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Adaptive Robust Control for a Lower limbs Rehabilitation Robot Running Under Passive Training Mode

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IEEE/CAA Journal of Automatica Sinica 2019年第2期6卷 493-502页

作者： Xiaolong Chen Han Zhao Shengchao Zhen Hao Sun Hefei University of Technology

This paper focuses on the problem of the adaptive robust control of a lower limbs rehabilitation robot(LLRR) that is a nonlinear system running under passive training mode. In reality, uncertainties including modeling error, initial condition deviation, friction force and other unknown external disturbances always exist in a LLRR system. So, it is necessary to consider the uncertainties in the unilateral man-machine dynamical model of the LLRR we described. In the dynamical model, uncertainties are(possibly fast) time-varying and bounded. However, the bounds are unknown. Based on the dynamical model, we design an adaptive robust control with an adaptive law that is leakagetype based and on the framework of Udwadia-Kalaba theory to compensate for the uncertainties and to realize tracking control of the LLRR. Furthermore, the effectiveness of designed control is shown with numerical simulations.

关键词： Adaptive robust control lower limbs rehabilitation robot mechanical system passive training uncertainties

Endovascular interventions may save limbs in elderly subjects with severe lower extremity arterial disease

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Journal of Geriatric Cardiology 2021年第11期18卷 957-967页

作者： Min-I SU Cheng-Wei LIU Division of Cardiology Department of Internal MedicineTaitung MacKay Memorial HospitalTaitung BranchChina MacKay Medical College New Taipei CityTaiwanChina Graduate Institute of Business Administration College of ManagementNational Dong Hwa UniversityHualienTaiwanChina Division of Cardiology Department of Internal MedicineTri-Service General Hospital Songshan BranchNational Defense Medical CenterTaipeiTaiwanChina Graduate Institute of Clinical Medicine College of MedicineNational Taiwan UniversityTaipeiTaiwanChina

Endovascular intervention,such as percu-taneous transluminal angioplasty(PTA),improves claudication and saves limbs of patients with severe lower extremity arterial dis-ease(LEAD).[1]A previous study showed that the mortality among octogenarians was as high as 29%regardless of the type of intervention and that re-vascularization was associated with high peripro-cedural mortality.[2]A previous study had already shown that reconstructive surgery for elderly indi-viduals over 80 years old resulted in a significantly higher mortality rate than that for patients between 70 and 80 years old,whereas endovascular inter-vention and primarily conservative treatment had comparable prognoses.[3]Consistently,another study showed that the risks of both overall and am-putation-free survival were significantly lower with endovascular treatment than with bypass surgery in patients with critical limb ischemia.[4]A systematic review and meta-analysis of 27 studies(15 cohort and 12 randomized controlled trials)with 1642 pa-tients suggests that conservative treatment may be considered for nonreconstructable patients with critical limb ischemia;[5]however,because a high risk of bias and serious inconsistencies were found in the included studies,the meta-analysis provided low-quality evidence.In contrast,a small cohort study with 49 patients suggests that amputation im-proved quality of life and health status in fragile elderly individuals.

关键词： mortality limbs arterial

A report on a girl of Noonan syndrome 9 presenting with bilateral lower limbs lymphedema

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Chinese Medical Journal 2019年第4期132卷 480-482页

作者： Yuan Ding Xu-Yun Hu Yan-Ning Song Bing-Yan Cao Xue-Jun Liang Hong-Dou Li Xin Fan Shao-Ke Chert Yi-Ping SHen Chun-Xiu Gong Department of Endocrinology GeneticsMetabolismBeijing Children's HospitalCapital Medical UniversityNational Center for Children's HealthBeijing 100045China Department of Genetics and Metabolism Maternal and Child Health Hospital of Guangxi Zhuang Autonomous RegionBirth Defects Prevention and Control Institute of Guangx Zhuang Autonomous RegionNanningGuangxi 530003China Shanghai Children's Medical Center Shanghai Jiao Tong University School of MedicineShanghai 200240China Division of Genetics and Genomics Boston Children's HospitalBostonMA 02115USA Department of Neurology Haward Medical SchoolBostonMA 02138USA.

To the Editor:Noonan syndrome (NS)is a common genetic multisystem disorder caused by aberrant signal flux through mitogen-activated protein kinase (Ras-MAPK) and has an estimated prevalence of 1 in 1000-2500[1]. It was characterized by Jacqueline Noonan,who reported nine patients with pulmonary valve stenosis,small stature, hypertelorism,mild intellectual disability,webbed neck, undescended testes,and skeletal malformations[2], The lymphatic disorders are rare,it can happen at any age but most instances happen at birth,which are known to be particularly associated with NS,though it has not been well characterized to date.Gene mutations identified in individuals with the NS,regulate impertinently the Ras/ MAPK signal transduction pathway and they can currently explain 70 %of the NS cases.Therefore,it is very important for genetic counseling and life management.[2] Here,we reported a rare Noonan syndrome 9 patient in Asian with significant,persistent and progressive bilateral lower limb dysplasia.

关键词： Noonan syndrome limbs lymphedema Editor

Open Fractures of limbs by the Bite of Domestic Donkeys: An Unusual Aetiology

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Open Journal of Orthopedics 2022年第12期12卷 485-492页

作者： Mohamed Sidibé Mohamed Lamine Bah Fodé Mahamoud Sylla Tafsir Camara Serge Ntungwanayo Orthopedic-Traumatology Department of the Tambacounda Regional Hospital Tambacounda Senegal Orthopedic-Traumatology Department of the Ignace Deen National Hospital in the Republic of Guinea Conakry Guinea

Introduction: The aim of this study is to describe the epidemiological, lesional, therapeutic and evolutionary profile of open fractures of limbs by bites of domestic donkeys. Patients and Methods: This is a prospective descriptive study over 28 months made in the Orthopedics-Traumatology department of the Tambacounda Regional Hospital in Senegal, concerning patients bitten by donkeys, resulting in an open fracture of the thoracic and pelvic limbs. Results: Twelve male patients were included. The average age was 10.50 years ± 2.60. The most common circumstance was the bite when two donkeys were separated. The thoracic limbs were the most affected by the occurrence of the arm. Cauchoix-Duparc type II and AO A2 and B2 were predominant. The essential trimming/osteosynthesis was carried out within 24 hours of the bite. Serovaccination was systematic, but on the other hand, a single dose of anti-rabies serum was administered. Pinning was the most commonly used bone synthesis. Complications were mainly infectious, followed by a case of radial nerve palsy and non-union on pins. Conclusion: The typical profile of an open donkey bite fracture is a male child/adolescent who is bitten during the separation of two fighting donkeys. The lesions are most often found in the thoracic limbs with a predominance of Cauchoix-Duparc type II and type A2 and B2 fractures of the AO, whose treatment consisted of trimming and pinning. The infectious complications of the soft tissues marked the evolution.

关键词： Open Fractures limbs Bite Donkeys

Repetitive training for ameliorating upper limbs spasm of hemiplegic patients

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Neural Regeneration Research 2006年第7期1卷 670-672页

作者： Lin Zhu Lin Liu Weiqun Song Department of Rehabilitation Xuanwu Hospital of Capital Medical University Beijing 100053China Department of RehabilitationXuanwu Hospital of Capital Medical University Beijing 100053China Department of RehabilitationXuanwu Hospital of Capital Medical University Beijing 100053China

BACKGROUND: The main aim of rehabilitation is to ameliorate motor function and use the damaged limbs in the activities of daily living. Several factors are needed in the self-recovery of the patients, and the most important one is to reduce spasm. Some mechanical repetitive movements can affect and change the excitability of motor neurons. OBJECTIVE: To observe the effect of repetitive training on ameliorating spasm of upper limbs of hemiplegic patients. DESIGN: A self-controlled observation before and after training. SETTING: Department of Rehabilitation, Xuanwu Hospital of Capital Medical University. PARTICIPANTS: Seven hemiplegic patients induced by brain injury were selected from the Department of Rehabilitation, Xuanwu Hospital, Capital Medical University from March to June in 2005. Inclusive criteria: ① Agreed and able to participate in the 30-minute training of hand function; ② Without disturbance of understanding. The patients with aphasia or apraxia, manifestation of shoulder pain, and severe neurological or mental defects. For the 7 patients, the Rivermead motor assessment (RMA) scores ranged 0-10 points, the Rivermead mobility index (RMI) ranged 1-3, and modified Ashworth scale (MAS) was grade 2-4. Their horizontal extension of shoulder joint was 0°-30°, anteflextion was 0°-50°, internal rotation was 50°-90°, external rotation was 0°-10°; and the elbow joint could extend for 15°-135°. METHODS: The viva 2 serial MOTOmed exerciser (Reck Company, Germany) was used. There were three phases of A-B-A. ① The phase A lasted for 1 week. The patient sat on a chair facting to the MOTOmed screen, and did the circumduction of upper limbs forwardly, 30 minutes a day and 5 days a week. ② The phase B lasted for 3 weeks. The training consisted of forward circumduction of upper limbs for 15 minutes, followed by backward ones for 15 minutes and 5-minute rest. ③ The training in the phase A was performed again for 2 weeks. The extensions of upper limbs were recorded at phase A, the extension and flexion of elbow joints wer

关键词： limbs minutes shoulder repetitive rehabilitation rotation joints spasm persist neurological

CLINICAL OBSERVATION ON 617 CASES OF PEDIATRCIC SYNDROME OF ATROPHIC PARALYSIS OF THE limbs TREATED WITH ACUPUNCTURE

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Journal of Traditional Chinese Medicine 1989年第3期9卷 179-181页

作者：施炳培林丽玉卜怀娣 Pediatric Hospital Shanghai University of Medical SciencesShanghai

The syndrome of atrophic paralysis of thelimbs refers to a group of diseases characterizedby atrophy and weakness of the limbs.Patientswith this syndrome are unable to move theirlimbs voluntarily,which may be accompan... 详细信息

关键词： paralysis atrophy muscular atrophic unable limbs weakness bilateral myelitis nerves

CLINICAL AND EXPERIMENTAL STUDIES ON THE TREATMENT OF NUMBNESS AND PAIN IN THE limbs WITH RAMULUS CINNAMOMI

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Journal of Traditional Chinese Medicine 1989年第3期9卷 190-192页

作者：王绪辉 Central Laboratory of Traumatology Institute of TCM and Materia MedicaShanghai

Most numbness and pain in the limbs iscaused by invasion of pathogenic wind,cold anddampness into the deficient body,blocking themeridians of the limbs with stagnation of Qi orblood,and diffusion of impeded body fluid... 详细信息

关键词： pathogenic limbs invasion deficient fibrinogen blank exogenous viscosity restored smoothing

Fracture of limbs Bones in a Town in Post Conflict (Case of Bukavu Town)

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Open Journal of Epidemiology 2015年第4期5卷 244-250页

作者： Toha Georges Kuyigwa Ona Longombe Ahuka Namugusha Alain Kabakuli Jeff Maotela Kabinda Akinja Bitum Uwonda Medical School Catholic University of Bukavu Bukavu Democratic Republic of Congo Medical School of Kisangani Kisangani Democratic Republic of Congo Medical School of Mbuji Mayi Mbuji Mayi Democratic Republic of Congo

Background: Rapid urbanization and increasing fleet in low-income countries are the basis of the higher rate of trauma and fractures. In a post conflict environment, the abnormal movement of firearms and poverty from them may change the configuration’s epidemiological, anatomical and clinical fractures of the limbs bones as well as their care. Goal: To make an inventory on the fractures of the limb bones in Bukavu town, a town in post armed conflict. Method: This work is transversal, retrospective and descriptive on 500 fractures of the limbs bones recorded on a period of 3 months from 1st June to 31st August 2013. Twenty investigators went around different places of Bukavu town to interview and complete a research protocol ad hoc. In total, we recorded 500 subjects with 570 fractures of the limb bones. Results: The average age is 29.4 years old and 37% are male fractured. The main circumstances of occurrence of the fracture of the limbs bones are the falls (31.7%), firearms (22.2%) followed closely by road traffic accidents (21.9%). Students (38.6%) and the unemployed (29.4%) are most victims’ fractures of limb bones. The forearm bones (31.7%) and leg bones (27.2%) are most concerned, 52.2% fractured turned to modern medicine against 41.8% for traditional medicine. Conclusion: The fractures of the limbs bones in Bukavu mainly concern young male subjects. They occur with the waning of a fall and preferentially affect the bones of the forearm. Good governance would reduce the incidence of fractures of the limbs bones and their assessment.

关键词： Fractures of the limbs Bones Young Male People A Town in Post Conflict

Effects of Hip Arthroplasties on Bone Adaptation in Lower limbs: A Computational Study

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Journal of Biosciences and Medicines 2015年第4期3卷 1-7页

作者： Abdul Halim Abdullah Mitsugu Mitsugu Todo Interdisciplinary Graduate School of Engineering and Sciences Kyushu University Fukuoka Japan Fakulti Kejuruteraan Mekanikal Universiti Teknologi MARA Shah Alam Malaysia Research Institute for Applied Mechanics Kyushu University Fukuoka Japan

Gait disorders contribute to the risk of falls and successive injuries, especially to elderly populations. The risk of falls becomes higher for hip osteoarthritis (OA) and hip arthroplasties patients due to poor balancing and gait impairment. Bone adaptation and bone loss are fundamental issues in considering the changes of bone behavior and gait pattern. In this study, computational analysis of the lower limbs was conducted to estimate the bone adaptation after hip arthroplasties procedure. 3D inhomogeneous model of lower limb was developed from computed topography (CT- based) data of 79 years old patient with hip osteoarthritis problem in left limb. Two types of arthroplaties were constructed in the left limb, namely total hip arthroplasty and resurfacing hip arthroplasty using commercial biomedical software, Mechanical Finder v6.1. Prosthesis stem and acetabular cup of THA were modelled as titanium alloy material (E = 114 GPa, v = 0.34), femoral ball and bearing insert as alumina properties (E = 370 GPa, v = 0.22). Meanwhile, RHA implant was assigned as Co-Cr-Mo material (E = 230 GPa, v = 0.30). Contact between both implants and bone were considered to be perfectly bonded at the interface. A load case of quiet standing position was conducted in this analysis with 60 kg of the patients’ body weight. The load was applied at the cross sectional lumbar vertebra and fixed at the distal of femoral shafts. Results show different patterns of stress distribution in right and left (operated) limbs for hip OA, THA and RHA models. An indication of stress alteration on both limbs after arthroplasties suggested that the bone adaptation occurred. The higher percentage of change in the left limb projected that the adaptation was more critical in operated limb.

关键词： Lower limbs Osteoarthritis Total Hip Arthroplasty Resurfacing Hip Bone Adaptation