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Design of active orthoses for a robotic gait rehabilitation system

A. C. VILLA-PARRA,L. BROCHE,D. DELISLE-RODRÍGUEZ,R. SAGARÓ,T. BASTOS,A. FRIZERA-NETO

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 3,   Pages 242-254 doi: 10.1007/s11465-015-0350-1

Abstract:

An active orthosis (AO) is a robotic device that assists both human gait and rehabilitation therapyBoth AOs will be used to complete a robotic system that improves gait rehabilitation.However, the potential of the proposed AOs to be part of a robotic gait rehabilitation system that improves

Keywords： active orthosis     gait rehabilitation     electroencephalography     surface electromyography    

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Modeling and simulation of normal and hemiparetic gait

Lely A. LUENGAS,Esperanza CAMARGO,Giovanni SANCHEZ

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 3,   Pages 233-241 doi: 10.1007/s11465-015-0343-0

Abstract: science, rehabilitation and medicine in general.First of all, we apply it in the normal gait and then in the permanent hemiparetic gait.and kinetics of gait., especially hemiparetic gait.the significant characteristics of normal gait.

Keywords： bipedal gait     biomechanics     dynamic walking     gait model     human gait     hemiparetic human gait    

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Optimum design and preliminary experiments of a novel parallel end traction apparatus for upper-limb rehabilitation

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4,   Pages 726-746 doi: 10.1007/s11465-021-0651-5

Abstract: Robot-assisted technology has been increasingly employed in the therapy of post stroke patients to deliver high-quality treatment and alleviate therapists’ burden. This paper introduces a novel parallel end traction apparatus (PETA) to supplement equipment selection. Considering the appearance and performance of the PETA, two types of special five-bar linkage mechanisms are selected as the potential configurations of the actuation execution unit because of their compact arrangement and parallel structure. Kinematic analysis of each mechanism, i.e., position solutions and Jacobian matrix, is carried out. Subsequently, a comparative study between the two mechanisms is conducted. In the established source of nondimensional parameter synthesis, the singularity, maximum continuous workspace, and performance variation trends are analyzed. Based on the evaluation results, the final scheme with determined configuration and corresponding near-optimized nondimensional parameters is obtained. Then, a prototype is constructed. By adding a lockable translational degree of freedom in the vertical direction, the PETA can provide 2D planar exercise and 3D spatial exercise. Finally, a control system is developed for passive exercise mode based on the derived inverse position solution, and preliminary experiments are performed to verify the applicability of the PETA.

Keywords： parallel mechanism     upper-limb rehabilitation     singularity and workspace analyses     performance evaluation    

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Evaluation of aquatic rehabilitation technologies for polluted urban rivers and the case study of the

Haifeng JIA, Nan DONG, Hongtao MA,

Frontiers of Environmental Science & Engineering 2010, Volume 4, Issue 2,   Pages 213-220 doi: 10.1007/s11783-010-0023-6

Abstract: An index system for evaluation of technologies for urban river rehabilitation was proposed and discussedThe technologies for the rehabilitation of the Foshan Channel were evaluated based on this index systemFinally, a rehabilitation scheme for the Foshan Channel was proposed.

Keywords： river rehabilitation     urban rivers     river pollution     multi-objective analysis     the Foshan Channel    

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Review of human–robot coordination control for rehabilitation based on motor function evaluation

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0684-4

Abstract: As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliaryrehabilitation training for patients with lower limb walking impairment/loss and address the existingThe patients’ functional disorders and clinical rehabilitation needs regarding lower limbs are analysedin detail, forming the basis for the human–robot coordination of lower limb rehabilitation robots.Based on the reviewed research, the demand for robotic rehabilitation, modelling for human–robot coupling

Keywords： human–robot coupling     lower limb rehabilitation     exoskeleton robot     motor assessment     dynamical model    

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Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture Research Article

Mei-ying Deng, Zhang-yi Ma, Ying-nan Wang, Han-song Wang, Yi-bing Zhao, Qian-xiao Wei, Wei Yang, Can-jun Yang,ycj@zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 10,   Pages 1322-1330 doi: 10.1631/FITEE.1800777

Abstract: We study the balance problem caused by forward leaning of the wearer’s upper body during rehabilitationtraining with a lower limb rehabilitation exoskeleton.By comparing the stability region with instantaneous s of different gait phases, the balancing characteristicsof different gait phases and changes to the equilibrium state in the gait process are analyzed.cycle to zero moment point transfer is reduced correspondingly, and the gait stability is improved.

Keywords： 下肢机器人；捕获点；步态相位；人机系统平衡    

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Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral Research Articles

Donghai WANG

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 6,   Pages 920-936 doi: 10.1631/FITEE.2000465

Abstract:

This paper presents a gait-synchronization system to help potential unilateral knee-injured peopleThe gait-synchronization system is integrated with a designed to sense the motion/gait of the healthytrajectories, the motorized hip joint lifts the links during walking and synchronizes the knee-injured gaitwith the healthy gait by a half-cycle delay.The results indicate that the motorized hip-controlled LEE can synchronize the motion/gait of the combined

Keywords： Sensor-guided     Lower-extremity-exoskeleton     Body sensor network     Gait synchronization     Weight-support    

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EEG-controlled functional electrical stimulation rehabilitation for chronic stroke: system design and

Frontiers of Medicine 2021, Volume 15, Issue 5,   Pages 740-749 doi: 10.1007/s11684-020-0794-5

Abstract: New strategies for motor rehabilitation after stroke are undergoing exploration.We aimed to develop a novel artificial neural rehabilitation system, which integrates brain--computer

Keywords： brain–computer interface     functional electrical stimulation     electroencephalogram     laterality coefficient     chronic stroke    

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An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1,   Pages 95-103 doi: 10.1007/s11465-013-0357-4

Abstract: Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait

Keywords： human locomotion     walking gait     characterization     humanoid robot     biped robot    

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Recognition of walking environments and gait period by surface electromyography Special Feature on Intelligent Robats

Seulki KYEONG, Wonseok SHIN, Minjin YANG, Ung HEO, Ji-rou FENG, Jung KIM

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 3,   Pages 342-352 doi: 10.1631/FITEE.1800601

Abstract: exoskeleton to help in walking, the aim of this work is to distinguish the walking environment and gaitFor this purpose, a gait experiment was performed on four subjects using the ground reaction force, human–robotof this paper is to show progress with the use of sEMG when recognizing walking environments and the gaitWhen four sensor combinations were used, the environment classification accuracy was 96.1%, and the gaitpre-heel contact (preHC) and 71.7% in pre-toe-off (preTO) for environment classification, and 68.0% for gait

Keywords： Walking environment     Gait Period     Surface electromyography (sEMG)     Exoskeleton    

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Analysis of cost effective pavement treatment and budget optimization for arterial roads in the city of Chattanooga

Mbakisya ONYANGO, Saliha Ammour MERABTI, Joseph OWINO, Ignatius FOMUNUNG, Weidong WU

Frontiers of Structural and Civil Engineering 2018, Volume 12, Issue 3,   Pages 291-299 doi: 10.1007/s11709-017-0419-5

Abstract:

Many transportation agencies lack sufficient funds to maintain and repair roads, which results into increased pavement maintenance cost. Pavement Management System (PMS) has demonstrated to be an essential tool for proper management of infrastructure and proper utilization of available funds. The University of Tennessee at Chattanooga utilized Micropaver software as PMS tool to conduct a pavement management analysis of principal arterials in the City of Chattanooga. The study used the City of Chattanooga pavement database to create the current and future pavement conditions. Maintenance and repair (M&R) planning analysis was also performed in order to determine the most cost-effective treatment and suggest the optimum utilization of funds for the city. An analysis of five budget scenarios was conducted for a five-year plan using the critical pavement condition index (PCI) method (ASTM D6433). Results show that the backlog elimination budget would be the best scenario because it increases the pavement condition and eliminates the backlog of major maintenance and repairs over the five-year period. The unlimited budget seems though ideal, it does not improve pavement condition. Maintaining current condition and limited budget scenarios would increase both the backlog and the total cost of maintenance and repairs over the analysis period.

Keywords： PMS     Micropaver     pavement budget     maintenance     rehabilitation    

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Research on Decision Support System for Resettlement and Rehabilitation Due to Project

Wang Jiayao,Yao Songling

Strategic Study of CAE 2000, Volume 2, Issue 9,   Pages 80-84

Abstract:

Resettlement and rehabilitation generally means the moving house not of one´s own accord andBased on GIS, the DSS for resettlement and rehabilitation is an efficient means for science decision.This paper probed into the theory and method of decision-making support for resettlement and rehabilitation

Keywords： resettlement and rehabilitation     decision-making support     geographical information system (GIS)     decision-making    

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Control strategy for gait transition of an underactuated 3Dbipedal robot Research Articles

Hai-hui YUAN, Yi-min GE, Chun-biao GAN

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 8,   Pages 1026-1035 doi: 10.1631/FITEE.1800206

Abstract: In reality, bipedal robots are often required to perform gait transitions to achieve flexible walkingIn this paper, we consider the gait transition of a five-link underactuated three-dimensional (3D) bipedalupdated by an adaptive control law, and a transition controller that guides the robot from the current gaitto a neighboring point of the target gait so that the state trajectory can smoothly converge to thetarget gait.

Keywords： Gait transition     Underactuated three-dimensional biped     Event-based feedback controller     Adaptive control    

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Ecological assessment of lakeshore wetland rehabilitation on eastern route of South-to-North Water Transfer

ZHANG Jian, Lu Yifeng, JING Yuming, ZHANG Bo, ZHANG Chenglu, MENG Fei, ZHANG Huayong

Frontiers of Environmental Science & Engineering 2008, Volume 2, Issue 3,   Pages 306-310 doi: 10.1007/s11783-008-0057-1

Abstract: To evaluate the ecological effects of lakeshore wetland rehabilitation on the eastern route of the South-to-NorthPielou Evenness index were adopted to delineate and discuss the ecological effects of lakeshore wetland rehabilitationResults showed that the species richness of the wetland areas after 2 years’ rehabilitation amountedto 47 of 24 families, higher than 25 of 20 families in areas without rehabilitation.rehabilitated areas were also higher than those of platform fields and fish ponds where there was no rehabilitation

Keywords： community     South-to-North     Shannon-Wiener     Evenness     addition    

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DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking Article

Hongfei Wang, Shimeng Li, Yuan F. Zheng

Engineering 2015, Volume 1, Issue 1,   Pages 36-45 doi: 10.15302/J-ENG-2015006

Abstract: We also introduce a new gait for humanoid robot locomotion to improve stability performance, called theSki-Type gait.We analyze the stability performance of this gait and use the stability margin to choose between twoNext, we perform a force/torque analysis for the redundant closed-chain system in the Ski-Type gait,Finally, we compare our experimental results with biped walking to validate the Ski-Type gait.

Keywords： humanoid robot     DARPA robotics challenge (DRC)     rough-terrain walking     Ski-Type gait    

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Title Author Date Type Operation

Design of active orthoses for a robotic gait rehabilitation system

A. C. VILLA-PARRA,L. BROCHE,D. DELISLE-RODRÍGUEZ,R. SAGARÓ,T. BASTOS,A. FRIZERA-NETO

Journal Article

Modeling and simulation of normal and hemiparetic gait

Lely A. LUENGAS,Esperanza CAMARGO,Giovanni SANCHEZ

Journal Article

Optimum design and preliminary experiments of a novel parallel end traction apparatus for upper-limb rehabilitation

Journal Article

Evaluation of aquatic rehabilitation technologies for polluted urban rivers and the case study of the

Haifeng JIA, Nan DONG, Hongtao MA,

Journal Article

Review of human–robot coordination control for rehabilitation based on motor function evaluation

Journal Article

Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture

Mei-ying Deng, Zhang-yi Ma, Ying-nan Wang, Han-song Wang, Yi-bing Zhao, Qian-xiao Wei, Wei Yang, Can-jun Yang,ycj@zju.edu.cn

Journal Article

Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral

Donghai WANG

Journal Article

EEG-controlled functional electrical stimulation rehabilitation for chronic stroke: system design and

Journal Article

An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

Journal Article

Recognition of walking environments and gait period by surface electromyography

Seulki KYEONG, Wonseok SHIN, Minjin YANG, Ung HEO, Ji-rou FENG, Jung KIM

Journal Article

Analysis of cost effective pavement treatment and budget optimization for arterial roads in the city of Chattanooga

Mbakisya ONYANGO, Saliha Ammour MERABTI, Joseph OWINO, Ignatius FOMUNUNG, Weidong WU

Journal Article

Research on Decision Support System for Resettlement and Rehabilitation Due to Project

Wang Jiayao,Yao Songling

Journal Article

Control strategy for gait transition of an underactuated 3Dbipedal robot

Hai-hui YUAN, Yi-min GE, Chun-biao GAN

Journal Article

Ecological assessment of lakeshore wetland rehabilitation on eastern route of South-to-North Water Transfer

ZHANG Jian, Lu Yifeng, JING Yuming, ZHANG Bo, ZHANG Chenglu, MENG Fei, ZHANG Huayong

Journal Article

DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking

Hongfei Wang, Shimeng Li, Yuan F. Zheng

Journal Article