The Design and Adaptive Control of a Parallel Chambered Pneumatic Muscle-Driven Soft Hand Robot for Grasping Rehabilitation.

The widespread application of exoskeletons driven by soft actuators in motion assistance and medical rehabilitation has proven effective for patients who struggle with precise object grasping and suffer from insufficient hand strength due to strokes or other conditions. Repetitive passive flexion/extension exercises and active grasp training are known to aid in the restoration of motor nerve function. However, conventional pneumatic artificial muscles (PAMs) used for hand rehabilitation typically allow for bending in only one direction, thereby limiting multi-degree-of-freedom movements.

A Novel Method for Rolling Bearing Fault Diagnosis Based on Gramian Angular Field and CNN-ViT.

Fault diagnosis is one of the important applications of edge computing in the Industrial Internet of Things (IIoT). To address the issue that traditional fault diagnosis methods often struggle to effectively extract fault features, this paper proposes a novel rolling bearing fault diagnosis method that integrates Gramian Angular Field (GAF), Convolutional Neural Network (CNN), and Vision Transformer (ViT). First, GAF is used to convert one-dimensional vibration signals from sensors into two-dimensional images, effectively retaining the fault features of the vibration signal.

Reconstruction of Adaptive Leaky Integrate-and-Fire Neuron to Enhance the Spiking Neural Networks Performance by Establishing Complex Dynamics.

Since digital spiking signals can carry rich information and propagate with low computational consumption, spiking neural networks (SNNs) have received great attention from neuroscientists and are regarded as the future development object of neural networks. However, generating the appropriate spiking signals remains challenging, which is related to the dynamics property of neurons. Most existing studies imitate the biological neurons based on the correlation of synaptic input and output, but these models have only one time constant, thus ignoring the structural differentiation and versatility in biological neurons.

Attention-based multi-semantic dynamical graph convolutional network for eeg-based fatigue detection.

Introduction: Establishing a driving fatigue monitoring system is of utmost importance as severe fatigue may lead to unimaginable consequences. Fatigue detection methods based on physiological information have the advantages of reliable and accurate. Among various physiological signals, EEG signals are considered to be the most direct and promising ones.

An improved multi-source domain adaptation network for inter-subject mental fatigue detection based on DANN.

Objectives: Electroencephalogram (EEG) is often used to detect mental fatigue because of its real-time characteristic and objective nature. However, because of the individual variability of EEG among different individuals, tedious and time-consuming calibration sessions are needed.

Methods: Therefore, we propose a multi-source domain adaptation network for inter-subject mental fatigue detection named FLDANN, which is short for focal loss based domain-adversarial training of neural network.

EEG-based mental fatigue detection using linear prediction cepstral coefficients and Riemann spatial covariance matrix.

. Establishing a mental fatigue monitoring system is of great importance as for severe fatigue may cause unimaginable consequences. Electroencephalogram (EEG) is often utilized for mental fatigue detection because of its high temporal resolution and ease of use.

Flexible coding scheme for robotic arm control driven by motor imagery decoding.

. Brain computer interface (BCI) technology is an innovative way of information exchange, which can effectively convert physiological signals into control instructions of machines. Due to its spontaneity and device independence, the motor imagery (MI) electroencephalography (EEG) signal is used as a common BCI signal source to achieve direct control of external devices.

A Two-Stream Graph Convolutional Network Based on Brain Connectivity for Anesthetized States Analysis.

Investigating neural mechanisms of anesthesia process and developing efficient anesthetized state detection methods are especially on high demand for clinical consciousness monitoring. Traditional anesthesia monitoring methods are not involved with the topological changes between electrodes covering the prefrontal-parietal cortices, by investigating electrocorticography (ECoG). To fill this gap, a framework based on the two-stream graph convolutional network (GCN) was proposed, i.

Enhanced compensation control of pneumatic muscle actuator with high-order modified dynamic model.

Dynamic behaviour of the pneumatic muscle actuator (PMA) is conventionally modelled as a pressure-based first-order equation under discrete loads, which cannot exactly describe its dynamic features. Considering PMA's nonlinear, time-varying and hysteresis characteristics, we propose a novel high-order modified dynamic model of PMA based on its physical properties and working principle, with coefficients being identified under external dynamic loads. To tackle PMA's nonlinear hysteresis problem in high-frequency movements, a global fast terminal sliding mode controller with the modified model-based radial basis function (RBF) neural network disturbance compensator (RBF-GFTSMC) is designed.

Bioinspired Stretchable Fiber-Based Sensor toward Intelligent Human-Machine Interactions.

Wearable integrated sensing devices with flexible electronic elements exhibit enormous potential in human-machine interfaces (HMI), but they have limitations such as complex structures, poor waterproofness, and electromagnetic interference. Herein, inspired by the profile of Lindernia nummularifolia (LN), a bionic stretchable optical strain (BSOS) sensor composed of an LN-shaped optical fiber incorporated with a stretchable substrate is developed for intelligent HMI. Such a sensor enables large strain and bending angle measurements with temperature self-compensation by the intensity difference of two fiber Bragg gratings' (FBGs') center wavelength.

CNN-Based Hand Grasping Prediction and Control via Postural Synergy Basis Extraction.

The prediction of hand grasping and control of a robotic manipulator for hand activity training is of great significance to assist stroke patients to recover their biomechanical functions. However, the human hand and the figure joints have multiple degrees of freedom; therefore, it is complex to process and analyze all the collected data in hand modeling. To simplify the description of grasping activities, it is necessary to extract and decompose the principal components of hand actions.

Brain Connectivity Analysis in Anesthetized and Awake States: an ECoG Study in Monkeys.

Increasingly, studies have shown that changes in brain network topology accompany loss of consciousness such that the functional connectivity of the prefrontal-parietal network differs significantly in anesthetized and awake states. In this work, anesthetized and awake segments of electrocorticography were selected from two monkeys. Using phase lag index, functional connectivity matrices were built in multiple frequency bands.

Path Planning and Impedance Control of a Soft Modular Exoskeleton for Coordinated Upper Limb Rehabilitation.

The coordinated rehabilitation of the upper limb is important for the recovery of the daily living abilities of stroke patients. However, the guidance of the joint coordination model is generally lacking in the current robot-assisted rehabilitation. Modular robots with soft joints can assist patients to perform coordinated training with safety and compliance.

Research on Channel Selection and Multi-Feature Fusion of EEG Signals for Mental Fatigue Detection.

With the rapid development of modern social science and technology, the pace of life is getting faster, and brain fatigue has become a sub-health state that seriously affects the normal life of people. Electroencephalogram (EEG) signals reflect changes in the central nervous system. Using EEG signals to assess mental fatigue is a research hotspot in related fields.

Online detection of class-imbalanced error-related potentials evoked by motor imagery.

Error-related potentials (ErrPs) are spontaneous electroencephalogram signals related to the awareness of erroneous responses within brain domain. ErrPs-based correction mechanisms can be applied to motor imagery-brain-computer interface (MI-BCI) to prevent incorrect actions and ultimately improve the performance of the hybrid BCI. Many studies on ErrPs detection are mostly conducted under offline conditions with poor classification accuracy and the error rates of ErrPs are preset in advance, which is too ideal to apply in realistic applications.

Characteristics of Onefold Clocks of GPS, Galileo, BeiDou and GLONASS Systems.

This research is focused on searching for frequency and noise characteristics for available GNSS (Global Navigation Satellite Systems). The authors illustrated frequency stability and noise characteristics for a selected set of data from four different GNSS systems. For this purpose, 30-s-interval clock corrections were used for the GPS weeks 1982-2034 (the entirety of 2018).

Frontal EEG Temporal and Spectral Dynamics Similarity Analysis between Propofol and Desflurane Induced Anesthesia Using Hilbert-Huang Transform.

Electroencephalogram (EEG) signal analysis is commonly employed to extract information on the brain dynamics. It mainly targets brain status and communication, thus providing potential to trace differences in the brain's activity under different anesthetics. In this article, two kinds of gamma-amino butyric acid (type A -GABAA) dependent anesthetic agents, propofol and desflurane (28 and 23 patients), were studied and compared with respect to EEG spectrogram dynamics.

Mutual-Information-Based Incremental Relaying Communications for Wireless Biomedical Implant Systems.

Network lifetime maximization of wireless biomedical implant systems is one of the major research challenges of wireless body area networks (WBANs). In this paper, a mutual information (MI)-based incremental relaying communication protocol is presented where several on-body relay nodes and one coordinator are attached to the clothes of a patient. Firstly, a comprehensive analysis of a system model is investigated in terms of channel path loss, energy consumption, and the outage probability from the network perspective.

Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot.

A rehabilitation robot plays an important role in relieving the therapists' burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles' good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF) parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs).

Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles.

Traditional compliance control of a rehabilitation robot is implemented in task space by using impedance or admittance control algorithms. The soft robot actuated by pneumatic muscle actuators (PMAs) is becoming prominent for patients as it enables the compliance being adjusted in each active link, which, however, has not been reported in the literature. This paper proposes a new compliance control method of a soft ankle rehabilitation robot that is driven by four PMAs configured in parallel to enable three degrees of freedom movement of the ankle joint.

Feature Selection for Motor Imagery EEG Classification Based on Firefly Algorithm and Learning Automata.

Motor Imagery (MI) electroencephalography (EEG) is widely studied for its non-invasiveness, easy availability, portability, and high temporal resolution. As for MI EEG signal processing, the high dimensions of features represent a research challenge. It is necessary to eliminate redundant features, which not only create an additional overhead of managing the space complexity, but also might include outliers, thereby reducing classification accuracy.

Gestures recognition based on wavelet and LLE.

Wavelet analysis is a time-frequency, non-stationary method while the largest Lyapunov exponent (LLE) is used to judge the non-linear characteristic of systems. Because surface electromyography signal (SEMGS) is a complex signal that is characterized by non-stationary and non-linear properties. This paper combines wavelet coefficient and LLE together as the new feature of SEMGS.