The article presents selected rehabilitation devices with the use of classic actuators and pneumatic muscles. Manipulators supporting the movements of the lower and upper limbs of humans are presented. Moreover, the construction of actuators and pneumatic muscles is described.

The effect of a weak magnetic field (B = 0.17 T) and X-irradiation (D < 520 Gy) on the rearrangement of the defective structure of near-surface p-type silicon layers was studied. It was established that the effect of these external fields increases the positive accumulated charge in the region of spatial charge (RSC) and in the SiO2 dielectric layer. This can be caused by both defects in the near-surface layer of the semiconductor and impurities contained in the dielectric layer, which can generate charge carriers. It was found that the near-surface layers of the barrier structures contain only one deep level in the silicon band gap, with an activation energy of Ev + 0.38 eV. This energy level corresponds to a complex of silicon interstitial atoms SiI+SiI. When X-irradiated with a dose of 520 Gy, a new level with the energy of Ev + 0.45 eV was observed. This level corresponds to a point boron radiation defect in the interstitial site (BI). These two types of defect are effective in obtaining charge carriers, and cause deterioration of the rectifier properties of the silicon barrier structures. It was established that the silicon surface is quite active, and adsorbs organic atoms and molecules from the atmosphere, forming bonds. It was shown that the effect of a magnetic field causes the decay of adsorbed complexes at the Si–SiO2 interface. The released hydrogen is captured by acceptor levels and, as a result, the concentration of more complex Si–H3 complexes increases that of O3–Si–H.

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The article presents a numerical CFD simulation of a throttle-check valve used in an innovative control system for two pneumatic drives. This type of control is used in an innovative rehabilitation device for lower limbs. In order to determine the boundary conditions, experimental tests were carried out. The throttle valves on the test stand were scaled and the air flow rate values were read for different valve opening heights. The purpose of this article is to present a CFD simulation of a pre-adjusted check valve throttle. Numerical simulation (CFD) makes it possible to study the flow phenomena inside a pneumatic throttle-check valve, with different sizes of flow gaps. The obtained results made it possible to determine the distribution of physical quantities of static pressure, the velocity of the medium flowing through the valve, or the vector velocity distribution. The throttle valve assembly has been scaled for a suitable degree of synchronization of the movement of the piston actuators independently of the different external loads acting on each of them. The authors investigated airflow phenomena for different valve opening heights. The simulation provided information on the occurrence of supersonic and subsonic flow velocities at specific valve opening heights.

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