A reconfigurable multi-terrain adaptive casualty transport aid base on Watt II six-bar linkage for industrial environment.

This paper presents the Reconfigurable Multi-Terrain Adaptive Casualty Transport Aid (RMTACTA), an innovative solution addressing the critical need for rapid and safe pre-hospital casualty transport in industrial environments. The RMTACTA, leveraging the Watt II six-bar linkage, offers enhanced adaptability through six modes of motion, overcoming the limitations of traditional stretchers and stretcher vehicles by facilitating navigation across narrow and challenging terrains. The RMTACTA's design incorporates two branching four-bar mechanisms to form a compact, reconfigurable Watt II six-bar linkage mechanism.

A Real-Time Control Method for Upper Limb Exoskeleton Based on Active Torque Prediction Model.

Exoskeleton rehabilitation robots have been widely used in the rehabilitation treatment of stroke patients. Clinical studies confirmed that rehabilitation training with active movement intentions could improve the effectiveness of rehabilitation treatment significantly. This research proposes a real-time control method for an upper limb exoskeleton based on the active torque prediction model.

A multi-degree-of-freedom reconfigurable ankle rehabilitation robot with adjustable workspace for post-stroke lower limb ankle rehabilitation.

A multi-degree-of-freedom ankle rehabilitation robot with an adjustable workspace has been designed to facilitate ankle joint rehabilitation training. It features a rotation center adapted to the human body, making it suitable for patients with ankle dysfunction following a stroke. In this study, a multi-degree-of-freedom reconfigurable ankle rehabilitation robot (RARR) with adaptable features, based on the principles of ergonomics, has been proposed to cater to the varying needs of patients.

A Wearable Computer Vision System With Gimbal Enables Position-, Speed-, and Phase-Independent Terrain Classification for Lower Limb Prostheses.

Computer vision can provide upcoming walking environment information for lower limb-assisted robots, thereby enabling more accurate and robust decisions for high-level control. However, current computer vision systems in lower extremity devices are still constrained by the disruptions that occur in the interaction between human, machine, and the environment, which hinder optimal performance. In this paper, we propose a gimbal-based terrain classification system that can be adapted to different lower limb movements, different walking speeds, and gait phases.

Corrigendum: Design of a SMA-based soft composite structure for wearable rehabilitation gloves.

[This corrects the article DOI: 10.3389/fnbot.2023.

Concept design of hybrid-actuated lower limb exoskeleton to reduce the metabolic cost of walking with heavy loads.

This paper proposes the conceptual design method for a hybrid-actuated lower limb exoskeleton based on energy consumption simulation. Firstly, the human-machine coupling model is established in OpenSim based on the proposed three passive assistance schemes. On this basis, the method of simulating muscle driving is used to find out the scheme that can reduce the metabolic rate the most with 3 passive springs models.

Design of a SMA-based soft composite structure for wearable rehabilitation gloves.

The combination of smart soft composite structure based shape memory alloy (SMA) and exoskeleton technology has the advantages of light weight, energy saving, and great human-exoskeleton interaction. However, there are no relevant studies on the application of SMA-based soft composite structure (SSCS) in hand exoskeletons. The main difficulty is that directional mechanical properties of SSCS need to comply with fingers movement, and SSCS can deliver enough output torque and displacement to the relevant joints.

Research of intent recognition in rehabilitation robots: a systematic review.

Purpose: Rehabilitation robots with intent recognition are helping people with dysfunction to enjoy better lives. Many rehabilitation robots with intent recognition have been developed by academic institutions and commercial companies. However, there is no systematic summary about the application of intent recognition in the field of rehabilitation robots.

Spring damping based control for a novel lower limb rehabilitation robot with active flexible training planning.

Background: During neurological rehabilitation training for patients with lower limb dysfunction, active rehabilitation training based on interactive force recognition can effectively improve participation and efficiency in rehabilitation training.

Objective: This study proposes an active training strategy for lower-limb rehabilitation robots based on a spring damping model.

Methods: The active training strategy included a kinetic model of the human-machine system, calculated and verified using a pull-pressure force sensor We used a dynamic model of the human-machine system and tensile force sensors to identify the human-machine interaction forces exerted by the patient Finally, the spring damping model is used to convert the active interaction force into the offset angle of each joint, obtaining the active interaction force followed by the active movement of the lower limbsRESULTS:The experimental results showed that the rehabilitation robot could follow the active interaction force of the subject to provide assistance, thus generating the following movement and effectively helping patients improve joint mobility.

[Research progress on intelligent assessment system for upper limb function of stroke patients].

At present, the upper limb function of stroke patients is often assessed clinically using a scale method, but this method has problems such as time-consuming, poor consistency of assessment results, and high participation of rehabilitation physicians. To overcome the shortcomings of the scale method, intelligent upper limb function assessment systems combining sensors and machine learning algorithms have become one of the hot research topics in recent years. Firstly, the commonly used clinical upper limb functional assessment methods are analyzed and summarized.

Design and kinematical performance analysis of the 7-DOF upper-limb exoskeleton toward improving human-robot interface in active and passive movement training.

Background: Upper-limb rehabilitation robots have become an important piece of equipment in stroke rehabilitation. The design of exoskeleton mechanisms plays a key role to improve human-robot interface in the upper-limb movements under passive and active rehabilitation training.

Objective: This paper proposes a novel of the 7-DOF (RR-RR-PRR) under-actuated exoskeleton mechanism based on the characteristics of the upper-limb movements in both of active and passive training.

Flexible lower limb exoskeleton systems: A review.

Background: As an emerging exoskeleton robot technology, flexible lower limb exoskeleton (FLLE) integrates flexible drive and wearable mechanism, effectively solving many problems of traditional rigid lower limb exoskeleton (RLLE) such as higher quality, poorer compliance and relatively poor portability, and has become one of the important development directions in the field of active rehabilitation.

Objective: This review focused on the development and innovation process in the field of FLLE in the past decade.

Method: Related literature published from 2010 to 2021 were searched in EI, IEEE Xplore, PubMed and Web of Science databases.

A four-bar knee joint measurement walking system for prosthesis design.

Background: Gait analysis is important for the lower limb prosthesis design. Simulating the natural motion of the human knee in different terrains is useful for the design and performance assessment of the prosthetic knee.

Objective: This study aimed to propose a four-bar knee joint measurement system which can simulate the natural knee motions to collect the kinetic parameters precisely and analyze the walking characteristics under different terrain conditions.

Human-robot coupling dynamic modeling and analysis for upper limb rehabilitation robots.

Background: Upper limb rehabilitation robots have become an important piece of equipment in stroke rehabilitation. Human-robot coupling (HRC) dynamics play a key role in the control of rehabilitation robots to improve human-robot interaction.

Objective: This study aims to study the methods of modeling and analysis of HRC dynamics to realize more accurate dynamic control of upper limb rehabilitation robots.

Voice controlled wheelchair integration rehabilitation training and posture transformation for people with lower limb motor dysfunction.

Background: Stroke and other neurological disorders have an effect on mobility, which has a significant impact on independence and quality of life. The core rehabilitation requirements for patients with lower limb motor dysfunction are gait training, re-stand and mobility.

Objective: A wheelchair called ReChair was invented that seamlessly integrated mobility, gait training and multi-posture transformation with voice control.

Design and optimization of a hip disarticulation prosthesis using the remote center of motion mechanism.

Background: Hip disarticulation prostheses (HDPs) are not routinely seen in clinical practice, and traditional hip prostheses rotate around an axis at the front side of the pelvic socket.

Objective: This study proposes a mechanism to restore the rotation center to the acetabulum of the amputated side and uses comparative experiments with traditional HDP to verify the validity of the novel design.

Methods: A double parallelogram design of HDP based on a remote center of motion (RCM) mechanism was presented in this paper.

Pilot Study of a Powered Exoskeleton for Upper Limb Rehabilitation Based on the Wheelchair.

To help hemiplegic patients with stroke to restore impaired or lost upper extremity functionalities efficiently, the design of upper limb rehabilitation robotics which can substitute human practice becomes more important. The aim of this work is to propose a powered exoskeleton for upper limb rehabilitation based on a wheelchair in order to increase the frequency of training and reduce the preparing time per training. This paper firstly analyzes the range of motion (ROM) of the flexion/extension, adduction/abduction, and internal/external of the shoulder joint, the flexion/extension of the elbow joint, the pronation/supination of the forearm, the flexion/extension and ulnar/radial of the wrist joint by measuring the normal people who are sitting on a wheelchair.

[Study on gait symmetry based on simulation and evaluation system of prosthesis gait].

A software and hardware platform for gait simulation and system evaluation for lower limb intelligent prosthesis is proposed and designed, in order that the wearable symmetry effect of the intelligent knee prosthesis can be quantitatively analyzed by machine test instead of human wear test. The whole-body three-dimensional gait and motion analysis system instrument, a device to collect gait data such as joint angle and stride of adults, was used for extracting simulated gait characteristic curve. Then, the gait curve was fitted based on the corresponding joint to verify the feasibility of the test platform in the experiment.

Physiological parameters analysis of transfemoral amputees with different prosthetic knees.

Purposeː Physiological parameters analysis allows for a precise quantification of energy expenditure of transfemoral amputees with different prosthetic knees. Comparative physiological parameters analysis that indicate the functional characteristics of knee joints is essential to the choice of transfemoral amputee. The aim of this study was to propose a microprocessor-controlled prosthetic knee (i-KNEE) and conducted physiological parameters (energy cost, gait efficiency and relative exercise intensity) comparison of transfemoral amputees with C-leg, Rheo Knee and Mauch under different walking speeds.

Design Method for Constant Force Components Based on Superelastic SMA.

Clamping devices with constant force or pressure are desired in medical instruments, such as hemostatic forceps and the artificial sphincter, to prevent soft tissues from injures due to overloading. This paper studies the design method issues in constant force components using superelastic shape memory alloy. A generalized method for generating a constant force components-based shape memory alloy is proposed.

Pilot study of the microprocessor-controlled prosthetic knee with a novel hydraulic damper.

Background: A prosthetic knee is the key component of the transfemoral prosthesis. The performance of the prosthetic knee determines the walking ability of transfemoral amputees.

Objective: This study proposes a microprocessor-controlled prosthetic knee with a novel hydraulic damper and evaluates the performance of the prosthetic knee by gait symmetry index.

Maximum Swing Flexion or Gait Symmetry: A Comparative Evaluation of Control Targets on Metabolic Energy Expenditure of Amputee Using Intelligent Prosthetic Knee.

Background: The metabolic energy expenditure (MEE) was the most important assessment standard of intelligent prosthetic knee (IPK). Maximum swing flexion (MSF) angle and gait symmetry (GS) were two control targets representing different developing directions for IPK. However, the few comparisons based on MEE assessment between the MSF and GS limited the development of the IPK design.

Design and Development of a Portable Exoskeleton for Hand Rehabilitation.

Improvement in hand function to promote functional recovery is one of the major goals of stroke rehabilitation. This paper introduces a newly developed exoskeleton for hand rehabilitation with a user-centered design concept, which integrates the requirements of practical use, mechanical structure, and control system. The paper also evaluated the function with two prototypes in a local hospital.

[Research of the training methods and structure design of intelligent knee prosthesis based on physiological gait].

The performance of intelligent prosthetic knee has an important effect on the realization of physiological gait of transfemoral amputees. A new type of single axis hydraulic damping knee prosthesis was designed based on the analysis of physiological gait. The training methods of the stance and swing phase were proposed.

[Study on the center-driven multiple degrees of freedom upper limb rehabilitation training robot].

With the aging of the society, the number of stroke patients has been increasing year by year. Compared with the traditional rehabilitation therapy, the application of upper limb rehabilitation robot has higher efficiency and better rehabilitation effect, and has become an important development direction in the field of rehabilitation. In view of the current development status and the deficiency of upper limb rehabilitation robot system, combined with the development trend of all kinds of products of the upper limb rehabilitation robot, this paper designed a center-driven upper limb rehabilitation training robot for cable transmission which can help the patients complete 6 degrees of freedom (3 are driven, 3 are underactuated) training.