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期刊论文 32

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关键词

下肢机器人；捕获点；步态相位；人机系统平衡 1

人工肌肉；智能材料；介电弹性体（DE）；聚氯乙烯（PVC）凝胶；执行器；可穿戴式人体助力；运动康复 1

仿人机器人 1

传感引导；下肢外骨骼；人体传感网络；步态同步；体重支撑 1

决策支持 1

决策支持系统（DSS) 1

功能恢复 1

地理信息系统（GIS) 1

外骨骼；物理人机交互；力矩传感器；人体步态；卡尔曼平滑器 1

崎岖地面行走 1

工程移民 1

康复 1

智慧医疗；人工智能；手术机器人；康复和护理机器人；辅助远程医疗 中 1

步态切换；欠驱动3D双足机器人；基于事件的反馈控制器；自适应控制律 1

步态识别；分块算法；步态模板；步态分析；步态能量图；深度卷积神经网络；生物特征识别；模式识别 1

湿地 1

滑雪式步态 1

生态入侵 1

生态恢复 1

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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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Modeling and simulation of normal and hemiparetic gait

Lely A. LUENGAS,Esperanza CAMARGO,Giovanni SANCHEZ

《机械工程前沿（英文）》 2015年 第10卷 第3期   页码 233-241 doi: 10.1007/s11465-015-0343-0

摘要：

Gait is the collective term for the two types of bipedal locomotion, walking and running. This paper is focused on walking. The analysis of human gait is of interest to many different disciplines, including biomechanics, human-movement science, rehabilitation and medicine in general. Here we present a new model that is capable of reproducing the properties of walking, normal and pathological. The aim of this paper is to establish the biomechanical principles that underlie human walking by using Lagrange method. The constraint forces of Rayleigh dissipation function, through which to consider the effect on the tissues in the gait, are included. Depending on the value of the factor present in the Rayleigh dissipation function, both normal and pathological gait can be simulated. First of all, we apply it in the normal gait and then in the permanent hemiparetic gait. Anthropometric data of adult person are used by simulation, and it is possible to use anthropometric data for children but is necessary to consider existing table of anthropometric data. Validation of these models includes simulations of passive dynamic gait that walk on level ground. The dynamic walking approach provides a new perspective of gait analysis, focusing on the kinematics and kinetics of gait. There have been studies and simulations to show normal human gait, but few of them have focused on abnormal, especially hemiparetic gait. Quantitative comparisons of the model predictions with gait measurements show that the model can reproduce the significant characteristics of normal gait.

关键词： 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

《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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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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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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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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潜在用于单侧膝受伤患者的传感引导步态同步下肢外骨骼 Research Articles

王东海1,2

《信息与电子工程前沿（英文）》 2022年 第23卷 第6期   页码 920-936 doi: 10.1631/FITEE.2000465

摘要：

本文展示了一种可潜在帮助单侧膝受伤患者正常行走的传感引导步态同步下肢外骨骼系统。外骨骼能够减轻人体体重对受伤膝下肢的负载，并维持与健康侧下肢行走步态摆动相同步。传感引导步态同步系统集成了人体传感网络，它能感知健康侧下肢的运动步态。基于测量的关节角度轨迹引导，安装电机的髋关节在行走中提起腿杆，并将膝受伤步态和健康步态以半周期延时进行同步。实验验证了下肢外骨骼的效果。本文比较了健康腿和膝受伤腿的测量关节角度轨迹、仿真的膝受力、人机交互力等方面，结果说明髋关节安装电机受控制的下肢外骨骼能够将受伤腿和体重支撑外骨骼的融合步态与健康腿步态进行同步。

关键词： 传感引导；下肢外骨骼；人体传感网络；步态同步；体重支撑    

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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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An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

《机械工程前沿（英文）》 2013年 第8卷 第1期   页码 95-103 doi: 10.1007/s11465-013-0357-4

摘要：

In this paper, an experimental analysis of human straight walking has been presented. Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-based measuring system. This system is adopted because it is capable of both pose and wrench measurements with fairly simple monitoring of operation. By using experimental results, trajectories of a human limb extremity and its posture have been analyzed; forces that are exerted against cables by the limb of a person under test have been measured by force sensors as well. Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait have been proposed.

关键词： human locomotion     walking gait     characterization     humanoid robot     biped robot    

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基于表面肌电信号的行走环境与步态周期识别 Special Feature on Intelligent Robats

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

《信息与电子工程前沿（英文）》 2019年 第20卷 第3期   页码 342-352 doi: 10.1631/FITEE.1800601

摘要： 在外骨骼机器人控制研究中，识别及预测操作者运动意图是一项很大挑战。外骨骼机器人是一种检测和驱动人体运动的机械动力装置，因其复杂的人机交互技术，需要使用很多不同类型传感器。当使用各种传感器时，需要选择数据类型以进行有效传感。肌电信号能在实际运动做出之前识别预期动作，并且可以缩短外骨骼机器人控制中的时间延迟。为应用下肢外骨骼帮助行走，本文工作旨在使用不同类型传感器（包括表面肌电信号传感器）识别行走环境和区分步态周期。为此，将地面反作用力、人机相互作用力、位置传感器和表面肌电信号传感器相结合，对4个受试者进行步态实验。本文展示了在行走环境与步态周期的识别中使用表面肌电信号及其他类型传感器的实验成果。选择不同传感器类型组合、表面肌电信号传感器不同位置组合以及表面肌电信号不同特征值组合，作为有效数据类型。实验结果表明，与使用单个力学传感器相比，将表面肌电信号传感器与其结合使用，可使识别结果得到很大改善。此外，在3种不同类型传感器的不同组合中，使用表面肌电信号与位置传感器信息的组合得出最高分类准确率。当使用全部4种类型传感器时，行走环境与步态周期分类准确率分别为96.1%与97.8%。在腿部5个表面肌电传感器不同位置组合里，股内侧肌和腓肠肌组合是最有效的2种肌肉类型组合。当仅使用表面肌电信号进行分类时，该组合在行走环境识别实验中，足跟接地前与足趾离地前的情况下，分类准确率分别为74.4%与71.7%；步态周期分类准确率为68%。两组有效的表面肌电信号特征值组合分别是“平均绝对值、过零点数”与“平均绝对值、波形长度”。“平均绝对值、过零点书”特征组合在行走环境识别实验中，在足跟接地前与足趾离地前情况下，分类准确率分别为80%与77.1%；步态周期分类准确率为75.5%。上述结果表明，表面肌电信号可有效用于控制外骨骼机器人。

关键词： 行走环境；步态周期；表面肌电信号；外骨骼    

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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

《结构与土木工程前沿（英文）》 2018年 第12卷 第3期   页码 291-299 doi: 10.1007/s11709-017-0419-5

摘要：

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.

关键词： PMS     Micropaver     pavement budget     maintenance     rehabilitation    

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工程移民决策支持研究

王家耀,姚松龄

《中国工程科学》 2000年 第2卷 第9期   页码 80-84

摘要：

工程移民指工程建设引起的非自愿的搬迁安置活动，工程移民决策包括规划决策和管理决策，这在国内外都是一个新课题，基于GIS的工程移民DSS是实施科学决策的有效手段，文章对工程移民决策支持的理论、方法进行了探讨，并结合万家寨工程移民决策支持进行了试验。

关键词： 工程移民     决策支持     地理信息系统（GIS)     决策支持系统（DSS)    

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欠驱动3D双足机器人步态切换控制策略 Research Articles

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

《信息与电子工程前沿（英文）》 2019年 第20卷 第8期   页码 1026-1035 doi: 10.1631/FITEE.1800206

摘要： 由于应用前景广泛，双足机器人研究引起国内外学者重点关注。实际中，双足机器人常需进行步态切换以实现灵活步行。本文针对一个五杆欠驱动3D双足机器人步态切换问题，提出一种基于分层控制的切换控制策略。该策略包括切换控制器设计以及基于事件的反馈控制器设计。所设计的基于事件反馈控制器会在每一步对反馈增益进行自适应更新，而所设计的切换控制器将引导机器人从当前步态到达目标步态的邻域范围以实现平滑收敛。与以往研究相比，本文采用参数优化法设计切换控制器参数，确保机器人在步态切换过程中满足物理约束条件。最后，为验证所提控制策略的有效性，针对欠驱动3D双足机器人进行了数值仿真验证。

关键词： 步态切换；欠驱动3D双足机器人；基于事件的反馈控制器；自适应控制律    

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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

《环境科学与工程前沿（英文）》 2008年 第2卷 第3期   页码 306-310 doi: 10.1007/s11783-008-0057-1

摘要： To evaluate the ecological effects of lakeshore wetland rehabilitation on the eastern route of the South-to-North Water Transfer Project, species composition, coverage, height, and biomass of wetland communities at 22 sites of the study area on the shore of Nansi Lake in April and May 2007 were investigated. The wetlands under investigation were divided into platform fields, transition zones, and shallow water zones according to differences in elevations, water levels, and human activities. The species richness index, Shannon-Wiener index, Simpson index, and Pielou Evenness index were adopted to delineate and discuss the ecological effects of lakeshore wetland rehabilitation in 22 quadrates. Results showed that the species richness of the wetland areas after 2 years’ rehabilitation amounted to 47 of 24 families, higher than 25 of 20 families in areas without rehabilitation. The biodiversity index and abundance index of rehabilitated areas were also higher than those of platform fields and fish ponds where there was no rehabilitation. In addition, the Shannon-Wiener index, Simpson index, and community evenness index of platform fields in rehabilitated wetland areas were 1.619, 0.745, and 0.860, respectively, higher than those of the platform fields before rehabilitating. The results suggested that the constructed lakeshore wetland played an important role in protecting the diversity of species.

关键词： community     South-to-North     Shannon-Wiener     Evenness     addition    

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美国国防部先进研究项目局举办的机器人大挑战赛的参与和崎岖地面行走的滑雪式步态 Article

王宏飞, 李诗濛, 郑元芳

《工程（英文）》 2015年 第1卷 第1期   页码 36-45 doi: 10.15302/J-ENG-2015006

摘要：

本文简要介绍了美国国防部先进研究项目局举办的机器人大挑战赛的历史，并将关注的焦点放在了2012机器人挑战赛上。作为该挑战赛DRC-HUBO队的成员，我们为完成崎岖地面的任务提出了不同的方法，如增大脚踏板、转换成四足行走等。同时，本文还介绍了一种帮助提高仿人机器人运动稳定性的新步态——滑雪式步态。本文对该步态的稳定性进行了分析，并利用稳定度裕量从两种备选的步进顺序（爬行-1和爬行-2）中进行选择。接下来，本文对滑雪式步态中冗余的闭链系统进行力/力矩分析，通过最小化总耗能量来确定关节力矩。根据稳定性分析和力/力矩分析，我们设计了一种手杖长度，使其可以支撑HUBO2仿人机器人平台稳定地实现爬行-2步态。最后，通过将本文的试验结果和两足步行进行对比，验证了滑雪式步态的可行性。同时，介绍了我队在该机器人挑战赛上的表现。

关键词： 仿人机器人     美国国防部先进研究项目局举办的机器人大挑战赛（DRC）     崎岖地面行走     滑雪式步态    

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标题 作者 时间 类型 操作

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

Modeling and simulation of normal and hemiparetic gait

Lely A. LUENGAS,Esperanza CAMARGO,Giovanni SANCHEZ

期刊论文

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

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

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

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

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