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

作者： Laribi med Amine Carbone Giuseppe Zeghloul said Department of GMsC Pprime Institute CNRS-University of Poitiers - ENSMA - UPR 3346 Poitiers France Department of Mechanical 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 paper deals with an optimization approach to design a cable driven parallel robot intended for upper limb rehabilitation tasks. The cable driven parallel robots have characteristics that make them best candidate for rehabilitation exercise purposes such as large workspace, re-configurable architecture, portability and cost effectiveness. Here, both the cable tensions that are needed to move a wristband as well as the workspace need to be carefully optimized for fulfilling the prescribed operation tasks. A specific case of study is addressed in this work by referring to LA RM wire driven exercising device (LAWEX), which is applied to upper limbs exercises. To that end, a motion capture system is used to collect quantitative data on the prescribed workspace of a human upper limb. A specific optimization problem is settled up for considering combining two optimization goals, namely, the smallest robot size reaching a prescribed workspace and the minimum cable tension distributions. A sequence of optimization steps is defined using Genetic Algorithms (GAs) applied to LAWEX robot. The proposed objective function is based on a mathematical formulation of the power of a point with respect to bounding surfaces in combination with a performance index to show the distributions of the minimum cable tensions.

关键词： LAWEX robot design bionic robot cable-driven robots optimization power of the point rehabilitation tasks

Analysis and optimal synthesis of single loop spatial mechanisms

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Journal of Zhejiang University-science A(Applied Physics & Engineering) 2011年第9期12卷 665-679页

作者： med Amine LARIBI Lotfi ROMDHANE sad ZEGHLOUL Laboratoire de Génie Mécanique 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 systematic approach is presented to obtain the input-output equations of a single loop 4-bar spatial mechanisms. The dialytic method along with Denavit-Hartenberg parameters can be used to obtain these equations efficiently. A genetic algorithm （GA） has been used to solve the problem of spatial mechanisms synthesis. Two types of mechanisms, e.g., RsCR and RsPC （R： revolute; s： spherical; C： cylindrical; P： prismatic）, have illustrated the application of the GA to solve the problem of function generation and path generation. In some cases, the GA method becomes trapped in a local minimum. A combined GA-fuzzy logic （GA-FL） method is then used to improve the final result. The results show that GAs, combined with an adequate description of the mechanism, are well suited for spatial mechanism synthesis problems and have neither difficulties inherent to the choice of the initial feasible guess, nor a problem of convergence, as it is the case for deterministic methods.

关键词： spatial mechanisms Genetic algorithm-fuzzy logic (GA-FL) method Denevit-Hartenberg parameters Mechanism synthesis

Experimental Validation of Light Cable-Driven Elbow-Assisting Device L-CADEL Design

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

作者： med Amine Laribi marco Ceccarelli Juan sandoval matteo Bottin Giulio Rosati Department GMsC Pprime InstituteCNRS-University of Poitiers-ENSMAUPR 334686073 PoitiersFrance Department of Industrial Engineering University of Rome Tor Vergata00133 RomeItaly Department of Industrial Engineering University of Padova35122 PaduaItaly

This paper presents a new design of CADEL,a cable-driven elbow-assisting device,with light weighting and control *** new device design is appropriate to be more portable and user-oriented solution,presenting additional facilities with respect to the original *** of potential benefits of improved portability can be envisaged in the possibility of house and hospital usage keeping social distancing while allowing rehabilitation treatments even during a pandemic *** attention has been devoted to design main mechatronic components by developing specific kinematics *** design process includes an implementation of specific control hardware and *** kinematic model of the new design is formulated and features are evaluated through numerical simulations and experimental *** evaluation from original design highlights the proposed improvements mainly in terms of comfort,portability and user-oriented operation.

关键词： Rehabilitation robotics medical devices Design simulations Cable-driven parallel robot Control

An Experimental Analysis of Overcoming Obstacle in Human Walking

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

作者： Tao Li marco Ceccarelli Minzhou Luo med Amine Laribi said Zeghloul Institute of Advanced manufacturing Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Changzhou 213164 P. R. China Laboratory of Robotics and Mechatronics 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 paper, an experimental analysis of overcoming obstacle in human walking is carried out by means of a motion capture system. In the experiment, the lower body of an adult human is divided into seven segments, and three markers are pasted to each segment with the aim to obtain moving trajectory and to calculate joint variation during walking. Moreover, kinematic data in terms of displacement, velocity and acceleration are acquired as well. In addition, ground reaction forces are measured using force sensors. Based on the experimental results, features of overcoming obstacle in human walking are ana- lyzed. Experimental results show that the reason which leads to smooth walking can be identified as that the human has slight movement in the vertical direction during walking; the reason that human locomotion uses gravity effectively can be identified as that feet rotate around the toe joints during toe-off phase aiming at using gravitational potential energy to provide propulsion for swing phase. Furthermore, both normal walking gait and obstacle overcoming gait are characterized in a form that can provide necessary knowledge and useful databases for the implementation of motion planning and gait planning towards overcoming obstacle for humanoid robots.

关键词： human locomotion overcoming obstacle walking gait biped robot motion capture

Design study of a Cable-based Gait Training machine

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Journal of Bionic Engineering 2017年第2期14卷 232-244页

作者： Houssein Lamine med Amine Laribi sami Bennour Lotfi Romdhane said Zeghloul Mechanical Laboratory of sousse (LMs) National Engineering School of Sousse University of Sousse Sousse 4000 Tunisia Department of GMsC Pprime Institute CNRS ENSMA University of Poitiers UPR 3346 France Mechanical Engineering Department American University of Sharjah PO Box 26666 Sharjah United Arab Emirates

This paper deals with a design approach of a gait training machine based on a quantitative gait analysis. The proposed training machine is composed of a body weight support device and a cable-driven parallel robot. This paper is focused on the cable-driven robot, which controls the pose of the lower limb through an orthosis placed on the patient＇s leg. The cable robot reproduces a normal gait movement through the motion of the orthosis. A motion capture system is used to perform the quantitative analysis of a normal gait, which will be used as an input to the inverse dynamic model of the cable robot. By means of an optimization algorithm, the optimal design parameters, which minimize the tensions in the cables, are determined. Two constraints are considered, i.e., a non-negative tension in the cables at all times, and a free cable/end-effector collision. Once the optimal solution is computed, a power analysis is carried out in order to size the robot actuators. The proposed approach can be easily extended for the design study of a similar type of cable robots.

关键词： gait rehabilitation cable-driven robots body weight support system design optimization

Construction of the Oxetane Ring from 5α-Acyloxy-Δ^(4(20))-taxoids

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Chinese Chemical Letters 1997年第2期8卷 99-100页

作者： Rui Wu LIU Ji Yu GUO Xiao Tian LiANG(Institute of materia.medica, Chinese Academy of med. sci. & Peking Union med. College, Beijing 100050) CHINEsE ACAD med sCI INST MAT MEDBEIJING 100050PEOPLES R CHINA BEIJING UNION med COLL BEIJING 100050PEOPLES R CHINA

-An oxetane ring can be constructed from 5 α-acyloxy-Δ4(20) -taxoids with osmylation as the first step in the usual manner. The innovation reported here is the use of an intramolecularly available acyl group for the... 详细信息

关键词： taxoids Acyloxy Construction of the Oxetane Ring from 5

Complementary Methods to Acquire the kinematics of swimming snakes:A Basis to Design Bio-inspired Robots

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Journal of Bionic Engineering 2023年第2期20卷 668-682页

作者： Elie Gautreau Xavier Bonnet Tom Fox Guillaume Fosseries Valéry Valle Anthony Herrel med Amine Laribi Department of GMsC University of PoitiersISAE-ENSMACNRSPPRIME UPR 3346PoitiersFrance CEBC Center for Biological studies of Chizé CNRS and University of la RochelleVilliers en BoisFrance MNHN National Museum of Natural History CNRSParisFrance

The vast diversity of morphologies,body size,and lifestyles of snakes represents an important source of information that can be used to derive bio-inspired robots through a biology-push and pull *** understanding of the detailed kinematics of swimming snakes is a fundamental prerequisite to conceive and design bio-inspired aquatic snake ***,only limited information is available on the kinematics of swimming *** and accurate methods are needed to fill this knowledge *** the present paper,three existing methods were compared to test their capacity to characterize the kinematics of swimming snakes.(1)marker tracking(Deftac),(2)markerless pose estimation(DeepLabCut),and(3)Motion capture were considered.(4)We also designed and tested an automatic video processing *** methods provided different albeit complementary data sets;they also involved different technical issues in terms of experimental conditions,snake manipulation,or processing *** tracking provided accurate data that can be used to calibrate other *** capture posed technical difficulties but can provide limited 3D *** pose estimation required deep learning(thus time)but was efficient to extract the data under various experimental ***,automatic video processing was particularly efficient to extract a wide range of data useful for both biology and robotics but required a specific experimental setting.

关键词： Locomotion Image processing Motion capture kinematic analysis snake robot Biomimicry DeepLabCut

Estimation of the peak flows in the catchment area of Batna(Algeria)

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Journal of Groundwater science and Engineering 2020年第1期8卷 79-86页

作者： sAMI Guellouh ABDELWAHHAB Filali med IssAM Kalla Laboratory LRNAT University of Batna-2

The limited knowledge of the variations,both spatial and temporal,of the flow patterns at the watershed level invariably leads to poor space management,generating great and often irreversible ***,measuring peak flows appears to be not only important but even *** to the absence of hydrometric stations at the outlet of the sub-basins that are part of comprehensive prevention strategy,and were established because of the high vulnerability of the city of Batna,this study provides a transformation model of rainfall into flows in the Batna *** work aims to model the transformation of rainfall into *** estimate the Q max,two formulas were used,and Turazza's seems to be the most adequate,because it demonstrates a cumulative sub-basins flow close to the result recorded by the only hydrometric station at the outlet of Batna *** this modeling,it is possible to estimate the extreme quantiles with the return periods of 10,20,50 and 100 years for each *** purpose is to help design of hydraulic works and increase the resilience of development projects that might be exposed to floods.

关键词： Flows Floods Empirical methods Rainfall Turazza

Community-acquired Methicillin-resistant staphylococcus Aureus （CA-MRsA）：A Public Health Concern in Athletic settings

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中国运动医学杂志 2008年第6期27卷 775-778页

作者： Lindsay K. Drewes,med, ATC University of Virginia Department of Human Services-Kinesiology

Background Methicillin-resistant staphylococcus aureus(MRsA)is a type of bacteria,commonly manifesting itself in the form of skin infections,and resistant to beta-lactum antibiotics[2].These infections were seen in hospital settings starting in the 1960s in patients that had recently been hospitalized or undergone a.medical procedure[3].

关键词：金黄色葡萄球菌蛋白质皮肤运动医学运动损伤

Rehabilitative Ultrasound Imaging within Clinical Practice

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中国运动医学杂志 2009年第5期28卷 572-574页

作者： Noelle M. selkow med ATC 3rd Year Doctoral student University of Virginia

Introduction Rehabilitative Ultrasound Imaging(RUsI)is on the rise among clinical rehabilitation of patients with varying *** use of real-time ultrasound has increased the effectiveness of clinical techniques,improved... 详细信息

关键词：复原超声成像临床实践 RUsI 运动医学