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Gra.hene oxide-lithium-ion ba.teries: ina.gura.ion of a. era.in energy stora.e technology

CLEa. ENERGY 2024年第3期8卷 194-205页

作者： Mishra. Ya.ha.a.Cha.ta.a., a.iti a.ja.a.i, a.a. a. a. El-Ta.a.i, mohamed Ta.buwa.a. Murta.a.M. Mishra. Vija. Lovely Profess Univ Sch Bioengn & Biosci Phagwara 144411 Punjab India Ya.mouk Univ Dept Pharmaceut & Pharmaceut Technol Irbid Jordan Ra. a. Kha.ma. med & Hlth Sci Univ Coll Pharm Ras Al Khaymah U Arab Emirates Univ Lincoln Lincoln Med Sch Brayford Pool Campus Lincoln LN6 7TS England Lovely Profess Univ Sch Pharmaceut Sci Phagwara 144411 Punjab India

a.significa.t driving force behind the brisk resea.ch on recha.gea.le ba.teries, pa.ticula.ly lithium-ion ba.teries (LiBs) in high-performa.ce a.plica.ions, is the development of porta.le devices a.d electric vehicles. Ca.bon-ba.ed ma.eria.s, which ha.e finite specific ca.a.ity, ma.e up the a.odes of LiBs. Ma.y a.tempts a.e being ma.e to produce novel na.ostructured composite a.ode ma.eria.s for LiBs tha. displa. cycle sta.ility tha. is superior to tha. of gra.hite using gra.hene oxide. Therefore, using significa.t a.ounts of wa.te gra.hene oxide from used LiBs represents a.fa.ta.tic opportunity to enga.e in wa.te ma.a.ement a.d circula. economy. This review outlines recent studies, developments a.d the current a.va.cement of gra.hene oxide-ba.ed LiBs, including prepa.a.ion of gra.hene oxide a.d utiliza.ion in LiBs, pa.ticula.ly from the perspective of energy stora.e technology, which ha. dra.n more a.d more a.tention to crea.ing high-performa.ce electrode systems. Recent studies, developments a.d the current a.va.cement of gra.hene oxide-ba.ed lithium-ion ba.teries a.e reviewed, including prepa.a.ion of gra.hene oxide a.d utiliza.ion in lithium-ion ba.teries, pa.ticula.ly from the perspective of energy stora.e technology, which ha. dra.n a.tention to crea.ing high-performa.ce electrode systems. Gra.hica. a.stra.t

关键词： lithium-ion ba.teries gra.hene oxide energy stora.e technology wa.te ma.a.ement clea. energy ELECTROCHEMICa. PERFORMa.CE Ca.HODE Na.OPa.TICLES ELECTROLYTES EFFICIENCY CELLS

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On the Optima. Design of Ca.le Driven Pa.a.lel Robot with a.Prescribed Workspa.e for Upper Limb Reha.ilita.ion Ta.ks

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Journa. of Bionic Engineering 2019年第3期16卷 503-513页

作者： La.ibi med a.ine Ca.bone Giuseppe Zeghloul Sa.d Depa.tment of GMSC Pprime Institute CNRS-University of Poitiers - ENSMA - UPR 3346 Poitiers France Depa.tment of Mecha.ica. Energy and Management Engineering University of Calabria 87036 Rende Italy CESTER Technical University of Cluj-Napoca Muncii Ave. 103-105 400641 Cluj-Napoca Romania

This pa.er dea.s with a. optimiza.ion a.proa.h to design a.ca.le driven pa.a.lel robot intended for upper limb reha.ilita.ion ta.ks. The ca.le driven pa.a.lel robots ha.e cha.a.teristics tha. ma.e them best ca.dida.e for reha.ilita.ion exercise purposes such a. la.ge workspa.e, re-configura.le a.chitecture, porta.ility a.d cost effectiveness. Here, both the ca.le tensions tha. a.e needed to move a.wristba.d a. well a. the workspa.e need to be ca.efully optimized for fulfilling the prescribed opera.ion ta.ks. a.specific ca.e of study is a.dressed in this work by referring to La.RM wire driven exercising device (La.EX), which is a.plied to upper limbs exercises. To tha. end, a.motion ca.ture system is used to collect qua.tita.ive da.a.on the prescribed workspa.e of a.huma. upper limb. a.specific optimiza.ion problem is settled up for considering combining two optimiza.ion goa.s, na.ely, the sma.lest robot size rea.hing a.prescribed workspa.e a.d the minimum ca.le tension distributions. a.sequence of optimiza.ion steps is defined using Genetic a.gorithms (Ga.) a.plied to La.EX robot. The proposed objective function is ba.ed on a.ma.hema.ica. formula.ion of the power of a.point with respect to bounding surfa.es in combina.ion with a.performa.ce index to show the distributions of the minimum ca.le tensions.

关键词： La.EX robot design bionic robot ca.le-driven robots optimiza.ion power of the point reha.ilita.ion ta.ks

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Ma.erna. Feta. Prognosis: Pregna.cy a.d Delivery in Women of 40 Yea.s Old a.d Over in a.Second Reference Hospita. in Ba.a.o

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Open Journa. of Obstetrics a.d Gynecology 2024年第4期14卷 509-519页

作者： Sa.a.é a.ou Dia.ra.La.seny Keita.Ma.a.ou Ha.da.a.Dra.a.e Ha.da.a.Ma.a.ou Dia.lo Ma.a.ou Kona.é Moussa.Ma.ga.Ma.ia. mohamed Sa.di a. med Elmehdi Ela.sa.i Ka.sogue Djibril Seydou Za.a.Da. Sa.a.e Ha.a.Kona.e Ka.im Dembele Bertin Couliba.y Moussa.Ma.iko Seydou Colla.ete Dohino Reference Hea.th Center of Commune VI of the Ba.a.o District Bamako Mali Ba.a.o Derma.ology Hospita. (BDH) Bamako Mali Ka.a.a. Coro Reference Hea.th Center Bamako Mali Timbuktu Hospita. Timbuktu Mali Reference Hea.th Center of Commune II of the Ba.a.o District Bamako Mali Reference Hea.th Center in Commune V of the Ba.a.o District Bamako Mali Na.iona. Institute for Tra.ning in Hea.th Sciences Bamako Mali Ma.i Hospita. Bamako Mali

Introduction: La.e pregna.cies a.e considered a.public hea.th problem linked to ma.erna. morta.ity due to their complica.ions. These risks, which worsen with ma.erna. a.e, should be better known a.d ta.en into a.count in monitoring these pregna.cies. Objective: To eva.ua.e the impa.t of a.e on the preva.ence of obstetric a.d neona.a. complica.ions a.ong pa.turients of 40 yea.s old a.d over. Methodology: This wa. a. 11-yea. retrospective a.a.ytica. ca.e control study from Ja.ua.y 1, 2007 to December 31, 2017. The study popula.ion wa. fema.e pa.ients of 40 yea.s old or older for ca.es a.d fema.e pa.ients younger tha. 40 yea.s of control ca.e. Results: In tota., we collected 640 ca.es of pa.turients of 40 yea.s old a.d over out of a.tota. of 84,234 deliveries during the study period;i.e. a.frequency of 0.76%. Sponta.eous a.ortion increa.ed in pa.ients of 40 a.d over with 8.28%. Hypertension a.d dia.etes were higher of women of 40 a.d over, 52.65%. Concerning the method of a.mission: 55% of pa.turients of 40 a.d over were referra.s. Incidents occurring a.ong women of 40 a.d over were more pronounced tha. in control ca.es. Complica.ions during va.ina. delivery, cervica. tea., perinea. tea., uterine dehiscence a.d uterine rupture a.e high in our ca.es, i.e. 11.88%;3.59%;2.19%;2.66. During our study, depending on the type of delivery, the cesa.ea. ra.e wa. much higher a.ong women of 40 a.d over tha. a.ong control ca.es, i.e. 54.22% versus 12.24%. Hemorrha.es in the 3rd trimester were the ma.n indica.ions for cesa.ea. section. Hemorrha.es in the 3rd trimester were more frequent with women of 40 a.d over, i.e. 10.47%;5.94% versus 1.74% a.d 0.42%. a. for the different types of ma.forma.ions in pa.turients, women under 40 yea.s old feta. ma.forma.ions were a.sent in 92.29%, on the other ha.d they were more frequent in pa.ients with 40 yea.s a.d over, i.e. a.norma. frequency of 36.72%. Conclusion: Pregna.cy a. a.la.e a.e exposes the elderly pa.ient a.d the newborn to severa. ri

关键词： a.va.ced Ma.erna. a.e Childbirth Risk Ma.i

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Ma.erna. a.d Perina.a. Prognosis of a.teria. Hypertension a.d Pregna.cy in a.Periphera. Hea.th Center in Ma.i

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Open Journa. of Obstetrics a.d Gynecology 2024年第5期14卷 855-867页

作者： Sa.a.é a.ou Dia.ra.La.seny Keita.Ma.a.ou Ha.da.a.Dra.a.e Ha.da.a.Ma.a.ou Dia.lo Ma.a.ou Kona.é Moussa.Ma.ga.Ma.ia. MS a. med Elméhdi Ela.sa.i Ka.sogue Djibril Da. Seydou Za.a.Sa.a.e Ha.a.Kona.e Ka.im Dembele Bertin Couliba.y Moussa.Ma.iko Seydou Colette Dohinnon Reference Hea.th Center in Commune VI of the Ba.a.o District Bamako Mali Ba.a.o Derma.ology Hospita. (HDB) Bamako Mali Ka.a.a. Coro Reference Hea.th Center Bamako Mali Timbuktu Hospita. Timbuktu Mali Reference Hea.th Center of Commune II of the Ba.a.o district Bamako Mali Reference Hea.th Center in Commune V of the Ba.a.o district Bamako Mali Na.iona. Institute for Tra.ning in Hea.th Sciences Bamako Mali Ma.i Hospita. Bamako Mali

Introduction: Ma.erna. morta.ity constitutes a.public hea.th problem a.d its ra.e is a. indica.or of a.country’s development. a.ong the ca.ses of ma.erna. a.d perina.a. dea.h, high blood pressure a.socia.ed with pregna.cy occupies a.significa.t pa.t. It represents 5% of direct ma.erna. dea.hs. Objective: to study the ma.erna. a.d perina.a. prognosis of high blood pressure during pregna.cy in the Tenenkou reference hea.th center in Ma.i. Methodology: This wa. a.descriptive, a.a.ytica. a.d retrospective cross-sectiona. study over a.period of twelve months from Ja.ua.y 1, 2021 to December 31, 2021 a.d involving 144 ca.es of high blood pressure a.socia.ed with pregna.cy. Results: We obta.ned a.frequency of 11.75%. The ma.ority of pa.ients 70.9% were a.ed between 20 - 35 yea.s. The importa.t risk fa.tor found wa. young a.e. During our study, 46.5% of pa.ients ha. performed a. lea.t one CPN a.d only 13.9% performed 04 CPN. Pre-ecla.psia.wa. the most common type of high blood pressure during pregna.cy, i.e. 61.1%. Ecla.psia.a.d retropla.enta. hema.oma.were the most common ma.erna. complica.ions, respectively 27.8% a.d 11.1%. The most common feta. complica.ions were prema.ure births a.d feta. distress with 20.9% a.d 17.4% respectively. Conclusion: Hypertension a.socia.ed with pregna.cy still rema.ns a.ma.or ca.se of ma.erna.-feta. morbidity a.d morta.ity in our context where dia.nosis is often la.e. The ma.n clinica. form wa. preecla.psia. Ecla.psia.a.d retropla.enta. hema.oma.were the most frequent ma.erna. complica.ions. Feta. complica.ions were ma.nly prema.urity a.d feta. distress.

关键词： Pregna.cy High Blood Pressure Prognosis

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a.Circula. Economy a.proa.h to Susta.n the Souss River, Morocco, Ecosystem Services

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Journa. of Environmenta. Science a.d Engineering(a. 2015年第12期4卷 628-640页

作者： moha Ha.douch Regiona. Depa.tment for a.ricultura. Circular Economy Project Management Unit Agadir POB 13/S 84000 Morocco

This a.ticle discusses the role of the Souss river in disa.ter risk reduction, clima.e cha.ge a.a.ta.ion a.d susta.na.le development through ma.nstrea.ing na.ura. ca.ita. into ma.ro-economic policies. The river course, rising from severa. hea.strea.s in the high a.la. mounta.n a.d flowing westwa.d for 180 km to the a.la.tic ocea. is the bea.ing hea.t of the a.ga. biosphere reserve. Its a.luvia. ba.in ensures the vita. link between biodiversity a.d the popula.ion＇s utility functions for more tha. three million inha.ita.ts. It is one of Morocco＇s most fertile regions where citrus fruits, vegeta.les, olives a.e grown beside a. a.ga. na.ura. grove, a.d ma.y of them a.e for export. Recent growing concern of loca. a.thorities ta.kles na.ura. disa.ters a.d subsequent socia. issues a.socia.ed to clima.e cha.ge, resource sca.cities a.d flooding da.a.es, especia.ly a.ter the 2014 flood events. This situa.ion pa.ed the wa. for loca. NGO incentives to embra.e a. ecologica. civiliza.ion a.proa.h for reconcilia.ion with the Souss river. The loca. option a.opted is to reverse the trend of intensive modem a.riculture through a.counterba.a.cing circula. economy a.proa.h towa.ds a. a.ro-ecologica. producing pa.tern in order to susta.n the river wa.er ba.a.ce.

关键词： Souss river ecosystem services disa.ter risk reduction environment engineering

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a.a.ysis a.d optima. synthesis of single loop spa.ia. mecha.isms

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Journa. of Zhejia.g University-Science a.a.plied Physics & Engineering) 2011年第9期12卷 665-679页

作者： med a.ine La.IBI Lotfi ROMDHa.E Sa.d ZEGHLOUL La.ora.oire de Génie Méca.ique LAB-MA-05 Ecole Nationale d'Ingénieurs de Sousse Institut Pprime-UPR 3346 CNRS-Université de Poitiers-ENSMA Département Génie Mécanique et Systémes Complexes SP2MIBP30179 86962 Futuroscope France

In this work, a.systema.ic a.proa.h is presented to obta.n the input-output equa.ions of a.single loop 4-ba. spa.ia. mecha.isms. The dia.ytic method a.ong with Dena.it-Ha.tenberg pa.a.eters ca. be used to obta.n these equa.ions efficiently. a.genetic a.gorithm （Ga. ha. been used to solve the problem of spa.ia. mecha.isms synthesis. Two types of mecha.isms, e.g., RSCR a.d RSPC （R： revolute; S： spherica.; C： cylindrica.; P： prisma.ic）, ha.e illustra.ed the a.plica.ion of the Ga.to solve the problem of function genera.ion a.d pa.h genera.ion. In some ca.es, the Ga.method becomes tra.ped in a.loca. minimum. a.combined Ga.fuzzy logic （Ga.FL） method is then used to improve the fina. result. The results show tha. Ga., combined with a. a.equa.e description of the mecha.ism, a.e well suited for spa.ia. mecha.ism synthesis problems a.d ha.e neither difficulties inherent to the choice of the initia. fea.ible guess, nor a.problem of convergence, a. it is the ca.e for deterministic methods.

关键词： Spa.ia. mecha.isms Genetic a.gorithm-fuzzy logic (Ga.FL) method Denevit-Ha.tenberg pa.a.eters Mecha.ism synthesis

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Epidemiologica.-Clinica. a.pects of Uterine Leiomyoma.a. the Reference Hea.th Center of Commune VI of the Ba.a.o District

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Open Journa. of Obstetrics a.d Gynecology 2024年第5期14卷 674-681页

作者： a.ou Sa.a.é La.seny Dia.ra.Ma.a.ou Keita.Dra.a.e Ha.da.a.Ma.a.ou Ha.da.a.Couliba.y Souma.a.Ma.a.ou Dia.lo Moussa.Kona.é Ma.ia. Ma.ga.MS a. med Elméhdi Ela.sa.i Ka.sogue Djibril Da. Seydou Za.a.Sa.a.e Ha.a.Kona.e Ka.im Dembele Bertin Couliba.y Moussa.Ma.iko Seydou Colette Dohino Reference Hea.th Center of Commune VI of the Ba.a.o District Bamako Mali Ba.a.o Derma.ology Hospita. (HDB) Bamako Mali Ka.a.a. Coro Reference Hea.th Center Bamako Mali Ha.ga.oumbo Moula.e Touré Hospital in Gao Gao Mali Timbuktu Hospita. Tomboctou Mali Reference Hea.th Center of Commune II of the Ba.a.o District Bamako Mali Reference Hea.th Center in Commune V of the Ba.a.o District Bamako Mali Na.iona. Institute for Tra.ning in Hea.th Sciences Bamako Mali Ma.i Hospita. Bamako Mali

Introduction: Uterine fibroid is a.mixed mesenchyma. tumor, developing from smooth muscle cells of the myometrium, sepa.a.ed by connective tissue. The ma.ority of fibroids a.e a.ymptoma.ic a.d do not require a.y intervention or other explora.ory mea.ures. However, in some ca.es fibroids a.e symptoma.ic, their trea.ment should a.m to improve symptoms a.d qua.ity of life. Objectives: Describe the epidemiologica.-clinica. a.pects of uterine fibroids in the gynecology a.d obstetrics depa.tment of the reference hea.th center of commune VI of the Ba.a.o district. Methodology: This wa. a.retrospective descriptive study ca.ried out over a.period of one yea.. It concerns a.l pa.ients seen in consulta.ion in the gynecology a.d obstetrics depa.tment of the reference hea.th center of commune VI. Results: during the study period, the uterine fibroid frequency wa. 1.80%. During this sa.e period, fibroids represented 5.59% of gyneco-obstetric pa.hologies opera.ed on in the depa.tment. The 30 - 45 yea. old a.e group wa. the most represented with a.frequency of 75.63%. The a.era.e a.e wa. 36.87 yea.s ± 6.2 yea.s with extremes of 25 a.d 63 yea.s. Ma.ried women were the most represented 97.48%. The va.t ma.ority of our pa.ients 95.8% were not postmenopa.sa.. The multigra.ida. were the most represented, i.e. 37.50% with a.la.ge pa.t of the pa.cipa.ous 41.29%. In our pa.ients, 96.64% ha. a.clinica. symptom on their fibroid with the ma.n rea.on for consulta.ion being the sensa.ion of a.pelvic ma.s in 97.48%. We recorded three ca.es of infertility a. a.socia.ed fa.tors. Ultra.ound wa. performed in a.l pa.ients. The loca.ion of the myxoma.ous nuclei wa. subserosa. in the ma.ority in 42.86% a.d with multiple nodules in 84.85% of ca.es. The ma.n indica.ion for myomectomy wa. the fa.lure of medica. trea.ment in 86.49% of ca.es. Surgica. trea.ment wa. ma.nly a.myomectomy 93.30%, a.hysterectomy wa. indica.ed in 6.70%. No ca.es of dea.h were recorded. Conclusion: Uterine fibroid is a.gynecologic

关键词： Myoma. Surgery Myomectomy

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Eva.ua.ing tra.sient beha.iour of la.ge-sca.e photovolta.c systems during lightning events using enha.ced finite difference time doma.n method with va.ia.le cell size a.proa.h

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HIGH VOLTa.E 2024年第3期9卷 636-647页

作者： Hetita. Ibra.im Ma.sour, Dia.-Eldin a. Ha., Ya.g Ya.g, Ping Wa.g, Congling Da.wish, mohamed M. F. Lehtonen, Ma.ti Za.ha., a.r S. Univ Elect Sci & Technol China.UESTC Sch Mech & Elect Engn Chengdu Peoples R China Helwa. Univ Fac Engn Elect Power & Machines Engn Dept Cairo Egypt Ta.ta.Univ Fac Engn Elect Power & Machines Engn Dept Tanta Egypt Egypt Ja.a. Univ Sci & Technol Fac Engn Dept Elect Power Engn Alexandria Egypt Benha.Univ Fac Engn Shoubra Dept Elect Engn Cairo Egypt a.lto Univ Sch Elect Engn Dept Elect Engn & Automation Espoo Finland GMC Dept Med Srinagar Jammu And Kashm India

Photovolta.c (PV) a.ra.s a.e usua.ly insta.led in open a.ea.; hence, they a.e vulnera.le to lightning strikes tha. ca. result in cell degra.a.ion, complete da.a.e, service disruption, a.d increa.ed ma.ntena.ce costs. a. a.result, it is impera.ive to develop a. effective a.d efficient lightning protection system by eva.ua.ing the tra.sient beha.iour of PV a.ra.s during lightning events. The a.m is to eva.ua.e the tra.sient a.a.ysis of la.ge-sca.e PV systems when subjected to lightning strikes using the finite difference time doma.n (FDTD) technique. Tra.sient overvolta.es a.e ca.cula.ed a. va.ious points within the mounting system. To optimise the FDTD method's execution time a.d ma.e it more suita.le for less powerful ha.dwa.e, a.va.ia.le cell size a.proa.h is employed. Specifica.ly, la.ger cell dimensions a.e used in the ea.thing system a.d sma.ler cell dimensions a.e used in the mounting system. The FDTD method is utilised to ca.cula.e the tempora. va.ia.ion of tra.sient overvolta.es for la.ge-sca.e PV systems under different scena.ios, including va.ia.ions in the striking point, soil resistivity, a.d the presence of a.meta. fra.e. Simula.ion results indica.e tha. the highest tra.sient overvolta.es occur a. the striking point, a.d these va.ues increa.e with the presence of a.PV meta. fra.e a. well a. with higher soil resistivity. Furthermore, a.compa.ison is performed between the overvolta.e results obta.ned from the FDTD a.proa.h a.d the pa.tia. element equiva.ent circuit (PEEC) method a. the four corner points of the mounting systems to demonstra.e the superior a.cura.y of the FDTD method. Besides, a.la.ora.ory experiment is conducted on a.sma.l-sca.e PV system to va.ida.e the simula.ion results. The ca.cula.ed overvolta.es obta.ned from the FDTD a.d PEEC methods a.e compa.ed with the mea.ured va.ues, yielding a.mea. a.solute error of 5% a.d 11% for the FDTD a.d PEEC methods, respectively, thereby confirming the a.cura.y of the FDTD simula.ion model.

关键词： FDTD METHOD MODEL

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Experimenta. Va.ida.ion of Light Ca.le-Driven Elbow-a.sisting Device L-Ca.EL Design

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Journa. of Bionic Engineering 2022年第2期19卷 416-428页

作者： med a.ine La.ibi Ma.co Cecca.elli Jua. Sa.dova. Ma.teo Bottin Giulio Rosa.i Depa.tment GMSC Pprime InstituteCNRS-University of Poitiers-ENSMAUPR 334686073 PoitiersFrance Depa.tment of Industria. Engineering University of Rome Tor Vergata00133 RomeItaly Depa.tment of Industria. Engineering University of Padova35122 PaduaItaly

This pa.er presents a.new design of Ca.EL,a.ca.le-driven elbow-a.sisting device,with light weighting a.d control *** new device design is a.propria.e to be more porta.le a.d user-oriented solution,presenting a.ditiona. fa.ilities with respect to the origina. *** of potentia. benefits of improved porta.ility ca. be envisa.ed in the possibility of house a.d hospita. usa.e keeping socia. dista.cing while a.lowing reha.ilita.ion trea.ments even during a.pa.demic *** a.tention ha. been devoted to design ma.n mecha.ronic components by developing specific kinema.ics *** design process includes a. implementa.ion of specific control ha.dwa.e a.d *** kinema.ic model of the new design is formula.ed a.d fea.ures a.e eva.ua.ed through numerica. simula.ions a.d experimenta. *** eva.ua.ion from origina. design highlights the proposed improvements ma.nly in terms of comfort,porta.ility a.d user-oriented opera.ion.

关键词： Reha.ilita.ion robotics medica. devices Design Simula.ions Ca.le-driven pa.a.lel robot Control

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a. Experimenta. a.a.ysis of Overcoming Obsta.le in Huma. Wa.king

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Journa. of Bionic Engineering 2014年第4期11卷 497-505页

作者： Ta. Li Ma.co Cecca.elli Minzhou Luo med a.ine La.ibi Sa.d Zeghloul Institute of a.va.ced Ma.ufa.turing Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Changzhou 213164 P. R. China La.ora.ory of Robotics a.d Mecha.ronics University of Cassino and South Latium Cassino 03043 Italy Institute PPRIME- DGMSC CNRS-University of Poitiers- ENSMA 15 Rue de l'Hotel Dieu 86000 Poitiers France

In this pa.er, a. experimenta. a.a.ysis of overcoming obsta.le in huma. wa.king is ca.ried out by mea.s of a.motion ca.ture system. In the experiment, the lower body of a. a.ult huma. is divided into seven segments, a.d three ma.kers a.e pa.ted to ea.h segment with the a.m to obta.n moving tra.ectory a.d to ca.cula.e joint va.ia.ion during wa.king. Moreover, kinema.ic da.a.in terms of displa.ement, velocity a.d a.celera.ion a.e a.quired a. well. In a.dition, ground rea.tion forces a.e mea.ured using force sensors. Ba.ed on the experimenta. results, fea.ures of overcoming obsta.le in huma. wa.king a.e a.a. lyzed. Experimenta. results show tha. the rea.on which lea.s to smooth wa.king ca. be identified a. tha. the huma. ha. slight movement in the vertica. direction during wa.king; the rea.on tha. huma. locomotion uses gra.ity effectively ca. be identified a. tha. feet rota.e a.ound the toe joints during toe-off pha.e a.ming a. using gra.ita.iona. potentia. energy to provide propulsion for swing pha.e. Furthermore, both norma. wa.king ga.t a.d obsta.le overcoming ga.t a.e cha.a.terized in a.form tha. ca. provide necessa.y knowledge a.d useful da.a.a.es for the implementa.ion of motion pla.ning a.d ga.t pla.ning towa.ds overcoming obsta.le for huma.oid robots.

关键词： huma. locomotion overcoming obsta.le wa.king ga.t biped robot motion ca.ture

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