The paper presents a driving simulator of a combat vehicle aimed for driver-vehicle interaction studies and design of a full-scale driving simulator. The simulator incorporates a real-time combat vehicle dynamics simulation module, a graphical presentation module, a robotic seat motion system, and a haptic steering system. The simulation module simulates dynamic motion and interaction with the environment of a combat vehicle in real-time. The graphical presentation module generates driving scenes that are displayed on a screen by a back projection. The robotic system generates seat motion cues by means of a three degree-of-freedom hydraulically driven mechanism. The force feedback steering system built on the basis of a torque controlled induction motor is an interface between the driver and the simulator. The developed driving simulator is validated through comparison of motion and force feedback responses with those measured with real vehicle when performing standard test manoeuvres. The results verify matching in simulated and real driving environments.

Our work is focused on cooperation of a small industrial robot and human operator where collision is expected only between the robot end-effector and the lower arm of the human worker. To study the effect of the impact between the robot and man, a passive mechanical lower arm (PMLA) was developed. The investigation presented in this paper evaluates whether the PMLA is a sufficiently accurate emulation system of a passive human lower arm. The same experiments were performed with the PMLA and with human volunteers. The results of both investigations were compared and evaluated to determine whether the PMLA can competently replace human volunteers in dangerous future investigations.

The paper presents a robot cell for multimodal standing-up motion augmentation. The robot cell is aimed at augmenting the standing-up capabilities of impaired or paraplegic subjects. The setup incorporates the rehabilitation robot device, functional electrical stimulation system, measurement instrumentation and cognitive feedback system. For controlling the standing-up process a novel approach was developed integrating the voluntary activity of a person in the control scheme of the rehabilitation robot. The simulation results demonstrate the possibility of “patient-driven” robot-assisted standing-up training. Moreover, to extend the system capabilities, the audio cognitive feedback is aimed to guide the subject throughout rising. For the feedback generation a granular synthesis method is utilized displaying high-dimensional, dynamic data. The principle of operation and example sonification in standing-up are presented. In this manner, by integrating the cognitive feedback and “patient-driven” actuation systems, an effective motion augmentation system is proposed in which the motion coordination is under the voluntary control of the user.

A robot assistive device is presented aimed for training and evaluation of standing-up in impaired people. The robot device is designed as a 3 DOF mechanism supporting the subject under the buttocks. The device is driven by an electrohydraulic servosystem capable to operate in a position or in force control mode. The evaluation of the standing-up assistive device was accomplished in rising trials of a paraplegic subject. In the experiments the position control approach was employed. The results proved that the device can be efficiently used for training and evaluation of standing-up maneuver. Furthermore, an algorithm is proposed which generates the reference value of the man/machine interaction force to be tracked by the robot force controller. The simulation results proved an adequate and robust performance. In this manner, the novel robot device can be utilized in the "robot driven" or the "patient driven" standing-up training.

A robot assistive device is proposed aimed as a support for the impaired individuals when rising from sitting to standing position. The aim of the simple standing-up robot is to impose to the impaired person the reference position trajectory of the pelvis while unloading the upper and lower extremities. Variety of possible utilization areas are feasible: the device can serve as a functional rehabilitative aid, as training device or as an assessment tool when studying the standing-up manoeuvre. As a prototype, the 1-DOF hydraulically driven robot mechanism was built. Initial testing and evaluation results are presented together with the functional electrical stimulation of the paralysed muscles.