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Open access

K. Bagiński, D. Jasińska-Choromańska and J. Wierciak


There has been designed a device for verticalization and aiding the gait of individuals suffering from paresis of the lower limbs. It can be counted in the category of so-called “wearable robots”, whose task is to replace or aid human limbs. Dependently on the function realized, these robots are classified into one of the following three groups:

a) exoskeletons - strengthening the force of human muscles beyond their natural abilities,

b) orthotic robots - restoring lost or weakened functions of human limbs,

c) prosthetic robots - replacing an amputated limb.

A significant feature of the device that has been designed is the fact that it has not to replace human limbs, but only restore them to their lost motor capabilities. Thus, according to the presented classification, it is an orthotic robot. Unlike in the case of the existing systems for verticalization, the gait is to be realized in a way that is automatic to the highest possible extent, keeping the user involved as little as possible, and the device is to imitate the natural movements of man with the highest fidelity.

Within the works on the system for verticalization and aiding the motion, a simulation model of the device was created. It includes a structure of the robot, a model of the actuators and a model of the human body that constitutes the load for the driving units. Then, simulation studies were carried out, including evaluation of the power demand of the device as well as the influence of the gait rate and of the length of the steps on the operation of the system.

Open access

A.W. Bydałek, P. Migas, W. Wołczyński, S. Biernat, A. Bydałek, K. Jasińska and P. Kwapisiński


The scope of work included the launch of the process of refining slag suspension in a gas oven using a variety of technological additives. After the refining process (in the context of copper recovery), an assessment of the effect of selected reagents at the level of the slag refining suspension (in terms of copper recovery). Method sieve separated from the slag waste fraction of metallic, iron - silicate and powdery waste. Comparison of these photographs macroscopic allowed us to evaluate the most advantageous method of separating metallic fraction from the slag. After applying the sample A (with KF2 + NaCl) we note that in some parts of the slag are still large amounts of metallic fraction. The fraction of slag in a large majority of the elements has the same size of 1 mm, and a larger portion of the slag, the size of which is from 2 to 6 mm. Definitely the best way is to remove the copper by means of the component B (with NaCl) and D (with KF2). However, as a result of removing the copper by means of component C (with CaO) were also obtained a relatively large number of tiny droplets of copper, which was problematic during segregation. In both cases we were able to separate the two fractions in a fast and simple manner.

Open access

D. Jasińska-Choromańska, K. Szykiedans, J. Wierciak, D. Kołodziej, M. Zaczyk, K. Bagiński, M. Bojarski and B. Kabziński


Mechatronics is nowadays a dominating concept in design of various kinds of systems and technical devices. High speeds of data processing by control units of mechatronic systems, as well as high dynamics of their actuators allow the systems to be applied in wider fields. This refers to the medicine as well, especially while making attempts to replace lost human motor abilities by means of robots aiding the man. These devices can be divided into three groups: exoskeletons designed to strengthen the natural force of human muscles, orthotic robots that restore lost or weakened functions of human limbs, and prosthetic robots replacing an amputated limb. The first and the third group are known quite well, whereas the orthotic robots are at an initial phase of their development. The authors have worked on a device for aiding the motion of disabled people suffering from paresis of the lower limbs. The paper presents a concept and a structure of the system that has been created, comparing it with similar devices that have already existed. There are indicated some connections and areas where the subunits merge, as well as the rules of their working with the user.