In this thesis, the results of an experimental analysis of blanking angled hooks with a punch of a sloping face in a thin steel sheet with a hardness of 55 HRC are presented. The blanking punch was made of K340 cold-work tool steel. Tests were carried out for three values of clearance, 5%, 10%, and 15% of sheet thickness. The results of the analysis of the influence of the number of cuts made by the punch on the growth of the burr at the sheet edge were presented. Moreover, the influences of the clearance on the initial values of burr (bh), deflection (Hb), and the bending radius (Rb) of the hook have been shown. The influence of the friction path on the intensity of degradation of working surfaces and the blanking edges of the punch was also demonstrated. The obtained results allow the selection of the proper clearance and new tool materials for blanking blades working in particularly difficult tribological conditions.

To characterize the ELISE project, a concept robot applicable in the neuro-rehabilitation of the entire paretic upper limb. The project has been designed and implemented based on comprehensive rehabilitation of the shoulder, forearm and hand. ELISE is a concept robotic system prepared for individualized approach in rehabilitation of stroke patients including diagnostics, passive and/or active exercises and reports. The ELISE system includes dual biofeedback solutions: rehabilitation exercises in virtual reality (VR) and the virtual assistant of therapist. The biomechanical, ergonomics, electrical/electronics, hardware/software aspects of the design are described in detail here. This paper suggests a new approach to rehabilitation robots for the spastic upper limb of stroke survivors. Rehabilitation with ELISE robot was based on movement exercises, which incorporate biofeedback in VR. The patient realizes common tasks from ordinary life. This innovative rehabilitation connects practical/social aspect of rehabilitation with movement exercises. With the aid of these stimulations, the ELISE robot is intended to speed up the process of recovery from damaged neuron connections in brain. Robot was designed for flexible assembly and can be tailored to individual needs and unique expectations of each therapist and patient. This is possible thanks to the modular design of the robot arm and software. The ELISE robot will be sold in different configurations (e.g. without an expander or a set of virtual games or a virtual assistant of therapist).

This article describes an innovative automated storage and retrieval system (AS/RS) based on Raspberry Pi. It substantiates the grounds of the undertaken subject and presents an overview of existing automated storage and retrieval solutions. Moreover, the machine is described in terms of type and structure of, following the analysis of the kinematics and dynamics, conducted as a part of the project. The article presents the mechanical design of the machine, describes the choice of structural elements and actuators, and develops the control system with an algorithm using Raspberry Pi. Furthermore, an interface based on a touch-screen display cooperating with a single board computer was designed. One of the key features of the device is its modularity and the individual configurability of the storage module, depending on available storage space where an automated storage and retrieval system is to be installed: vertically -by defining the number of containers in width and height, horizontally -by defining the number of containers in width and depth, horizontally and vertically -by defining the number of containers in width and depth, and modules responsible for storage in height. The final stage of the project consisted in verifying the designed solution in tests on a prototype storage device. More precisely, it was tested on a machine prepared for a particular customer and a chosen configuration, which is a combination of the triune manipulator of vertical storage controlled in an open loop.

This article presents an innovative device to rehabilitate people's physical and learning abilities. We aim to substantiate the subject, review existing solutions, and explain the most important issues connected with rehabilitation. We describe the CAD-based conceptual design of the device, its dedicated software, selection of actuators, and construction of the device's prototype, including its first tests. The device includes an original set of exercises, which can be individually set for every patient to improve his physical abilities, memory (both visual and auditory) and reflexes (i.e. reaction time to a stimulus). Rehabilitation exercises, which are performed in virtual reality and shown on a display screen, are additionally enhanced in real life by introducing obstacles and space restrictions, which the user faces while performing his tasks. Deliberate restrictions of one's space in which to perform exercises is made possible not only due to the device's original design, that is a four-frames construction, but also due to connectors with adjustable installation points, which enables positioning of obstacles to suit the current state of a patient. The prototype device and its original software have been designed to suit stroke convalescents and preschool children. First tests were carried out with preschool children and this article highlights the results of these tests. They included exercises, which were custom-made for children, such as a quiz, exercise to train one's reflexes, visual memory, auditory memory and games involving music. Since the rehabilitation device utilizes unique technical solutions, a patent application has been filed for it.

The article describes an innovative mechatronic device for hand rehabilitation, which enables diagnostics, comprehensive exercises and reporting the rehabilitation results of individual fingers of people who have lost their full efficiency as a result of past illnesses (i.a. stroke) and orthopedic injuries. The basic purpose of the device is to provide controlled, active exercises of the individual fingers, to widen the range of their movements, and to increase their precision of movement. The developed mechatronic device works with original software for PCs containing a diagnostic module, reporting module and a set of virtual reality exercises using biofeedback. The device uses auditory and visual biofeedback, and electromyography (EMG).