Kinematic Structure of Turning Modules in Orthotic Robots

At the Institute of Micromechanics and Photonics at the Faculty of Mechatronics of the Warsaw University of Technology the “Veni-Prometheus” System for Verticalization and Aiding Motion has been developed. The main aim of the planned works is to expand the capabilities of the orthotic robot, enabling it to make turns. This paper presents a selection of layouts for turning systems, illustrated with kinematic diagrams accompanying their descriptions as well as fundamental analysis. The result of the paper is presentation of strengths and weaknesses of the conceptions shown and recommendation of the one chosen for further development.