Johannes Zawatzki

Beuth Hochschule für Technik Berlin | BHT · Department of Mechatronics

A proof of concept and novel back support exoskeleton (BSE) using flexible beam springs was tested. While study participants performed a lifting task, the loads on the exoskeleton and the participants’ heart rate were measured. The corresponding maximum forces and moments are the respective values: max. FString = 72 N (SD = 32 N); max. TX = - 5 Nm...

In der vorliegenden Arbeit wird ein vereinfachtes Starrkörpermodell eines Menschen, das „Unisex-Modell“, auf Grundlage der DIN 33402-2 erstellt. Damit werden biomechanische Simulationen in ANSYS Rigid Body Dynamics durchgeführt, um die Momente in Knie- und Hüftgelenken bei Hebebewegungen zu bestimmen. Ziel ist es, die Auswirkungen eines Exoskeletts...

In this paper a novel knee joint rehabilitation device made for controlled active motion (CAM) therapy is presented and tested. More precisely, the system is a redesign of an originally passive CAM device, called CAMOped. Instead of a break, the adjustable resistance, which is needed for CAM therapy, is now provided via a torque-controlled pneumati...

In this paper, two different torque control approaches for PMA-driven (PMA = Pneumatic muscle actuator) revolute joints are presented and tested. In previous work controllers for PMA-driven robots are typically customized for the use on a specific robotic system. In contrast, the proposed controllers define a general control interface for every rob...