Wojnicz, B. Zagrodny, M. Ludwicki, M. Syczewska, J. Mrozowski, J. Awrejcewicz
    Book:
    Dynamical Systems in Theoretical Perspective - Springer Proceedings in Mathematics and Statistics (year: 2018, volume: 249, pages: 135-146), Publisher: Springer
    Status:
    Published

  10. Modelling of Forward Fall on Outstretched Hands as a System with Ground Contact

    Authors:
    P. Biesiacki, J. Mrozowski, D. Grzelczyk, J. Awrejcewicz
    Book:
    Springer Proceedings in Mathematics and Statics - Dynamical Systems: Modelling (year: 2016, volume: 181, pages: 61-72), Publisher: Springer
    Status:
    Published

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Graphic design and implementation: Jakub Piotrowski