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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

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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

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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

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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

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A method for cleaning wind power anomaly data by combining image processing with community detection algorithms

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Global Energy Interconnection 2024年第3期7卷 293-312页

作者： qiaoling Yang Kai Chen Jianzhang Man Jiaheng Duan Zuoqi Jin College of Electrical and Information Engineering Lanzhou University of TechnologyLanzhou 730050P.R.China

Current methodologies for cleaning wind power anomaly data exhibit limited capabilities in identifying abnormal data within extensive datasets and struggle to accommodate the considerable variability and intricacy of wind farm data.Consequently,a method for cleaning wind power anomaly data by combining image processing with community detection algorithms(CWPAD-IPCDA)is proposed.To precisely identify and initially clean anomalous data,wind power curve(WPC)images are converted into graph structures,which employ the Louvain community recognition algorithm and graph-theoretic methods for community detection and segmentation.Furthermore,the mathematical morphology operation(MMO)determines the main part of the initially cleaned wind power curve images and maps them back to the normal wind power points to complete the final cleaning.The CWPAD-IPCDA method was applied to clean datasets from 25 wind turbines(WTs)in two wind farms in northwest China to validate its feasibility.A comparison was conducted using density-based spatial clustering of applications with noise(DBSCAN)algorithm,an improved isolation forest algorithm,and an image-based(IB)algorithm.The experimental results demonstrate that the CWPAD-IPCDA method surpasses the other three algorithms,achieving an approximately 7.23%higher average data cleaning rate.The mean value of the sum of the squared errors(SSE)of the dataset after cleaning is approximately 6.887 lower than that of the other algorithms.Moreover,the mean of overall accuracy,as measured by the F1-score,exceeds that of the other methods by approximately 10.49%;this indicates that the CWPAD-IPCDA method is more conducive to improving the accuracy and reliability of wind power curve modeling and wind farm power forecasting.

关键词： Wind turbine power curve Abnormal data cleaning Community detection Louvain algorithm Mathematical morphology operation

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Cadaverine and putrescine exposure influence carbon and nitrogen cycling genes in water and sediment of the Yellow River

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Journal of Environmental Sciences 2024年第8期142卷 236-247页

作者： Wanghong Su qiaoling Yu Jiawei Yang Qian Han Sijie Wang Petr Hedenec Xiaochen Wang Ruijun Wan-Yan Huan Li School of Public Health Lanzhou UniversityLanzhou 730000China 2 Institute for Tropical Biodiversity and Sustainable DevelopmentUniversity Malaysia Terengganu21030Kuala NerusTerengganuMalaysia State Key Laboratory of Grassland Agro-ecosystems Center for Grassland MicrobiomeCollege of pastoral agriculture science and technology Lanzhou UniversityLanzhou 730000China

The response patterns of microbial functional genes involved in biogeochemical cycles to cadaver decay is a central topic of recent environmental sciences.However,the response mechanisms and pathways of the functional genes associated with the carbon(C)and nitrogen(N)cycling to cadaveric substances such as cadaverine and putrescine remain unclear.This study explored the variation of functional genes associated with C fixation,C degradation and N cycling and their influencing factors under cadaverine,putrescine and mixed treatments.Our results showed only putrescine significantly increased the alpha diversity of C fixation genes,while reducing the alpha diversity of N cycling genes in sediment.For the C cycling,the mixed treatment significantly decreased the total abundance of reductive acetyl-CoA pathway genes(i.e.,acsB and acsE)and lig gene linked to lignin degradation in water,while only significantly increasing the hydroxypropionate-hydroxybutylate cycle(i.e.,accA)gene abundance in sediment.For the N cycling,mixed treatment significantly decreased the abundance of the nitrification(i.e.,amoB),denitrification(i.e.,nirS3)genes in water and the assimilation pathway gene(i.e.,gdhA)in sediment.Environmental factors(i.e.,total carbon and total nitrogen)were all negatively associated with the genes of C and N cycling.Therefore,cadaverine and putrescine exposure may inhibit the pathway in C fixation and N cycling,while promoting C degradation.These findings can offer some new insight for the management of amine pollution caused by animal cadavers.

关键词： Carbon cycling Nitrogen cycling Cadaverine Putrescine Pollution management

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Gp130-dependent STAT3 activation in M-CSF-derived macrophages exaggerates tumor progression

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Genes & Diseases 2024年第3期11卷 51-54页

作者： Yuting Xu Xiaoyu Xu Qianyue Zhang Peizhe Lu Chongjun Xiang Lei Zhang Chunhua Lin qiaoling Song Key Laboratory of Marine Drugs Ministry of Education of ChinaSchool of Medicine and PharmacyOcean University of ChinaQingdaoShandong 266003China College of Marine Life Sciences Ocean University of ChinaQingdaoShandong 266071China Department of Neuroscience University of MichiganAnn ArborM/48103USA Department of Urology The Affiliated Yantai Yuhuangding Hospital of Qingdao UniversityYantaiShandong 264000China Research Center of Traditional Chinese Medicine and Clinical Pharmacy Shandong Provincial Maternal and Child Health Care Hospital Affiliated to Qingdao UniversityJinanShandong 250014China Innovation Platform of Marine Drug Screening&Evaluation Qingdao National Laboratory for Marine Science and TechnologyQingdaoShandong 266100China

Interleukin-6(IL-6)is a common pluripotent cytokine that is highly expressed in the tumor microenvironment.The IL-6/JAK/STAT3 signaling directly promotes tumor progression,severely hampering antitumor immunity.Macrophages,the richest innate immune cells within the tumor microenvironment,manipulate tumor progression via phenotypic plasticity.

关键词： STAT3 tumor Interleukin

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The Formation of SO_(2) and Emission Reduction Solutions in the Preparation of a Hydrogenation Catalyst Support

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China Petroleum Processing & Petrochemical Technology 2024年第1期26卷 98-106页

作者： Hu Anpeng Wang Zhen Yang Qinghe Hu Dawei Gong Yu Jia Yanzi Dai qiaoling Pu Ning SINOPEC Research Institute of Petroleum Processing Beijing 100083China Zibo Qimao Catalyst Co. Ltd.Zibo 255400China

The key reason for SO_(2) formation during the production of a residue hydrogenation catalyst support was identified and subsequent emission reduction solutions were then investigated and verified systematically.The results demonstrated that carbon-containing organic materials,including sesbania powder and cellulose,did not completely decompose over the temperature range of 350−600℃during the heating stage of the calcination process,but rather underwent a condensation reaction within the same temperature range to form carbon-containing species with a lower ratio of hydrogen to carbon and a higher condensation degree,which promoted the decomposition of sulfate to form SO_(2).Systematic experimental work revealed that three different measures,i.e.,applying the staged calcination method,reducing the heating rate,and increasing the air flow rate,during the calcination process could all achieve the effect of reducing SO_(2) emissions.

关键词： alumina sesbania powder cellulose sulfur dioxide

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MSC-derived exosomes attenuate hepatic fibrosis in primary sclerosing cholangitis through inhibition of Th17 differentiation

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Asian Journal of Pharmaceutical Sciences 2024年第1期19卷 119-134页

作者： Wenyi Chen Feiyan Lin Xudong Feng Qigu Yao Yingduo Yu Feiqiong Gao Jiahang Zhou qiaoling Pan Jian Wu Jinfeng Yang Jiong Yu Hongcui Cao Lanjuan Li State Key Laboratory for the Diagnosis and Treatment of Infectious Diseases National Clinical Research Center for Infectious DiseasesCollaborative Innovation Center for Diagnosis and Treatment of Infectious DiseasesNational Medical Center for Infectious DiseasesThe First Affiliated HospitalZhejiang University School of MedicineHangzhou 310003China Jinan Microecological Biomedicine Shandong Laboratory Jinan 250117China Key Laboratory of Diagnosis and Treatment of Aging and Physic-chemical Injury Diseases of Zhejiang Province Hangzhou 310003China

Primary sclerosing cholangitis(PSC)is an autoimmune cholangiopathy characterized by chronic inflammation of the biliary epithelium and periductal fibrosis,with no curative treatment available,and liver transplantation is inevitable for end-stage patients.Human placentalmesenchymal stem cell(hpMSC)-derived exosomes have demonstrated the ability to prevent fibrosis,inhibit collagen production and possess immunomodulatory properties in autoimmune liver disease.Here,we prepared hpMSC-derived exosomes(Exo^(MSC))and further investigated the anti-fibrotic effects and detailed mechanism on PSC based on Mdr2^(−/−)mice and multicellular organoids established from PSC patients.The results showed that Exo^(MSC) ameliorated liver fibrosis in Mdr2^(−/−)mice with significant collagen reduction in the preductal area where Th17 differentiation was inhibited as demonstrated by RNAseq analysis,and the percentage of CD4+IL-17A+T cells was reduced both in Exo^(MSC)-treated Mdr2^(−/−)mice(Mdr2^(−/−)-Exo)in vivo and Exo^(MSC)-treated Th17 differentiation progressed in vitro.Furthermore,Exo^(MSC) improved the hypersecretory phenotype and intercellular interactions in the hepatic Th17 microenvironment by regulating PERK/CHOP signaling as supported by multicellular organoids.Thus,our data demonstrate the antifibrosis effect of Exo^(MSC) in PSC disease by inhibiting Th17 differentiation,and ameliorating the Th17-induced microenvironment,indicating the promising potential therapeutic role of Exo^(MSC) in liver fibrosis of PSC or Th17-related diseases.

关键词： Mesenchymal stem cell Exosomes Primary sclerosing cholangitis Fibrosis Organoids Th17

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A telomere-to-telomere genome assembly of Hongyingzi,a sorghum cultivar used for Chinese Baijiu production

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The Crop Journal 2024年第2期12卷 635-640页

作者： Yanqing Ding Yilin Wang Jianxia Xu Feng Jiang Wenzhen Li qiaoling Zhang Longping Yang Zhenyu Zhao Bin Cheng Ning Cao Xu Gao Xin Zhang Guihua Zou Fan Yang Liyi Zhang Guizhou Institute of Upland Crops Guizhou Academy of Agricultural SciencesGuiyang 550006GuizhouChina Kweichow Moutai Co. Ltd.Maotai TownRenhuai 564501GuizhouChina Kweichow Moutai Distillery(Group)Hongyingzi Agricultural Technology Development Co. Ltd.Maotai TownRenhuai 564501GuizhouChina Wuhan GrandOmics Biosciences Co. Ltd.Grandomics BiosciencesWuhan 430000HubeiChina Institute of Crop and Nuclear Technology Utilization Zhejiang Academy of Agricultural SciencesZhejiang

Sorghum(Sorghum bicolor(L.)Moench)is a world cereal crop used in China for producing Baijiu,a distilled spirit.We report a telomere-to-telomere genome assembly of the Baijiu cultivar Hongyingzi,HYZ-T2T,using ultralong reads.The 10 chromosome pairs contained 33,462 genes,of which 93%were functionally annotated.The 20 telomeres and 10 centromeric regions on the HYZ-T2T chromosomes were predicted and two consecutive large inversions on chromosome 2 were characterized.A 65-gene reconstruction of the metabolic pathway of tannins,the flavor substances in Baijiu,was performed and may advance the breeding of sorghum cultivars for Baijiu production.

关键词： Sorghum Telomere-to-telomere assembly Hongyingzi(HYZ) Chinese Baijiu-making cultivar

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