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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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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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一种应用于功率放大液压驱动外骨骼的基于物理人机交互估计的控制策略 None

Yi LONG, Zhi-jiang DU, Wei-dong WANG, Long HE, Xi-wang MAO, Wei DONG

《信息与电子工程前沿（英文）》 2018年 第19卷 第9期   页码 1076-1085 doi: 10.1631/FITEE.1601667

摘要： 提出安装在外骨骼上的力矩传感器直接获得物理人机交互（physical human-robot interaction，pHRI）力矩信息。

关键词： 外骨骼；物理人机交互；力矩传感器；人体步态；卡尔曼平滑器    

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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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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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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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Challenges of human–machine collaboration in risky decision-making

《工程管理前沿（英文）》 2022年 第9卷 第1期   页码 89-103 doi: 10.1007/s42524-021-0182-0

摘要： The purpose of this paper is to delineate the research challenges of human–machine collaboration in risky decision-making. Technological advances in machine intelligence have enabled a growing number of applications in human–machine collaborative decision-making. Therefore, it is desirable to achieve superior performance by fully leveraging human and machine capabilities. In risky decision-making, a human decision-maker is vulnerable to cognitive biases when judging the possible outcomes of a risky event, whereas a machine decision-maker cannot handle new and dynamic contexts with incomplete information well. We first summarize features of risky decision-making and possible biases of human decision-makers therein. Then, we argue the necessity and urgency of advancing human–machine collaboration in risky decision-making. Afterward, we review the literature on human–machine collaboration in a general decision context, from the perspectives of human–machine organization, relationship, and collaboration. Lastly, we propose challenges of enhancing human–machine communication and teamwork in risky decision-making, followed by future research avenues.

关键词： human–machine collaboration     risky decision-making     human–machine team and interaction     task allocation     human–machine relationship    

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Zooming in and out of ferroptosis in human disease

《医学前沿（英文）》 2023年 第17卷 第2期   页码 173-206 doi: 10.1007/s11684-023-0992-z

摘要： Ferroptosis is defined as an iron-dependent regulated form of cell death driven by lipid peroxidation. In the past decade, it has been implicated in the pathogenesis of various diseases that together involve almost every organ of the body, including various cancers, neurodegenerative diseases, cardiovascular diseases, lung diseases, liver diseases, kidney diseases, endocrine metabolic diseases, iron-overload-related diseases, orthopedic diseases and autoimmune diseases. Understanding the underlying molecular mechanisms of ferroptosis and its regulatory pathways could provide additional strategies for the management of these disease conditions. Indeed, there are an expanding number of studies suggesting that ferroptosis serves as a bona-fide target for the prevention and treatment of these diseases in relevant pre-clinical models. In this review, we summarize the progress in the research into ferroptosis and its regulatory mechanisms in human disease, while providing evidence in support of ferroptosis as a target for the treatment of these diseases. We also discuss our perspectives on the future directions in the targeting of ferroptosis in human disease.

关键词： ferroptosis     human disease     iron metabolism     lipid peroxidation     antioxidation    

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Tackling global electricity shortage through human power: Technical opportunities from direct or indirectutilizations of the pervasive and green human energy

Dan DAI, Jing LIU

《能源前沿（英文）》 2012年 第6卷 第3期   页码 210-226 doi: 10.1007/s11708-012-0200-3

摘要： With the energy and environmental problems becoming increasingly serious, human power, as a pervasive, renewable, mobile and environment friendly energy, draws more and more attention over the world. In this paper, the most basic features of human power are presented. The currently available human power harvesting theories and devices are briefly reviewed and compared. Further, direct or indirect utilization of human power in daily life, especially transportation and home appliances, such as human-powered car, watercraft, aircraft, washing machine and television etc. are summarized. Considering that the total energy from an individual is rather limited, as previously focused by most of the former works, it is conceived in this paper that an important future for large scale use of human powers lies in the efficient conversion, collection and storage of such energy from discrete people and then use it later on as desired. With the huge amount of energy gathered, the application category of human power would be significantly expended. Starting from this point, three technical ways towards efficiently utilizing human power are sketched, which are termed as human-powered grid (HPG), human-powered charger (HPC) and human-powered storage (HPS), among which, HPG is capable of collecting the electric power produced by each individual at different regions and thus can supply unique and flexible power to the customers covered in the area, without relying on the conventional electricity grid. The HPC can then charge various kinds of electrical devices instantly by a human driven generator which converts human power into electricity. Finally, the HPS can store electricity in time for later use. In this way, even for the devices requiring electricity that is strong enough, the collected human power can also serve as its reliable energy source. Meanwhile, utilization of human power becomes rather convenient and timely which guarantees its practical value. It is expected that with further research and increasing applications, human power could partially relieve the current global electricity shortage and environmental issues via its pervasive contribution.

关键词： human energy harvesting     human-powered transportation     human-powered home appliances     human-powered grid (HPG)     human-powered charger (HPC)     human-powered storage (HPS)     biofuel    

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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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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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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

《机械工程前沿（英文）》 2021年 第16卷 第2期   页码 271-284 doi: 10.1007/s11465-020-0623-1

摘要： Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

关键词： terrain classification     hexapod robot     legged robot     adaptive locomotion     gait control    

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Genomic regions under selection for important traits in domestic horse breeds

Xuexue LIU, Yuehui MA, Lin JIANG

《农业科学与工程前沿（英文）》 2017年 第4卷 第3期   页码 289-294 doi: 10.15302/J-FASE-2017155

摘要： Horses were domesticated 5500 years ago, thousands of years later than other domestic animals; however, in this relatively short period, domestic horses have had a great impact on human history by accelerating civilization, revolutionizing warfare and advancing agricultural production. Modern breeding using marker-assisted selection has greatly accelerated breeding progress. Therefore, identification of genetic markers underlying the traits of interest in domestic horses is the basis for the modern breeding system. In this review, we present an overview of genetic mapping studies and genome wide analyses to identify the genomic regions targeted by positive selection for four important aspects of horses, coat color, racing performance, gait and height at withers. The locus, for example, has been shown to be the main gene responsible for chestnut color, and the locus has been shown to control the muscle fiber growth in racing breeds. The missense mutation in is the causal mutation for the alternate gaits in horses. Height at withers, a quantitative trait, was mapped to four major loci (3:105547002, 6:81481064, 9:75550059 and 11:232597 32) that can explain 83% of the height variations in domestic horses.

关键词： horse     coat color     racing performance     gait     height    

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Implantation of human umbilical cord mesenchymal stem cells for ischemic stroke: perspectives and challenges

null

《医学前沿（英文）》 2015年 第9卷 第1期   页码 20-29 doi: 10.1007/s11684-014-0371-x

摘要：

Ischemic stroke is a focal cerebral insult that often leads to many adverse neurological complications severely affecting the quality of life. The prevalence of stroke is increasing throughout the world, while the efficacy of current pharmacological therapies remains unclear. As a neuroregenerative therapy, the implantation of human umbilical cord mesenchymal stem cells (hUC-MSCs) has shown great possibility to restore function after stroke. This review article provides an update role of hUC-MSCs implantation in the treatment of ischemic stroke. With the unique “immunosuppressive and immunoprivilege” property, hUC-MSCs are advised to be an important candidate for allogeneic cell treatment. Nevertheless, most of the treatments are still at primary stage and not clinically feasible at the current time. Several uncertain problems, such as culture conditions, allograft rejection, and potential tumorigenicity, are the choke points in this cellular therapy. More preclinical researches and clinical studies are needed before hUC-MSCs implantation can be used as a routinely applied clinical therapy.

关键词： cellular therapy     transplantation     human umbilical cord     mesenchymal stem cells     ischemic stroke    

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Immunological and virological characteristics of human immunodeficiency virus type 1 superinfection:

null

《医学前沿（英文）》 2017年 第11卷 第4期   页码 480-489 doi: 10.1007/s11684-017-0594-8

摘要：

Superinfection is frequently detected among individuals infected by human immunodeficiency virus type I (HIV-1). Superinfection occurs at similar frequencies at acute and chronic infection stages but less frequently than primary infection. This observation indicates that the immune responses elicited by natural HIV-1 infection may play a role in curb of superinfection; however, these responses are not sufficiently strong to completely prevent superinfection. Thus, a successful HIV-1 vaccine likely needs to induce more potent and broader immune responses than those elicited by primary infection. On the other hand, potent and broad neutralization responses are more often detected after superinfection than during monoinfection. This suggests that broadly neutralizing antibodies are more likely induced by sequential immunization of multiple different immunogens than with only one form of envelope glycoprotein immunogens. Understanding why the protection from superinfection by immunity induced by primary infection is insufficient and if superinfection can lead to cross-reactive immune responses will be highly informative for HIV-1 vaccine design.

关键词： human immunodeficiency virus type I     superinfection     incidence     immune response    

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标题 作者 时间 类型 操作

Modeling and simulation of normal and hemiparetic gait

Lely A. LUENGAS,Esperanza CAMARGO,Giovanni SANCHEZ

期刊论文

An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

期刊论文

一种应用于功率放大液压驱动外骨骼的基于物理人机交互估计的控制策略

Yi LONG, Zhi-jiang DU, Wei-dong WANG, Long HE, Xi-wang MAO, Wei DONG

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

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

王东海1,2

期刊论文

基于表面肌电信号的行走环境与步态周期识别

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

期刊论文

Challenges of human–machine collaboration in risky decision-making

期刊论文

Zooming in and out of ferroptosis in human disease

期刊论文

Tackling global electricity shortage through human power: Technical opportunities from direct or indirectutilizations of the pervasive and green human energy

Dan DAI, Jing LIU

期刊论文

欠驱动3D双足机器人步态切换控制策略

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

期刊论文

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

王宏飞, 李诗濛, 郑元芳

期刊论文

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

期刊论文

Genomic regions under selection for important traits in domestic horse breeds

Xuexue LIU, Yuehui MA, Lin JIANG

期刊论文

Implantation of human umbilical cord mesenchymal stem cells for ischemic stroke: perspectives and challenges

null

期刊论文

Immunological and virological characteristics of human immunodeficiency virus type 1 superinfection:

null

期刊论文