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Adaptive patient-cooperative compliant control of lower limb rehabilitation robot

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Biomimetic Intelligence & Robotics 2024年第2期4卷 42-49页

作者： lingling chen Jjiabao Huang Yanglong Wang Shijie Guo Mengge Wang Xin Guo School of Artificial Intelligence Hebei University of TechnologyTianjin 300400China Inteligent Rehabilitation Device and Detection Technology Engineering Research Centre of the Ministry of Education Tianjin 300400China School of Mechanical Engineering Hebei University of TechnologyTianjin 300400China School of Electrical Engineering Hebei University of TechnologyTianjin 300400China

With the increase in the number of stroke patients,there is a growing demand for rehabilitation training.Robot-assisted training is expected to play a crucial role in meeting this demand.To ensure the safety and comfort of patients during rehabilitation training,it is important to have a patient-cooperative compliant control system for rehabilitation robots.In order to enhance the motion compliance of patients during rehabilitation training,a hierarchical adaptive patient-cooperative compliant control strategy that includes patient-passive exercise and patient-cooperative exercise is proposed.A low-level adaptive backstepping position controller is selected to ensure accurate tracking of the desired trajectory.At the high-level,an adaptive admittance controller is employed to plan the desired trajectory based on the interaction force between the patient and the robot.The results of the patient-robot cooperation experiment on a rehabilitation robot show a significant improvement in tracking trajectory,with a decrease of 76.45%in the dimensionless squared jerk(DSJ)and a decrease of 15.38%in the normalized root mean square deviation(NRMSD)when using the adaptive admittance controller.The proposed adaptive patient-cooperative control strategy effectively enhances the compliance of robot movements,thereby ensuring the safety and comfort of patients during rehabilitation training.

关键词： Compliant control Lower limb rehabilitation robot(LLRR) Adaptive admittance controller Adaptive backstepping controller Human-robot interaction

Movement Function Assessment Based on Human Pose Estimation from Multi-View

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Computer Systems Science & Engineering 2024年第2期48卷 321-339页

作者： lingling chen Tong Liu Zhuo Gong Ding Wang School of Artificial Intelligence Hebei University of TechnologyTianjin300400China Intelligent Rehabilitation Device and Detection Technology Engineering Research Centre of the Ministry of Education Tianjin300400China

Human pose estimation is a basic and critical task in the field of computer vision that involves determining the position(or spatial coordinates)of the joints of the human body in a given image or video.It is widely used in motion analysis,medical evaluation,and behavior monitoring.In this paper,the authors propose a method for multi-view human pose estimation.Two image sensors were placed orthogonally with respect to each other to capture the pose of the subject as they moved,and this yielded accurate and comprehensive results of three-dimensional(3D)motion reconstruction that helped capture their multi-directional poses.Following this,we propose a method based on 3D pose estimation to assess the similarity of the features of motion of patients with motor dysfunction by comparing differences between their range of motion and that of normal subjects.We converted these differences into Fugl–Meyer assessment(FMA)scores in order to quantify them.Finally,we implemented the proposed method in the Unity framework,and built a Virtual Reality platform that provides users with human–computer interaction to make the task more enjoyable for them and ensure their active participation in the assessment process.The goal is to provide a suitable means of assessing movement disorders without requiring the immediate supervision of a physician.

关键词： Human pose estimation 3D pose reconstruction assessment of movement function plane of features of human motion

The spatial transcriptomic landscape of human gingiva in health and periodontitis

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Science China(Life Sciences) 2024年第4期67卷 720-732页

作者： Zongshan Shen Ran Zhang Yunjia Huang Jiayao chen Mengjun Yu Chunhua Li Yong Zhang lingling chen Xin Huang Jichen Yang Zhengmei Lin Songlin Wang Bin cheng Hospital of Stomatology Guangdong Provincial Key Laboratory of StomatologyGuanghua School of StomatologySun Yat-sen UniversityGuangzhou 510055China Beijing Laboratory of Oral Health Capital Medical UniversityBeijing 100050China Department of Oral Pathology Peking University School and Hospital of Stomatology&National Center of Stomatology&National Clinical Research Center for Oral Diseases&National Engineering Research Center of Oral Biomaterials and Digital Medical DevicesBeijing 100050China Research Unit of Precision Pathologic Diagnosis in Tumors of the Oral and Maxillofacial Regions Chinese Academy of Medical SciencesBeijing 100050China BGI-Qingdao BGI-ShenzhenQingdao 266555China

The gingiva is a key oral barrier that protects oral tissues from various stimuli.A loss of gingival tissue homeostasis causes periodontitis,one of the most prevalent inflammatory diseases in humans.The human gingiva exists as a complex cell network comprising specialized structures.To understand the tissue-specific pathophysiology of the gingiva,we applied a recently developed spatial enhanced resolution omics-sequencing(Stereo-seq)technique to obtain a spatial transcriptome(ST)atlas of the gingiva in healthy individuals and periodontitis patients.By utilizing Stereo-seq,we identified the major cell types present in the gingiva,which included epithelial cells,fibroblasts,endothelial cells,and immune cells,as well as subgroups of epithelial cells and immune cells.We further observed that inflammation-related signalling pathways,such as the JAK-STAT and NF-κB signalling pathways,were significantly upregulated in the endothelial cells of the gingiva of periodontitis patients compared with those of healthy individuals.Additionally,we characterized the spatial distribution of periodontitis risk genes in the gingiva and found that the expression of IFI16 was significantly increased in endothelial cells of inflamed gingiva.In conclusion,our Stereo-seq findings may facilitate the development of innovative therapeutic strategies for periodontitis by mapping periodontitis-relevant genes and pathways and effector cells.

关键词： spatial transcriptomics gingiva periodontal disease periodontitis risk genes

多尺度视角下中国旅游业碳排放强度时空动态研究

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生态经济 2024年第5期40卷 124-131页

作者：陈玲玲金陵科技学院人文学院江苏南京211169

从多尺度视角把握中国旅游碳排放强度的时空动态变化,对中国旅游产业响应“双碳”目标具有重要意义。以中国全域、区域、省域为研究对象,综合运用“自下而上”法、泰尔指数法和ESDA分析法,测度旅游碳排放及强度,并剖析旅游碳排放强度的... 详细信息

从多尺度视角把握中国旅游碳排放强度的时空动态变化,对中国旅游产业响应“双碳”目标具有重要意义。以中国全域、区域、省域为研究对象,综合运用“自下而上”法、泰尔指数法和ESDA分析法,测度旅游碳排放及强度,并剖析旅游碳排放强度的时空关系。结果表明:(1)2000—2019年,我国旅游碳排放量由3714.06万吨增加至19396.00万吨,东部地区增量最大;旅游碳排放强度由0.47吨/万元降至0.09吨/万元,中部地区降幅最大。高碳排放类型的北京、上海、广东、海南和宁夏的旅游经济与环境保护关系亟须改善。(2)中国旅游碳排放强度在空间上有显著差异,以区域内部差异为主,但同时表现出较强的相关性;2000—2013年,全局空间上表现为西部地区HH集聚和多数省份的LL集聚,2014年起局部空间集聚,以从东部地区向中部、西部地区扩散性LL聚集为特点。

关键词：旅游业碳排放强度 “双碳”目标多尺度

现实形象IP与虚拟形象IP的对比分析:特点、应用与影响

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中国商论 2024年第1期 100-105页

作者：陈玲玲温州肯恩大学浙江温州325060

现实形象IP和虚拟形象IP在品牌建设中有明显不同。现实形象IP强调真实性,通过实际存在和感官体验传递品牌信息,通过代言人、赞助等方式传播。虚拟形象IP则借助数字技术和虚拟环境,注重创意和互动性,通过游戏、社交媒体等与用户互动。现... 详细信息

现实形象IP和虚拟形象IP在品牌建设中有明显不同。现实形象IP强调真实性,通过实际存在和感官体验传递品牌信息,通过代言人、赞助等方式传播。虚拟形象IP则借助数字技术和虚拟环境,注重创意和互动性,通过游戏、社交媒体等与用户互动。现实形象IP稳定可靠,适合建立长期品牌形象;虚拟形象IP更吸引年轻消费者,具有创新性。调查显示,虚拟人物代言能够显著影响消费者购买决策,品牌形象在虚拟代言和消费者购买意愿间起到中介作用。

关键词：现实形象IP 虚拟形象IP 品牌建设品牌形象购买意愿

Distinct Processing of lncRNAs Contributes to Non-conserved Functions in Stem Cells

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Bulletin of the Chinese Academy of Sciences 2020年第2期34卷 116-117页

作者： chen lingling Center for Excellenee in Molecular Cell Science Shanghai Institute of Biochemistry and Cell Biology CAS

Long noncoding RNAs(lncRNAs),which are longer than 200 nucleotides in length and lack protein coding potential,are pervasively transcribed in eukaryotic genomes.It is well established that lncRNAs play important roles... 详细信息

关键词： lncRNA conserved diverse

Evolution of the East China Sea sedimentary environment in the past 14 kyr: Insights from tetraethers-based proxies

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Science China Earth Sciences 2016年第5期59卷 927-938页

作者： GE HuangMin ZHANG ChuanLun VERSTEEGH Gerard J.M. chen lingling FAN DaiDu DONG Liang LIU JingJing State Key Laboratory of Marine Geology Tongji University Hadal Science and Technology Research Center (Shanghai Engineering Research Center of Hadal Science and Technology) Shanghai Ocean University Heisenberg Group on Marine Kerogen Center for Marine Environmental Sciences (MARUM) Bremen University

We reconstruct the environmental evolution of the East China Sea in the past 14 kyr based on glycerol dialkyl glycerol tetraethers(GDGTs) in a sediment core from the subaqueous Yangtze River Delta. Two primary phases are recognized. Phase I(13.8–8 cal kyr BP) reflects a predominantly continental influence, showing distinctly higher concentrations of branched GDGTs(averaged 143 ng/g dry sediment weight, dsw) than isoprenoid GDGTs(averaged 36 ng/g dsw), high BIT index(branched vs. isoprenoid tetraethers) values(>0.78) and a fluctuating GDGT-0/crenarchaeol ratio(R_(0/5), varied from 0.52 to 3.81). Within this interval, temporal increases of terrestrial and marine influence are attributed to Younger Dryas(YD)(ca. 12.9–12.2 cal kyr BP) cold event and melt-water pulse(MWP)-1B(11.5–11.1 cal kyr BP), respectively. The prominent transition from 8 to 7.9 cal kyr BP shows a sharp decrease in BIT index value(<0.4) and increase in crenarchaeol, which marks the beginning of phase II. Afterwards, the proxies remain relatively constant, which indicates that phase II(7.9 cal kyr BP-present) is a shelf sedimentary environment with high stand of sea level. Overall, the BIT index in our record serves as a good marker for terrestrial influence at the site, and likely reflects the flooding history of the region. The TEX_(86)(Tetra Ether Index of tetraethers consisting of 86 carbons) proxy is not applicable in phase I because of an excess terrestrial influence; but it seems to be valid for revealing the annual SST in phase II(21.6±0.9°C, n=49). In contrast, the MBT'/CBT(Methylation of Branched Tetraethers and Cyclization of Branched Tetraethers) proxy appears to faithfully record the annual mean air temperature(MAT)(14.3±0.63°C, n=68) and presents an integrated signal over the middle and lower Yangtze River drainage basin.

关键词：沉积环境东中国海代理年平均温度沉积物岩心类异戊二烯演化水下三角洲

基于网络文本分析的文化遗产生态环境游客感知及其对遗产旅游形象影响研究——以南京明城墙为例

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生态经济 2024年第6期40卷 135-140,171页

作者：张维亚汤澍陈玲玲徐敏金陵科技学院人文学院江苏南京210013

为深入了解游客生态环境感知对文化遗产地旅游形象的影响,以南京城墙为考察样本,基于内容分析法,采用2018—2022年的网络数据,分别利用词频分析、语义网络分析和情感分析进行评价和预测。研究表明:网络文本能较为客观地获取生态环境对... 详细信息

为深入了解游客生态环境感知对文化遗产地旅游形象的影响,以南京城墙为考察样本,基于内容分析法,采用2018—2022年的网络数据,分别利用词频分析、语义网络分析和情感分析进行评价和预测。研究表明:网络文本能较为客观地获取生态环境对文化遗产形象的影响程度,从而更全面地了解城市文化遗产形象形成的内在机制;游客对南京城墙文化遗产环境感知以正面情绪为主,在游客的情绪感知中生态环境影响着游客的整体形象感知;作为生态环境要素,水环境和植物景观对文化遗产形象的影响尤为显著;游客对其遗产形象的感知同时体现在历史文化价值和生态环境价值上,成熟的文化遗产型旅游目的地必须重视生态环境和自然景观保护与塑造;改善与提升城市文化遗产形象,需要同时满足游客的文化需求和生态需求,实现旅游开发与遗产保护的良性互动。因此,管理者和经营者应从改善文化遗产景区绿化景观,做好水体保护,控制污染气体排放,做好垃圾分类管理,改善景区整洁环境。

关键词：内容分析法文化遗产生态环境感知遗产旅游形象

瑞马唑仑与咪达唑仑用于心脏同步电复律镇静效果的比较

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临床麻醉学杂志 2024年第6期40卷 617-620页

作者：陈玲玲管忍卢慕婷张其银苏州大学附属常熟医院常熟市第一人民医院麻醉科 225500 苏州大学附属常熟医院常熟市第一人民医院心血管内科 225500

目的比较瑞马唑仑与咪达唑仑在心房颤动患者心脏同步电复律中的镇静效果与安全性。方法选择2021年1月至2022年12月行心脏同步电复律的心房颤动患者32例,男22例,女10例,年龄18~80岁,BMI 20~30 kg/m^(2),ASAⅡ或Ⅲ级。采用随机数字表法将... 详细信息

目的比较瑞马唑仑与咪达唑仑在心房颤动患者心脏同步电复律中的镇静效果与安全性。方法选择2021年1月至2022年12月行心脏同步电复律的心房颤动患者32例,男22例,女10例,年龄18~80岁,BMI 20~30 kg/m^(2),ASAⅡ或Ⅲ级。采用随机数字表法将患者随机分为两组:瑞马唑仑组和咪达唑仑组,每组16例。瑞马唑仑组静注瑞马唑仑0.2 mg/kg进行镇静,咪达唑仑组静注咪达唑仑0.025 mg/kg进行镇静,两组推药时间均为1 min。记录麻醉起效时间、苏醒时间和定向力恢复时间。记录麻醉诱导前(T_(1))、睫毛反射消失时(T_(2))、电复律完成后(T_(3))、苏醒时(T_(4))的SBP、DBP和SpO_(2)。在患者清醒后5 min行神经行为认知状态检查(NCSE),包括语言能力、结构能力、记忆力、计算能力和推理能力,计算每项能力测试的通过率。记录术中(体动、呼吸暂停)及术后12 h内(恶心呕吐、胸痛)不良反应的发生情况。结果与咪达唑仑组比较,瑞马唑仑组麻醉起效时间、苏醒时间、定向力恢复时间明显缩短(P<0.05)。两组不同时点SBP、DBP和SpO_(2)差异无统计学意义。与咪达唑仑组比较,清醒后5 min瑞马唑仑组推理能力测试的通过率明显升高(P<0.05)。两组不良反应发生率差异无统计学意义。结论与咪达唑仑比较,瑞马唑仑用于心房颤动同步电复律术前镇静起效更快、苏醒更快、定向力恢复更快,术后患者NCSE中的推理能力恢复更快。

关键词：瑞马唑仑咪达唑仑心房颤动电复律镇静