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In the paper, a kinematical model of the robot moving on uneven terrain has been presented. Configuration of the robot placed on uneven terrain is described, presenting the redundant set of variables that create the state of the robot. Inverse kinematics tasks have been defined, which as a result of various assumptions, gives the robot configuration. To solve the kinematics tasks, adequate closed-loop equations have been defined. Velocity equations of the point of the wheel contact with the ground have been presented with respect to the velocity of the platform itself and velocities of the robot actuators. Assuming constraints of the wheel movement causing a no-slip condition, dependencies between those velocities have been determined. This allowed one to determine velocities of the robot drives, so that the platform moves in the way specified by the user.

This article is devoted to the novel method of upper limb rehabilitation support using a dedicated mechatronic system. The mechatronic rehabilitation system’s main advantages are the repeatability of the process and the ability to measure key features and the progress of the therapy. In addition, the assisted therapy standard is the same for each patient. The new method proposed in this article is based on the prediction of the patient’s intentions, understood as the intentions to perform a movement that would be not normally possible due to the patient’s limited motor functions. Determining those intentions is realized based on a comparative analysis of measured kinematic (range of motion, angular velocities, and accelerations) and dynamic parameter values, as well as external loads resulting from the interaction of patients. Appropriate procedures were implemented in the control system, for which verification was conducted via experiments. The aim of the research in the article was to examine whether it is possible to sense the movement intentions of a patient during exercises, using only measured load parameters and kinematic parameters of the movement. In this study, the construction of a mechatronic system prototype equipped with sensory grip to measure the external loads, control algorithms, and the description of experimental studies were presented. The experimental studies of the mechanism were aimed at the verification of the proper operation of the system and were not a clinical trial.

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