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By Professor, Coordinator Adam Morecki (eds.)

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Electronic part of this arrangement is composed of stimulating system (transmitter), control, programning and feedback systems. In the latter system, cooperating with the angular position measuring and grasping force indicators (or pressure exerted on the object kept), processing of signals received from indicators is made, and command to the programming and control systems is generated. 13 38 A. Morecki cient strength. aining operations run automatically at suitable time sequences. Several parallel solutions were proposed to solve this problem, name- ly: - the dial extensameter, - method of finger switch, - methcxi of "artificial sensation".

The angle e, which may be thought of as the ankle angle, is the single degree of freedom of this system. Finally, g represents gravitational acceleration, I is the moment of inertia of the subject's entire body, m is the corresponding mass, and 1 is the distance from the pivot point (ankle joint) to the center of gravity of this mass. Despite the simplicity of this model, it can be used to illustrate many of the principles involved in computer simulation of human motion. In particular, there are a sizeable number of different approaches to obtaining the differential equations governing the motion of this system, each with its advantages and disadvantages.

For the example given above the number of variants is: 6! 1 - interrelated functions - 21 41 = 15, 2 - interrelated functions - 15! 6191 = 5005, 3 - interrelated functions - 20! 31171 - 190. 250. The number of variants can be reduced due to special constraints which can be formulated for the actuators' system. Algorithms for synthesis of system of actuators An_s~ggritbiD_Qs§~Q_Qn_~h~_mggi~i~~-Qf_sQ~~~Qr§ This algorithm concerns a special case based on the following assurnptions: - possible structural drive was considered on the basis of all actuators typical to analyzed structure, - proportion between the number of actuators belonging to the different classes was considered, - two actuators operate in every joint of the analyzed structure only, - the mobility of analyzed structure is obtained from the structural formula for the planar mechanisms.

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