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下肢外骨骼机器人；人机交互；运动学习；轨迹生成；运动基元；黑盒优化 1

下肢机器人；捕获点；步态相位；人机系统平衡 1

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

《机械工程前沿（英文）》 2022年 第17卷 第2期 doi: 10.1007/s11465-022-0684-4

摘要： As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem of insufficient medical resources. One of the main elements of such a human–robot coupling system is a control system to ensure human–robot coordination. This review aims to summarise the development of human–robot coordination control and the associated research achievements and provide insight into the research challenges in promoting innovative design in such control systems. The patients’ functional disorders and clinical rehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robot coordination of lower limb rehabilitation robots. Then, human–robot coordination is discussed in terms of three aspects: modelling, perception and control. Based on the reviewed research, the demand for robotic rehabilitation, modelling for human–robot coupling systems with new structures and assessment methods with different etiologies based on multi-mode sensors are discussed in detail, suggesting development directions of human–robot coordination and providing a reference for relevant research.

关键词： human–robot coupling     lower limb rehabilitation     exoskeleton robot     motor assessment     dynamical model     perception    

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

《机械工程前沿（英文）》 2021年 第16卷 第4期   页码 726-746 doi: 10.1007/s11465-021-0651-5

摘要： 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.

关键词： parallel mechanism     upper-limb rehabilitation     singularity and workspace analyses     performance evaluation     optimum design    

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Treatment of severe diffuse cavernous hemangioma of the lower limb by combination of superficial femoral

Yin XIA, Dan SHANG, Qin LI, Xiaoqin RUN, Chenxi OUYANG, Yiqing LI, Bi JIN

《医学前沿（英文）》 2009年 第3卷 第2期   页码 240-244 doi: 10.1007/s11684-009-0031-8

摘要： Severe diffuse cavernous hemangioma of the lower limb is rarely seen among young people and sometimes can be a fatal challenge for operation. We reported a case of diffuse cavernous hemangioma involving both skin and muscles of the left lower limb and perineal region in an adolescent patient. The patient who had previously undergone a local hemangioma resection of the foot ultimately ended in superficial femoral artery ligation and supergenual thigh amputation of the left upper leg because of uncontrollable massive bleeding of anastomotic stoma.

关键词： cavernous hemangioma     femoral artery     ligation     amputation    

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基于捕获点理论的下肢步行康复外骨骼防跌倒步态规划 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

《信息与电子工程前沿（英文）》 2019年 第20卷 第10期   页码 1322-1330 doi: 10.1631/FITEE.1800777

摘要： 研究了在下肢康复外骨骼康复训练过程中穿戴者上半身向前倾斜导致的平衡问题。通过对人体—外骨骼系统建模并使用捕获点理论获取瞬时捕获点，将稳定区域与不同步态相的瞬时捕获点比较，分析不同步态相的平衡特性以及步态过程中平衡状态的变化。基于人体骨骼系统的模型和不同阶段的平衡条件，针对穿戴者上半身前倾导致人体骨骼系统的不稳定性，提出一种轨迹校正策略。最后，在浙江大学下肢外骨骼上实验，验证轨迹校正策略的可靠性。所提轨迹校正策略可及时响应上半身前倾，同时在重心从双支撑相转移到单支撑相的过程中，步态周期与零力矩点传递的比值相应减小，步态稳定性提高。

关键词： 下肢机器人；捕获点；步态相位；人机系统平衡    

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一种新型自主下肢外骨骼助行机器人的研制 Special Feature on Intelligent Robats

Yong HE, Nan LI, Chao WANG, Lin-qing XIA, Xu YONG, Xin-yu WU

《信息与电子工程前沿（英文）》 2019年 第20卷 第3期   页码 318-329 doi: 10.1631/FITEE.1800561

摘要： 目前，外骨骼被广泛应用于下肢运动障碍患者的步行辅助。现有外骨骼机器人大部分采用欠驱动模式，导致一系列使用问题，如行走过程中步行干扰和不自然步态。提出一种新型智能自主下肢外骨骼(Auto-LEE)，旨在改善穿戴式助行器用户体验，扩大应用范围。与传统外骨骼不同，Auto-LEE有10个自由度，所有关节都由直流电机独立驱动，使机器人能在无外部支撑下保持平衡行走。此外，在设计中采用模块化结构理念，在控制系统中考虑多模态人机交互。为验证机器人自主平衡双足行走能力，对比3种常用步态规划算法，初步实现行走实验。

关键词： 下肢；外骨骼；自平衡；双足行走；模块化设计    

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针对下肢外骨骼机器人的基于概率运动基元的黑盒优化运动学习 Research Article

王嘉琪,高永卓,吴冬梅,董为

《信息与电子工程前沿（英文）》 2023年 第24卷 第1期   页码 104-116 doi: 10.1631/FITEE.2200065

摘要： 外骨骼作为一种可穿戴的机器人，通过拟人化的构型直接传递机械动力来辅助或增强穿戴者运动。当外骨骼用于促进穿戴者的运动时，运动生成过程通常在高层控制中发挥重要作用。该领域的主要挑战之一是实时生成符合人类意图且可以适应不同情况的参考轨迹。在本文中，我们首先提出了一种基于概率运动基元（ProMP）的下肢外骨骼运动建模方法，它是一种用于生成运动轨迹的新型且强大的代表性工具。为了在不同穿戴者使用外骨骼时使轨迹适应不同情况，我们接着提出了一种基于黑盒优化PIBB结合ProMP的新型运动学习方案。运动模型首先由ProMP离线学习，它可以生成参考轨迹供外骨骼控制器在线使用，再采用PIBB在线学习和更新模型，提供了系统的自适应能力，消除了不确定性的影响。使用下肢外骨骼HEXO对六名受试者进行的模拟和实验证明了所提出方法的有效性。

关键词： 下肢外骨骼机器人；人机交互；运动学习；轨迹生成；运动基元；黑盒优化    

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Design and preliminary evaluation of an exoskeleton for upper limb resistance training

Tzong-Ming WU, Dar-Zen CHEN

《机械工程前沿（英文）》 2012年 第7卷 第2期   页码 188-198 doi: 10.1007/s11465-012-0327-2

摘要：

Resistance training is a popular form of exercise recommended by national health organizations, such as the American College of Sports Medicine (ACSM) and the American Heart Association (AHA). This form of training is available for most populations. A compact design of upper limb exoskeleton mechanism for home-based resistance training using a spring-loaded upper limb exoskeleton with a three degree-of-freedom shoulder joint and a one degree-of-freedom elbow joint allows a patient or a healthy individual to move the upper limb with multiple joints in different planes. It can continuously increase the resistance by adjusting the spring length to train additional muscle groups and reduce the number of potential injuries to upper limb joints caused by the mass moment of inertia of the training equipment. The aim of this research is to perform a preliminary evaluation of the designed function by adopting an appropriate motion analysis system and experimental design to verify our prototype of the exoskeleton and determine the optimal configuration of the spring-loaded upper limb exoskeleton.

关键词： exoskeleton     free-weight exercise     upper limb     motion analysis    

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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,

《环境科学与工程前沿（英文）》 2010年 第4卷 第2期   页码 213-220 doi: 10.1007/s11783-010-0023-6

摘要： An index system for evaluation of technologies for urban river rehabilitation was proposed and discussed. The index system includes indicators of cost, resources, environmental improvement, and social effects. The calculation method for an objective value of each index based on its attributes and weights was presented. The Foshan Channel, which is a seriously polluted, black and malodorous urban river in Foshan City, China, was selected as a case study. The values of the attributes and the weights of the indices for the Foshan Channel were determined. The technologies for the rehabilitation of the Foshan Channel were evaluated based on this index system. Finally, a rehabilitation scheme for the Foshan Channel was proposed.

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

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Simulation of flow excursion and thermal siphon under natural circulation condition with lower pressureand lower quality

WANG Jianjun, YANG Xingtuan, JIANG Shengyao

《能源前沿（英文）》 2008年 第2卷 第2期   页码 169-173 doi: 10.1007/s11708-008-0044-z

摘要： The simulation of flow excursion was conducted under HRTL-5 condition. The mechanism analysis and the simulation of thermal siphon process were also performed. The result shows that the computer code can be used to simulate the static instability of a natural circulation system and the simulation of flow excursion almost conforms to the experiment result.

关键词： HRTL-5     experiment     circulation     simulation     thermal    

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Dynamic fate modeling of γ-hexachlorocyclohexane in the lower reaches of the Liao River

LIU Zhenyu, YANG Fenglin, QUAN Xie, ZHANG Xiaohong

《环境科学与工程前沿（英文）》 2007年 第1卷 第2期   页码 166-171 doi: 10.1007/s11783-007-0029-x

摘要： A QWASI model dependent on temperature is parameterized to describe the long-term fate of persistent organic pollutants (POPs) in the Liao River. The model parameters, namely fugacity capacity, degradation rate, and transfer coefficient, are profoundly affected by temperature. This model is used to simulate the fate of γ-hexachlorocyclohexane (γ-HCH) in the lower reaches of the Liao River from 1998 to 2008. Modeling results show that γ-HCH fugacity capacities in air, water, and sediment increase as temperature decreases, and the transfer and transformation rate coefficients increase as temperature increases. The variations of transfer and transformation parameter values depend on fugacity capacities, and transfer and transformation coefficients simultaneously. The performance of the model is evaluated by comparing the predicted and observed concentrations in the water and sediment of the Liao River. The predicted values agree well with the observed value in the order of magnitude, in most cases within the factor of 3. It is believed that the model is appropriate for simulating the long term fate of POPs in the Liao River.

关键词： coefficient     POPs     temperature     sediment increase     dependent    

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Does financial development lower energy intensity?

Philip Kofi ADOM, Michael Owusu APPIAH, Mawunyo Prosper AGRADI

《能源前沿（英文）》 2020年 第14卷 第3期   页码 620-634 doi: 10.1007/s11708-019-0619-x

摘要： The growth-induced effects of financial development have been well-established in the empirical literature, as well as the significance of financial development to energy demand behavior. However, the empirical evidence on the relationship between financial development and energy intensity remains sparse in the literature. Given the multifaceted nature of the effects of financial development, the proposed relationship seems a complex one and warrants an empirical investigation. Using the case of Ghana, this study provides an empirical answer to the question: does financial development lower energy intensity? To provide solid grounds for either rejection or acceptance of the null hypothesis, this study performed several robustness checks. Generally, the evidence revealed that financial development lowers energy intensity. Further, the results revealed that the price of energy, trade liberalization and industry structure play significant roles. These results have important implications for the design of macro energy efficiency policies and the creation of a ‘Green Bank’.

关键词： financial development     energy intensity     energy efficiency     Ghana    

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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

《机械工程前沿（英文）》 2015年 第10卷 第3期   页码 242-254 doi: 10.1007/s11465-015-0350-1

摘要：

An active orthosis (AO) is a robotic device that assists both human gait and rehabilitation therapy. This work proposes portable AOs, one for the knee joint and another for the ankle joint. Both AOs will be used to complete a robotic system that improves gait rehabilitation. The requirements for actuator selection, the biomechanical considerations during the AO design, the finite element method, and a control approach based on electroencephalographic and surface electromyographic signals are reviewed. This work contributes to the design of AOs for users with foot drop and knee flexion impairment. However, the potential of the proposed AOs to be part of a robotic gait rehabilitation system that improves the quality of life of stroke survivors requires further investigation.

关键词： active orthosis     gait rehabilitation     electroencephalography     surface electromyography    

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EEG controlled neuromuscular electrical stimulation of the upper limb for stroke patients

Hock Guan TAN, Cheng Yap SHEE, Keng He KONG, Cuntai GUAN, Wei Tech ANG

《机械工程前沿（英文）》 2011年 第6卷 第1期   页码 71-81 doi: 10.1007/s11465-011-0207-1

摘要：

This paper describes the Brain Computer Interface (BCI) system and the experiments to allow post-acute (<3 months) stroke patients to use electroencephalogram (EEG) to trigger neuromuscular electrical stimulation (NMES)-assisted extension of the wrist/fingers, which are essential pre-requisites for useful hand function. EEG was recorded while subjects performed motor imagery of their paretic limb, and then analyzed to determine the optimal frequency range within the -rhythm, with the greatest attenuation. Aided by visual feedback, subjects then trained to regulate their -rhythm EEG to operate the BCI to trigger NMES of the wrist/finger. 6 post-acute stroke patients successfully completed the training, with 4 able to learn to control and use the BCI to initiate NMES. This result is consistent with the reported BCI literacy rate of healthy subjects. Thereafter, without the loss of generality, the controller of the NMES is developed and is based on a model of the upper limb muscle (biceps/triceps) groups to determine the intensity of NMES required to flex or extend the forearm by a specific angle. The muscle model is based on a phenomenological approach, with parameters that are easily measured and conveniently implemented.

关键词： brain computer interface     neuromuscular electrical stimulation     stroke     musculoskeletal modeling    

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

《医学前沿（英文）》 2021年 第15卷 第5期   页码 740-749 doi: 10.1007/s11684-020-0794-5

摘要： Stroke is one of the most serious diseases that threaten human life and health. It is a major cause of death and disability in the clinic. New strategies for motor rehabilitation after stroke are undergoing exploration. We aimed to develop a novel artificial neural rehabilitation system, which integrates brain--computer interface (BCI) and functional electrical stimulation (FES) technologies, for limb motor function recovery after stroke. We conducted clinical trials (including controlled trials) in 32 patients with chronic stroke. Patients were randomly divided into the BCI-FES group and the neuromuscular electrical stimulation (NMES) group. The changes in outcome measures during intervention were compared between groups, and the trends of ERD values based on EEG were analyzed for BCI-FES group. Results showed that the increase in Fugl Meyer Assessment of the Upper Extremity (FMA-UE) and Kendall Manual Muscle Testing (Kendall MMT) scores of the BCI-FES group was significantly higher than that in the sham group, which indicated the practicality and superiority of the BCI-FES system in clinical practice. The change in the laterality coefficient (LC) values based on μ-ERD (ΔLCm-ERD) had high significant positive correlation with the change in FMA-UE(r= 0.6093, P=0.012), which provides theoretical basis for exploring novel objective evaluation methods.

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

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Natural ecological water demand in the lower Heihe River

FU Xinfeng, HE Hongmou, JIANG Xiaohui, WANG Guoqing, YANG Shengtian

《环境科学与工程前沿（英文）》 2008年 第2卷 第1期   页码 63-68 doi: 10.1007/s11783-008-0022-z

摘要： The ecological environment in the lower Heihe River has been deteriorating due to large water consumption in the upper and middle reaches, and less available water downstream. To restore the ecological environment in the lower Heihe River, the ecological water demand should be guaranteed. The natural vegetation area in the lower Heihe River was first obtained through the interpretation of remote sensing images taken in 1998. Based on the analysis for the Quota of the natural ecological water demand in the lower Heihe River and the determination of the natural ecological water demand calculation method, the ecological water demand in the lower Heihe River was calculated. Finally, the natural ecological water demand in the lower Heihe River under the current situation was calculated with the groundwater storage volume change method, Aweliyongrufe method and the measured water volume method. In comparison, the natural ecological water demand in the lower Heihe River is 3.91–4.05 × 10 m.
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标题 作者 时间 类型 操作

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

期刊论文

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

期刊论文

Treatment of severe diffuse cavernous hemangioma of the lower limb by combination of superficial femoral

Yin XIA, Dan SHANG, Qin LI, Xiaoqin RUN, Chenxi OUYANG, Yiqing LI, Bi JIN

期刊论文

基于捕获点理论的下肢步行康复外骨骼防跌倒步态规划

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

期刊论文

一种新型自主下肢外骨骼助行机器人的研制

Yong HE, Nan LI, Chao WANG, Lin-qing XIA, Xu YONG, Xin-yu WU

期刊论文

针对下肢外骨骼机器人的基于概率运动基元的黑盒优化运动学习

王嘉琪,高永卓,吴冬梅,董为

期刊论文

Design and preliminary evaluation of an exoskeleton for upper limb resistance training

Tzong-Ming WU, Dar-Zen CHEN

期刊论文

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

Haifeng JIA, Nan DONG, Hongtao MA,

期刊论文

Simulation of flow excursion and thermal siphon under natural circulation condition with lower pressureand lower quality

WANG Jianjun, YANG Xingtuan, JIANG Shengyao

期刊论文

Dynamic fate modeling of γ-hexachlorocyclohexane in the lower reaches of the Liao River

LIU Zhenyu, YANG Fenglin, QUAN Xie, ZHANG Xiaohong

期刊论文

Does financial development lower energy intensity?

Philip Kofi ADOM, Michael Owusu APPIAH, Mawunyo Prosper AGRADI

期刊论文

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

期刊论文

EEG controlled neuromuscular electrical stimulation of the upper limb for stroke patients

Hock Guan TAN, Cheng Yap SHEE, Keng He KONG, Cuntai GUAN, Wei Tech ANG

期刊论文

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

期刊论文

Natural ecological water demand in the lower Heihe River

FU Xinfeng, HE Hongmou, JIANG Xiaohui, WANG Guoqing, YANG Shengtian

期刊论文