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Development of a novel autonomous lower extremity exoskeleton robot forwalking assistance Special Feature on Intelligent Robats

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

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 3,   Pages 318-329 doi: 10.1631/FITEE.1800561

Abstract:

Today, exoskeletons are widely applied to provide walking assistance for patients with lower limbIn this study, we propose a novel intelligent autonomous lower extremity exoskeleton (Auto-LEE), aiming

Keywords： Lower-limb     Exoskeleton     Self-balancing     Bipedal walking     Modular design    

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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.

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

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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

Frontiers of Medicine 2009, Volume 3, Issue 2,   Pages 240-244 doi: 10.1007/s11684-009-0031-8

Abstract: Severe diffuse cavernous hemangioma of the lower limb is rarely seen among young people and sometimesWe reported a case of diffuse cavernous hemangioma involving both skin and muscles of the left lowerlimb and perineal region in an adolescent patient.

Keywords： cavernous hemangioma     femoral artery     ligation     amputation    

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Probabilistic movement primitive based motion learning for a lower limb exoskeleton with black-box optimization Research Article

Jiaqi WANG, Yongzhuo GAO, Dongmei WU, Wei DONG,wangjq@hit.edu.cn,gaoyongzhuo@hit.edu.cn,wdm@hit.edu.cn,dongwei@hit.edu.cn

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 1,   Pages 104-116 doi: 10.1631/FITEE.2200065

Abstract: As a wearable robot, an exoskeleton provides a direct transfer of mechanical power to assist or augment the wearer’s movement with an anthropomorphic configuration. When an exoskeleton is used to facilitate the wearer’s movement, a motion generation process often plays an important role in high-level control. One of the main challenges in this area is to generate in real time a reference trajectory that is parallel with human intention and can adapt to different situations. In this paper, we first describe a novel motion modeling method based on probabilistic (ProMP) for a , which is a new and powerful representative tool for generating motion trajectories. To adapt the trajectory to different situations when the exoskeleton is used by different wearers, we propose a novel scheme based on (BBO) PI combined with ProMP. The motion model is first learned by ProMP offline, which can generate reference trajectories for use by exoskeleton controllers online. PI is adopted to learn and update the model for online , which provides the capability of adaptation of the system and eliminates the effects of uncertainties. Simulations and experiments involving six subjects using the HEXO demonstrate the effectiveness of the proposed methods.

Keywords： Lower limb exoskeleton     Human-robot interaction     Motion learning     Trajectory generation     Movement primitive    

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

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

Tzong-Ming WU, Dar-Zen CHEN

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 188-198 doi: 10.1007/s11465-012-0327-2

Abstract: A compact design of upper limb exoskeleton mechanism for home-based resistance training using a spring-loadedupper limb exoskeleton with a three degree-of-freedom shoulder joint and a one degree-of-freedom elbowjoint allows a patient or a healthy individual to move the upper limb with multiple joints in differentspring length to train additional muscle groups and reduce the number of potential injuries to upper limbour prototype of the exoskeleton and determine the optimal configuration of the spring-loaded upper limb

Keywords： exoskeleton     free-weight exercise     upper limb     motion analysis    

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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

Frontiers in Energy 2008, Volume 2, Issue 2,   Pages 169-173 doi: 10.1007/s11708-008-0044-z

Abstract: 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.

Keywords： 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

Frontiers of Environmental Science & Engineering 2007, Volume 1, Issue 2,   Pages 166-171 doi: 10.1007/s11783-007-0029-x

Abstract: This model is used to simulate the fate of γ-hexachlorocyclohexane (γ-HCH) in the lower reaches of the

Keywords： coefficient     POPs     temperature     sediment increase     dependent    

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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: problem caused by forward leaning of the wearer’s upper body during rehabilitation training with a lowerlimb rehabilitation exoskeleton.

Keywords： 下肢机器人；捕获点；步态相位；人机系统平衡    

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Does financial development lower energy intensity?

Philip Kofi ADOM, Michael Owusu APPIAH, Mawunyo Prosper AGRADI

Frontiers in Energy 2020, Volume 14, Issue 3,   Pages 620-634 doi: 10.1007/s11708-019-0619-x

Abstract: case of Ghana, this study provides an empirical answer to the question: does financial development lower

Keywords： financial development     energy intensity     energy efficiency     Ghana    

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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

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 71-81 doi: 10.1007/s11465-011-0207-1

Abstract: EEG was recorded while subjects performed motor imagery of their paretic limb, and then analyzed to determinethe loss of generality, the controller of the NMES is developed and is based on a model of the upper limb

Keywords： brain computer interface     neuromuscular electrical stimulation     stroke     musculoskeletal modeling    

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Correction to: Effect of undercut on the lower bound stability of vertical rock escarpment using finite

Frontiers of Structural and Civil Engineering doi: 10.1007/s11709-023-0035-5

Abstract: Correction to: Effect of undercut on the lower bound stability of vertical rock escarpment using finite

Keywords： finite element power     stability rock escarpment    

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Natural ecological water demand in the lower Heihe River

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

Frontiers of Environmental Science & Engineering 2008, Volume 2, Issue 1,   Pages 63-68 doi: 10.1007/s11783-008-0022-z

Abstract: The ecological environment in the lower Heihe River has been deteriorating due to large water consumptionTo restore the ecological environment in the lower Heihe River, the ecological water demand should beThe natural vegetation area in the lower Heihe River was first obtained through the interpretation ofFinally, the natural ecological water demand in the lower Heihe River under the current situation wasIn comparison, the natural ecological water demand in the lower Heihe River is 3.91–4.05 × 10 m.
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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 people walk normally with a ed (LEE). This relieves the body weight loading on the knee-injured leg and synchronizes its motion with that of the healthy leg during the swing phase of walking. The gait-synchronization system is integrated with a designed to sense the motion/gait of the healthy leg. Guided by the measured joint-angle trajectories, the motorized hip joint lifts the links during walking and synchronizes the knee-injured gait with the healthy gait by a half-cycle delay. The effectiveness of the LEE is illustrated experimentally. We compare the measured joint-angle trajectories between the healthy and knee-injured legs, the simulated knee forces, and the human-exoskeleton interaction forces. The results indicate that the motorized hip-controlled LEE can synchronize the motion/gait of the combined body-ed LEE and injured leg with that of the healthy leg.

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

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Bearing and uplift capacities of under-reamed piles in soft clay underlaid by stiff clay using lower-bound

Mantu MAJUMDER, Debarghya CHAKRABORTY

Frontiers of Structural and Civil Engineering 2021, Volume 15, Issue 2,   Pages 537-551 doi: 10.1007/s11709-021-0708-x

Abstract: effectiveness of under-reamed piles in soft clay underlaid by stiff clay is numerically studied using the lower-bound

Keywords： bearing capacity     uplift capacity     under-reamed pile     clay     limit analysis    

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Title Author Date Type Operation

Development of a novel autonomous lower extremity exoskeleton robot forwalking assistance

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

Journal Article

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

Journal Article

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

Journal Article

Probabilistic movement primitive based motion learning for a lower limb exoskeleton with black-box optimization

Jiaqi WANG, Yongzhuo GAO, Dongmei WU, Wei DONG,wangjq@hit.edu.cn,gaoyongzhuo@hit.edu.cn,wdm@hit.edu.cn,dongwei@hit.edu.cn

Journal Article

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

Journal Article

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

Tzong-Ming WU, Dar-Zen CHEN

Journal Article

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

WANG Jianjun, YANG Xingtuan, JIANG Shengyao

Journal Article

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

LIU Zhenyu, YANG Fenglin, QUAN Xie, ZHANG Xiaohong

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

Does financial development lower energy intensity?

Philip Kofi ADOM, Michael Owusu APPIAH, Mawunyo Prosper AGRADI

Journal Article

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

Journal Article

Correction to: Effect of undercut on the lower bound stability of vertical rock escarpment using finite

Journal Article

Natural ecological water demand in the lower Heihe River

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

Journal Article

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

Donghai WANG

Journal Article

Bearing and uplift capacities of under-reamed piles in soft clay underlaid by stiff clay using lower-bound

Mantu MAJUMDER, Debarghya CHAKRABORTY

Journal Article