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Design and Implementation of a Rehabilitation Upper-limb Exoskeleton Robot Controlled by Cognitive and Physical Interfaces

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Journal of Bionic Engineering 2022年第5期19卷 1374-1391页

作者： Arturo Gonzalez‑Mendoza Ivett Quinones‑Uriostegui Sergio Salazar‑Cruz Alberto‑Isaac Perez‑Sanpablo Ricardo Lopez‑Gutierrez rogelio lozano LAFMIA UMI Center for Research and AdvancedStudies of National Polytechnic InstituteAv.Instituto Politecnico Nacional No.250807360 Mexico CityMexico Motion Analysis Lab National Institute of Rehabilitation Luis Guillermo Ibarra IbarraCalz.Mexico Xochimilco No.28914389 Mexico CityMexico CONACYT-CINVESTAV Av.Instituto Politecnico Nacional 250807360 Mexico CityMexico UTC-CNRS UMR Sorbonne UniversitesUTC-CNRS UMR7253 HeudiasycCompiegneFrance

This paper presents an upper limb exoskeleton that allows cognitive(through electromyography signals)and physical user interaction(through load cells sensors)for passive and active exercises that can activate neuroplasticity in the rehabilitation process of people who suffer from a neurological *** the exoskeleton to be easily accepted by patients who suffer from a neurological injury,we used the ISO9241-210:2010 as a methodology design *** the first steps of the design process,design requirements were collected from previous usability tests and ***,as a second step,a technological solution is proposed,and as a third step,the system was evaluated through performance and user *** part of the technological solution and to allow patient participation during the rehabilitation process,we have proposed a hybrid admittance control whose input is load cell or electromyography *** hybrid admittance control is intended for active therapy exercises,is easily implemented,and does not need musculoskeletal modeling to ***,electromyography signals classification models and features were evaluated to identify the best settings for the cognitive human–robot interaction.

关键词： Human Robot interaction Hybrid admittance control Surface electromyography Upper-limb exoskeletal robot

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Adaptive Control for Passive Kinesiotherapy ELLTIO

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Journal of Bionic Engineering 2014年第4期11卷 581-588页

作者： Ricardo López Hipólito Aguilar Sergio Salazar rogelio lozano Laboratory UMI LAFMIA 3175 CINVESTAV-CNRS Móxico D. F. CNRS Research Director Universitb de Technologie de Compiègne 60200 Compiègne France

Exoskeletons are mechatronic devices used to increase human muscle strength and resistance. In the last decade these devices have become a very useful tool to assist active kinesiotherapy. This paper presents the design of exoskeleton focused on the rehabilitation of ankle and knee for the right leg. The construction of prototype like Exoskeleton for Lower Limb Training with Instrumented Orthoses （ELLTIO） using Series Elastic Actuator （SEA） to reduce the effort in the human joints, and a control law to perform a rehabilitation routine using an adaptive control scheme were first implemented in simulation to verify the control strategy and make a real rehabilitation test. The adaptive control law is proposed with the intention that the exoskeleton can adapt to user parameters at the time when performing the exercise. The results show the parameters estimation and tracking trajectory for the exoskeleton were proposed, and this trajectory could be a routine rehabilitation proposed by the therapist.

关键词： exoskeleton parametric identification rehabilitation robotics adaptive control.

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Comparison of Control Techniques in a Weight Lifting Exoskeleton

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Journal of Bionic Engineering 2019年第4期16卷 663-673页

作者： Irving Rosales-Diaz Jesus Ricardo Lopez-Gutierrez Angel Eduardo Zamora Suarez Sergio Rosario Salazar Antonio Osorio-Cordero Hipolito Aguilar-Sierra rogelio lozano CINVESTAV Av.Institute Politecnico Nacional 2508Col.San Pedro Zacatenco07360Mexico CityMexico CONACYT-CINVESTAV Av.Institute Politecnico Nacional 2508Col.San Pedro Zacatenco07360Mexico CityMexico Polytechnic University of Tulancingo St.Ingenierias 100Col.Huapalcalco43629TulancingoHidalgoMexico Centre de Recherches de Royalieu UTC-HEUDIASyCCompiegne60205France

The back pain is the most common injury in human activities where heavy objects must be lifted or must be suspended for a long time.A weight lifting exoskeleton also known as force augmentation exoskeleton is designed to reduce the strain on the back and the limbs and reduce the risk to suffer *** the other hand,different kinds of controllers have been implemented to achieve whit this goal,for example,a conventional PD Control,PD Control with Gravity Compensation,PD Control with Adaptive Desired Gravity Compensation and PD Control with Robust *** paper aims to evaluate and compare the performance from the previously cited controllers used to reduce the strain in the back,through the implementation of each controller in a three Degrees Of Freedom(DOF)exoskeleton powered by pneumatic muscle actuators;some numerical simulations as well as experimental trials have been conducted and three different performance indices were used in order to determine the effectiveness of each one with respect to the simple PD controller when the mass to be lifted is unknown.

关键词： augmenting force device exoskeleton robot pneumatic artificial muscles adaptive control robust control

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Sliding Mode Control for systems with state constraints: Application to a Quadrotor MAV

Sliding Mode Control for systems with state constraints: App...

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第37届中国控制会议

作者： Zhi Chen Xiaowei Tu Fu Jian lozano rogelio Bin Ren School of Mechatronic Engineering and Automation Shanghai University College of Energy and Power Engineering Nanjing University of Science and Technology

A special kind of Sliding Mode Control（SMC） for systems having state constraints is proposed in this paper. It presents a very good performance for satisfying the state constraints by using a Positive Invariant Set（PIS）. The PIS can be regarded as a special kind of sliding mode surface, and it is equivalent to the normal SMC system when the state enters into the sliding motion phase. The algorithm is shown to be suitable for controlling the flight of a Micro Aerial Vehicle（MAV）. By using the algorithm, the customized flight control system allows the MAV from any initial state, for instance after throwing it by hand, to enter the hovering state quickly after receiving a hovering command from the ground station. The control strategy is successfully tested on the MAV platform. The results verify the effectiveness of the proposed control strategy for engineering applications.

关键词： Terminal Sliding Mode Control Positive Invariant Set Micro Aerial Vehicle

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微小型四旋翼无人机实时嵌入式控制系统设计与实现

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电子技术应用 2009年第5期35卷 35-38页

作者：刘晓杰赵晓晖顾海军 Sanchez Anand lozano rogelio 吉林大学通信工程学院吉林长春130012 贡比涅科技大学法国贡比涅60205

在四旋翼无人机飞行模式分析基础上,提出了一种四旋翼无人机的稳定姿态导航控制系统,改进了无刷电机控制驱动器,并应用多任务编程方案实现软件设计。实验表明,该机载嵌入式系统具有可靠性高、功耗低、重量轻、成本低等优点。

关键词：四旋翼无人航空器嵌入式系统无刷电机驱动器

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<i>Phaseolus</i>Genetic Resources Grown in Campeche, Mexico

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Agricultural Sciences 2015年第12期6卷 1464-1471页

作者： Fermín Orona-Castro rogelio Lépiz-Ildelfonso Juan Medina-Mendez Mónica Guadalupe lozano-Contreras Mirna Hernández Pérez Instituto Nacional de Investigaciones Forestales Agrícolas y Pecuarias (INIFAP) Campo Experimental Edzná Km 15.5 Carretera Campeche-Tixmucuy Campeche México Universidad de Guadalajara Guadalajara México Instituto Nacional de Investigaciones Forestales Agrícolas y Pecuarias (INIFAP) Campo Experimental Mocochá Km 25 Carretera Mérida-Motul Yucatán México

The protein intake of the population in the Yucatan Peninsula is based upon the different forms of beans naturally developed. The different ecotypes of creole beans that are grown traditionally have been displaced by improved varieties, thereby turning into a risk of losing a valuable source of germ-plasma. The present study is aimed to identify, collect and preserve several bean species genetic resources grown in Campeche, Mexico, in addition to the development of an identification card with the main phenotypic characteristics and yield components. A total of 33 different samples were collected from nine different municipalities statewide;out of those, 15 were Phaseolus vulgaris and 18 Phaseolus lunatus. The collected samples diversity is reflected in the range of growth habits from the bush to the indeterminate climbing species, being these the most representative with about 29 samples, many of those because of the way the planting is carried out, which is traditionally performed in association with the cultivation of corn. Early samples were identified in this diversity with their cycle ranging from 60 to 120 days after emergence. Samples of Phaseolus lunatus with 1.35 to 2.86 t/ha yield potential were also obtained.

关键词： Creole Beans Collect Preserv Genetic Variability

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GOECP/SEOR radiotheraphy guidelines for non-small-cell lung cancer

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World Journal of Clinical Oncology 2022年第4期13卷 237-266页

作者： Nuria Rodriguez De Dios Arturo Navarro-Martin Cristina Cigarral Rodolfo Chicas-Sett Rafael Garcia Virginia Garcia Jose Antonio Gonzalez Susana Gonzalo Mauricio Murcia-Mejia rogelio Robaina Amalia Sotoca Carmen Vallejo German Valtuena Felipe Counago Department of Radiation Oncology Hospital del MarBarcelona 08003Spain Radiation Oncology Research Group Hospital Del Mar Medical Research InstitutionBarcelona 08003Spain Department of Experimental and Health Sciences Pompeu Fabra UniversityBarcelona 08003Spain Department of Radiation Oncology Thoracic Malignancies UnitHospital Duran i Reynals.ICOL´Hospitalet de LLobregat 08908Spain Department of Radiation Oncology Hospital Clinico de SalamancaSalamanca 37007Spain Department of Radiation Oncology ASCIRES Grupo BiomedicoValencia 46004Spain Department of Radiation Oncology Hospital Ruber InternacionalMadrid 28034Spain Department of Radiation Oncology Hospital Universitario Arnau de VilanovaLleida 25198Spain Department of Radiation Oncology Genesis Care-SpainSevilla 41092Spain Department of Radiation Oncology Hospital Universitario La PrincesaMadrid 28006Spain Department of Radiation Oncology Hospital Universitario Sant Joan de ReusReus 43204TarragonaSpain Department of Radiation Oncology Hospital Universitario Ramon y CajalMadrid 28034Spain Department of Radiation Oncology Hospital Clinico Universitario Lozano BlesaZaragoza 50009Spain Department of Radiation Oncology Hospital Universitario QuirónsaludMadrid 28223Spain Department of Radiation Oncology Hospital La LuzMadrid 28003Spain Department of Clinical Universidad EuropeaMadrid 28670Spain

Non-small cell lung cancer(NSCLC) is a heterogeneous disease accounting for approximately 85% of all lung cancers. Only 17% of patients are diagnosed at an early stage. Treatment is multidisciplinary and radiotherapy plays a key role in all stages of the disease. More than 50% of patients with NSCLC are treated with radiotherapy(curative-intent or palliative). Technological advancesincluding highly conformal radiotherapy techniques, new immobilization and respiratory control systems, and precision image verification systems-allow clinicians to individualize treatment to maximize tumor control while minimizing treatment-related toxicity. Novel therapeutic regimens such as moderate hypofractionation and advanced techniques such as stereotactic body radiotherapy(SBRT) have reduced the number of radiotherapy sessions. The integration of SBRT into routine clinical practice has radically altered treatment of early-stage disease. SBRT also plays an increasingly important role in oligometastatic disease. The aim of the present guidelines is to review the role of radiotherapy in the treatment of localized, locally-advanced, and metastatic NSCLC. We review the main radiotherapy techniques and clarify the role of radiotherapy in routine clinical practice. These guidelines are based on the best available evidence. The level and grade of evidence supporting each recommendation is provided.

关键词： Radiotherapy Non-small cell lung cancer Guidelines Stereotactic radiation therapy Hypofractionated radiation Oligometastasis

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