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Journal of Bionic Engineering 2024年第1期21卷 224-235页

作者： Duojin Wang Xiaoping Gu hongliu yu Institute of Rehabilitation Engineering and Technology University of Shanghai for Science and Technology516 Jungong RoadShanghai 200093China Shanghai Engineering Research Center of Assistive Devices 516 Jungong RoadShanghai 200093China

Lower Limb Exoskeletons(LLEs)are receiving increasing attention for supporting activities of daily living.In such active systems,an intelligent controller may be indispensable.In this paper,we proposed a locomotion intention recognition system based on time series data sets derived from human motion signals.Composed of input data and Deep Learning(DL)algorithms,this framework enables the detection and prediction of users’movement patterns.This makes it possible to predict the detection of locomotion modes,allowing the LLEs to provide smooth and seamless assistance.The pre-processed eight subjects were used as input to classify four scenes:Standing/Walking on Level Ground(S/WOLG),Up the Stairs(US),Down the Stairs(DS),and Walking on Grass(WOG).The result showed that the ResNet performed optimally compared to four algorithms(CNN,CNN-LSTM,ResNet,and ResNet-Att)with an approximate evaluation indicator of 100%.It is expected that the proposed locomotion intention system will significantly improve the safety and the effectiveness of LLE due to its high accuracy and predictive performance.

关键词： Lower limb exoskeletons(LLEs) Locomotion intention ResNet Multi-source

Hybrid Active–Passive Prosthetic Knee:A Gait Kinematics and Muscle Activity Comparison with Mechanical and Microprocessor-Controlled Passive Prostheses

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Journal of Bionic Engineering 2023年第1期20卷 119-135页

作者： Xiaoming Wang Qiaoling Meng Shaoping Bai Qingyun Meng hongliu yu Institute of Rehabilitation Engineering and Technology University of Shanghai for Science and TechnologyShanghai200093China Department of Materials and Production Aalborg University9220AalborgDenmark Shanghai Engineering Research Center of Assistive Devices Institute of Rehabilitation Engineering and Technology Shanghai200093China Key Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs Shanghai200093China Shanghai University of Medicine and Health Sciences Shanghai201318China

Existing microprocessor-controlled passive prosthetic knees(PaPKs)and active prosthetic knees(AcPKs)cannot truly simulate the muscle activity characteristics of the active–passive hybrid action of the knee during the normal gait.Differences in EMG between normal and different prosthetic gait for different phases were never separately analyzed.In this study,a novel hybrid active–passive prosthetic knee(HAPK)is proposed and if and how muscle activity and kinematics changes in different prosthetic gait are analyzed.The hybrid hydraulic-motor actuator is adopted to fully integrate the advantages of hydraulic compliance damping and motor efficiency,and the hierarchical control strategy is adopted to realize the adaptive predictive control of the HAPK.The kinematic data and EMG data of normal gait and different prosthetic gait were compared by experiments,so as to analyze the changes in the muscle activity and spatio-temporal data per phase compared to normal walking and the adaptations of amputees when walking with a different kind of prosthesis(the mechanical prosthesis(MePK),the PaPK and the HAPK).The results show that changes in prosthetic gait mainly consisted of decreased self-selected walking speed,gait symmetry and maximum knee flexion,increased first double support phase duration,muscle activation in both opposed and prosthetic limb and inter-subject variability.The differences between controls and MePK,PaPK and HAPK decreases sequentially.These results indicate that the hybrid active–passive actuating mode can have positive effects on improving the approximation of healthy gait characteristics.

关键词： Bionic prosthetic knee Hybrid active-passive actuator EMG Muscle activity Gait kinematics

Intelligent Knee Prostheses: A Systematic Review of Control Strategies

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Journal of Bionic Engineering 2022年第5期19卷 1242-1260页

作者： Linrong Li Xiaoming Wang Qiaoling Meng Changlong Chen Jie Sun hongliu yu Institute of Rehabilitation Engineering and Technology University of Shanghai for Science and TechnologyNo.516Jungong RoadYangpu DistrictShanghai 200093China Shanghai Engineering Research Center of Assistive Devices Shanghai 200093China Key Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs Shanghai 200093China

The intelligent knee prosthesis is capable of human-like bionic lower limb control through advanced control systems and artificial intelligence algorithms that will potentially minimize gait limitations for above-knee amputees and facilitate their reintegration into society.In this paper,we sum up the control strategies corresponding to the prevailing control objectives(position and impedance)of the current intelligent knee prosthesis.Although these control strategies have been successfully implemented and validated in relevant experiments,the existing deficiencies still fail to achieve optimal performance of the controllers,which complicates the definition of a standard control method.Before a mature control system can be developed,it is more important to realize the full potential for the control strategy,which requires upgrading and refining the relevant key technologies based on the existing control methods.For this reason,we discuss potential areas for improvement of the prosthetic control system based on the summarized control strategies,including intent recognition,sensor system,prosthetic evaluation,and parameter optimization algorithms,providing future directions toward optimizing control strategies for the next generation of intelligent knee prostheses.

关键词： Intelligent knee prosthesis Finite-state machine Volitional control Sensor system Intent recognition Parameter tuning

Bionic Design to Reduce Driving Power for a Portable Elbow Exoskeleton Based on Gravity-balancing Coupled Model

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Journal of Bionic Engineering 2023年第1期20卷 146-157页

作者： Qiaoling Meng Rongna Xu Qiaolian Xie Bostan·Mahmutjan Sujiao Li hongliu yu Institute of Rehabilitation Engineering and Technology University of Shanghai for Science and TechnologyNo.516Jungong RoadYangpu DistrictShanghai200093China Shanghai Engineering Research Center of Assistive Devices Shanghai200093China

Portability is an important performance to the design of exoskeleton for rehabilitation and assistance.However,the structure of traditional exoskeletons will decrease the portability because of their heavy weight and large volume.This paper proposes a novel bionic portable elbow exoskeleton based on a human-exoskeleton gravity-balancing coupled model.The variable stiffness characteristics of the coupled model is analyzed based on the static analysis.In addition,the optimization of human-exoskeleton joint points is analysis to improve the bionic motor characteristics of the exoskeleton.Theoretical prototype is designed and its driving power and dynamic performance are analyzed.Then,a prototype is designed and manufactured with a total weight of 375 g.The merits of driving power reducing is verified by simulation and the isokinetic experiments.The simulation and isokinetic results show that the driving torque and the driving power of the subject were significantly decreased with wearing the proposed exoskeleton.The driving torques are reduced 79.28%and 57.38%from the simulation results and isokinetic experiment results,respectively.The driving work of experiment was reduced by 56.5%.The development of the novel elbow exoskeleton with gravity-balancing mechanism can expand the application of exoskeleton in home-based rehabilitation.

关键词： Elbow exoskeleton Bionic Gravity-balancing Human-exoskeleton coupled model-Portability

Design of a Minimally Actuated Lower Limb Exoskeleton with Mechanical Joint Coupling

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Journal of Bionic Engineering 2022年第2期19卷 370-389页

作者： Hui Li hongliu yu Yingwei Chen Xinyi Tang Duojin Wang Qiaoling Meng Qing Du Institute of Rehabilitation Engineering and Technology University of Shanghai for Science and TechnologyShanghai 200093China Shanghai Engineering Research Center of Assistive Devices Institute of Rehabilitation Engineering and Technology Shanghai 200093China Key Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs Shanghai 200093China Department of Gastroenterology Xinhua Hospital Affiliated to Shanghai Jiaotong University School of MedicineShanghai 200092China Department of Rehabilitation Medicine Xinhua Hospital Affiliated to Shanghai Jiaotong University School of MedicineShanghai 200092China

Powered lower limb exoskeletons have traditionally used four or more powered joints to provide ambulation assistance for individuals with spinal cord injury.Exoskeletons with numerous powered joints commonly lost some excellent features of passive orthoses and further decreased utility due to added weight and increased control complexity.This work adopts joints coupling mechanism to design a powered exoskeleton to minimize the number of actuated joints and control complexity.Unlike conventional powered exoskeletons,the joint-coupled-powered exoskeleton only has a single motor-actuated joint for each exoskeleton leg in conjunction with a unique knee coupled system to enable their users to walk,sit,and stand.And two types of joint coupled systems are designed,respectively,hip-knee coupled and knee-ankle coupled.The joint-coupled-powered exoskeleton system allows a single actuator to power the hip motion,and allows activate knee motion through the coupled motions of the hip or ankle.More specifically,when the mechanical coupled system is activated,the knee joint is unlocked,resulting in synchronized hip-knee or ankle-knee flexion and extension.The coupling mechanism is switched on and off at specific phases of the gait(the stance phase and the swing phase)to generate the desired motions.The research work proves that minimal actuated robotic systems with joint coupled could achieve safe and natural walking.

关键词： Powered exoskeleton Minimal actuation Joint coupling Single motor-actuated joint

Wearable sensors for activity monitoring and motion control:A review

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Biomimetic Intelligence & Robotics 2023年第1期3卷 1-10页

作者： Xiaoming Wang hongliu yu Soren Kold Ole Rahbek Shaoping Bai Department of Materials and Production Aalborg UniversityAalborg 9220Denmark Rehabilitation Engineering and Technology Institute University of Shanghai for Science and TechnologyShanghai 200093China Department of Orthopedic Surgery Aalborg University HospitalAalborg 9220Denmark

Wearable sensors for activity monitoring currently are being designed and developed,driven by an increasing demand in health care for noninvasive patient monitoring and rehabilitation training.This article reviews state-of-the-art wearable sensors for activity monitoring and motion control.Different technologies,including electromechanical,bioelectrical,and biomechanical sensors,are reviewed,along with their broad applications.Moreover,an overview of existing commercial wearable products and the computation methods for motion analysis are provided.Future research issues are identified and discussed.

关键词： Wearable sensor Activity monitoring and tracking Intelligent motion control Human–machine interface

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再分散法制备低角度依赖结构色织物

毛纺科技 2024年第3期52卷 7-13页

作者：潘斌杰李月佳辛宇田红柳高伟洪杨树上海工程技术大学纺织服装学院上海201620

为了研究更为绿色环保的染色技术,提出了以再分散法在纺织品表面构筑非晶光子晶体结构。将经过一次重力沉降后的二氧化硅薄膜刮下,经过研磨后在织物上进行二次重力沉降,即可将非彩虹结构色与纺织品相结合。在不同温度的自组装环境下,以... 详细信息

为了研究更为绿色环保的染色技术,提出了以再分散法在纺织品表面构筑非晶光子晶体结构。将经过一次重力沉降后的二氧化硅薄膜刮下,经过研磨后在织物上进行二次重力沉降,即可将非彩虹结构色与纺织品相结合。在不同温度的自组装环境下,以不同的二氧化硅质量浓度以及不同体积在不同的组织结构上进行实验,研究温度、质量浓度、体积、组织结构等因素对非晶光子晶体结构的影响。结果表明:当二氧化硅悬浮液质量浓度为25 mg/mL时,体积为2 mL时,在40℃的环境下进行自组装可获得较好的非晶光子晶体结构色织物;在同等实验条件下,选择的织物的组织结构越平整,纱线排列越紧密,织物内的孔隙越小,最终组成的颜色效果越佳。

关键词：结构生色织物非晶光子晶体低角度依赖再分散法二氧化硅纳米颗粒

Effects of Different Types of Verbal Activities on Heart Rate Variability

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Engineering（科研） 2013年第10期5卷 310-313页

作者： Ping Shi Youfang Fang hongliu yu School of Medical Instrument and Food Engineering University of Shanghai for Science and Technology Shanghai China

In the present study, the effects of different types of verbal activities on heart rate variability (HRV) were investigated. ECG signals were recorded in ten volunteers during resting (R), reading silently (RS), reading aloud (RA) and talking freely (TF). Time domain, frequency domain and Poincaré plot measures of HRV were calculated for analyzing. Time domain parameter of pNN50, frequency domain parameter of LF (n.u.) and Poincaré plot parameter of SD1/SD2 were found statistically difference in RA and TF compared to R and RS. The results in this study show that HRV decreased while subjects were reading aloud and talking freely. The results also indicated that verbal activities of reading aloud and talking freely improve the sympathetic nervous activity.

关键词： Verbal Activities Heart Rate Variability Time Domain Analysis Frequency Domain Analysis Poincaré Plot Parameters

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国内外按摩机器人研究进展及关键技术分析

生物医学工程研究 2024年第2期43卷 166-174页

作者：孙晨飞唐心意石萍喻洪流上海理工大学健康科学与工程学院康复工程与技术研究所上海200093 上海康复器械工程技术研究中心上海200093

本文从按摩治疗机理角度出发,对国内外按摩机器人及其关键技术进行了详细介绍,将按摩机器人按结构特点分为仿生式、便携式和平台式三类,并对每一类按摩机器人的研究进展进行了归纳总结。针对研究进程中手法实现、信息感知、控制策略等... 详细信息

本文从按摩治疗机理角度出发,对国内外按摩机器人及其关键技术进行了详细介绍,将按摩机器人按结构特点分为仿生式、便携式和平台式三类,并对每一类按摩机器人的研究进展进行了归纳总结。针对研究进程中手法实现、信息感知、控制策略等关键问题进行了分析和梳理,最后基于目前研究现状,展望了按摩机器人的发展趋势。

关键词：按摩中医推拿康复机器人自主感知力控制

Anti-Seizure and Neuronal Protective Effects of Irisin in Kainic Acid-Induced Chronic Epilepsy Model with Spontaneous Seizures

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Neuroscience Bulletin 2022年第11期38卷 1347-1364页

作者： Jie yu Yao Cheng Yaru Cui yujie Zhai Wenshen Zhang Mengdi Zhang Wenyu Xin Jia Liang Xiaohong Pan Qiaoyun Wang hongliu Sun School of Pharmaceutical Sciences Binzhou Medical UniversityYantai 264003China The Sixth Scientifc Research Department Shandong Institute of Nonmetallic MaterialsJinan 250031China

An increased level of reactive oxygen species is a key factor in neuronal apoptosis and epileptic seizures.Irisin reportedly attenuates the apoptosis and injury induced by oxidative stress.Therefore,we evaluated the effects of exogenous irisin in a kainic acid(KA)-induced chronic spontaneous epilepsy rat model.The results indicated that exogenous irisin significantly attenuated the KA-induced neuronal injury,learning and memory defects,and seizures.Irisin treatment also increased the levels of brain-derived neurotrophic factor(BDNF)and uncoupling protein 2(UCP2),which were initially reduced following KA administration.Furthermore,the specific inhibitor of UCP2(genipin)was administered to evaluate the possible protective mechanism of irisin.The reduced apoptosis,neurodegeneration,and spontaneous seizures in rats treated with irisin were significantly reversed by genipin administration.Our findings indicated that neuronal injury in KA-induced chronic epilepsy might be related to reduced levels of BDNF and UCP2.Moreover,our results confirmed the inhibition of neuronal injury and epileptic seizures by exogenous irisin.The protective effects of irisin may be mediated through the BDNF-mediated UCP2 level.Our results thus highlight irisin as a valuable therapeutic strategy against neuronal injury and epileptic seizures.

关键词： Epilepsy Seizure Irisin Genipin Neuronal injury