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Development of a Wearable Upper Limb Rehabilitation Robot Based on Reinforced Soft Pneumatic Actuators

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Chinese Journal of Mechanical Engineering 2022年第4期35卷 182-190页

作者： Xinbo Chen Shuai Zhang Kaibin Cao Chunjie Wei Wumian Zhao Jiantao Yao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Dyskinesia of the upper limbs caused by stroke,sports injury,or trafc accidents limits the ability to perform the activities of daily *** the necessary medical treatment,correct and scientifc rehabilitation training for the injured joint is an important auxiliary means during the treatment of the efected upper *** upperlimb rehabilitation robots have some disadvantages,such as a complex structure,poor compliance,high cost,and poor *** this study,a novel soft wearable upper limb rehabilitation robot(SWULRR)with reinforced soft pneumatic actuators(RSPAs)that can withstand high pressure and featuring excellent loading characteristics was *** by RSPAs,this portable SWULRR can perform rehabilitation training of the wrist and elbow *** this study,the kinematics of an SWULRR were analyzed,and the force and motion characteristics of RSPA were studied *** results provide a reference for the development and application of wearable upper limb rehabilitation *** experimental study on the rotation angle of the wrist and the pressure of the RSPA was conducted to test the efect of the rehabilitation training and verify the rationality of the theoretical *** process of wrist rehabilitation training was tested and evaluated,indicating that SWULRR with RSPAs will enhance the fexibility,comfort,and safety of rehabilitation *** work is expected to promote the development of wearable upper-limb rehabilitation robots based on modular reinforced soft pneumatic actuators.

关键词： Upper limb rehabilitation Reinforced soft pneumatic actuator Wearable rehabilitation robot motion analysis

Inferring object properties from human interaction and transferring them to new motions

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Computational Visual Media 2021年第3期7卷 375-392页

作者： Qian Zheng Weikai Wu Hanting Pan Niloy Mitra Daniel Cohen-Or Hui Huang Shenzhen University ShenzhenChina University College London UK. Tel Aviv University Tel-AvivIsrael

Humans regularly interact with their surrounding *** interactions often result in strongly correlated motions between humans and the interacting *** thus ask:"Is it possible to infer object properties from skeletal motion alone,even without seeing the interacting object itself?"In this paper,we present a fine-grained action recognition method that learns to infer such latent object properties from human interaction motion *** inference allows us to disentangle the motion from the object property and transfer object properties to a given *** collected a large number of videos and 3 D skeletal motions of performing actors using an inertial motion capture *** analyzed similar actions and learned subtle differences between them to reveal latent properties of the interacting *** particular,we learned to identify the interacting object,by estimating its weight,or its *** results clearly demonstrate that motions and interacting objects are highly correlated and that related object latent properties can be inferred from 3 D skeleton sequences alone,leading to new synthesis possibilities for motions involving human *** dataset is available at http://***/research/2020/***.

关键词： human interaction motion object property inference motion analysis motion synthesis

Segmental Kinematic Coupling of the Human Spinal Column during Locomotion

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Journal of Bionic Engineering 2008年第4期5卷 328-334页

作者： Guo-ru Zhao Lei Ren Lu-quan Ren John R. Hutchinson Li-mei Tian Jian S. Dai Key Laboratory for Terrain-Machine Bionics Engineering （Ministry of Education China） Jilin University Changchun 130022 P. R. China School of Physical Science and Engineering King＇s College of London University of London London WC2R 2LS UK Structure and motion Laboratory Department of Veterinary Basic Sciences The Royal Veterinary College University of London Hertfordshire AL9 7TA UK

As one of the most important daily motor activities, human locomotion has been investigated intensively in recent decades. The locomotor functions and mechanics of human lower limbs have become relatively well understood. However, so far our understanding of the motions and functional contributions of the human spine during locomotion is still very poor and simultaneous in-vivo limb and spinal column motion data are scarce. The objective of this study is to investigate the delicate in-vivo kinematic coupling between different functional regions of the human spinal column during locomotion as a stepping stone to explore the locomotor function of the human spine complex. A novel infrared reflective marker cluster system was constrncted using stereophotogrammetry techniques to record the 3D in-vivo geometric shape of the spinal column and the segmental position and orientation of each functional spinal region simultaneously. Gait measurements of normal walking were conducted. The preliminary results show that the spinal column shape changes periodically in the frontal plane during locomotion. The segmental motions of different spinal functional regions appear to be strongly coupled, indicating some synergistic strategy may be employed by the human spinal column to facilitate locomotion. In contrast to traditional medical imaging-based methods, the proposed technique can be used to investigate the dynamic characteristics of the spinal column, hence providing more insight into the functional biomechanics of the human spine.

关键词： biomechanics spinal cofumn human locomotion in-vivo segmental kinematics motion analysis stereophotogrammetry kinematic coupling

DETERMINATION OF QUADRICEPS FORCES IN SQUAT AND ITS APPLICATION IN CONTACT PRESSURE analysis OF KNEE JOINT

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Acta Mechanica Solida Sinica 2012年第1期25卷 53-60页

作者： Yuan Guo Xushu Zhang Meiwen An Weiyi Chen Institute of Applied Mechanics and Biomedical Engineering Taiyuan University of TechnologyTaiyuan 030024China

While the quadriceps muscles of human body are quite important to the daily ac-tivities of knee joints,the determination of quadriceps forces poses significant challenges since it cannot be measured in ***,a novel approach is presented to obtain the forces in squat through the combination of motion photography,force transducers measuring,multi-rigid-body theory and finite element ***,the geometrical and angular data of human for squat process were obtained through the analysis of photographed pictures for human squat with *** the same time,force transducers were used to measure the reaction forces from feet and to determine the center of gravity for identical squat ***,based on the multi-rigid-body dynamics,a mathematical model for human right leg and foot was established in order to determine the quadriceps torques under different squat ***,so as to determine the quadriceps forces along with varied squat angles,a simplified three-dimensional finite element model was built,including tibia,fibula,patella,patella ligament and quadriceps ***,the contact pressure of knee joint was analyzed for the squat with the established model of knee joint involving the obtained quadriceps forces from finite element *** it showed that in the 0-90 degree squat process,the peak value of contact pressure of articular cartilages and menisci is increased with the increased squat *** study can be referenced for further un-derstanding of the biomechanical behaviors of knee,contact pressure effects of daily activities on knee,and is significantly instructive for sports rehabilitation.

关键词： quadriceps force force transducers motion analysis finite element analysis squat

The biomechanical study of lower limb during human walking

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Science China(Technological Sciences) 2011年第4期54卷 983-991页

作者： HAN YaLi WANG XingSong 1School of Mechanical Engineering Nanjing Institute of TechnologyNanjing 211167China School of Mechanical Engineering Southeast UniversityNanjing 211189China

The coordinates of the marked points of joints and the changes of foot force in the human walk motion are obtained with systems of motion image acquisition and force *** effects of kinematics and dynamics on the human lower limb in different loads(0,10,20,30 kg) and walking speeds(0.8,1.3,1.7 m/s) have been investigated using the human dynamics model,.The results were as ***,with the increasing load,the dorsiflexion angle of ankle joint increased during the procedure of toe-off,the range of motion of the knee joint decreased,the flexion angle of the hip joint increased,and oppositely,the extension angle of the hip joint ***,with the increasing speed,the range of motion of the ankle joint,the maximum flexion angle of the knee joint,the flexion angle,extension angle of the hip joint and the range of motion of hip joint ***,the torque and power of the ankle joint,the knee joint and the hip joint increased with the increasing speed and *** results can provide an important basis for the mechanism design of lower limb power-assisted exoskeleton.

关键词： walking gait dynamical model motion analysis load walking

Design and experiment of nail tooth picking up device for strip type residual film recycling and baling machine

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International Journal of Agricultural and Biological Engineering 2023年第6期16卷 85-96页

作者： Deli Jiang Limin Yan Xuegeng Chen Yisong Mo Jiacheng Yang College of Mechanical and Electrical Engineering Shihezi UniversityShihezi 832000XinjiangChina Key Laboratory of Northwest Agricultural Equipment Ministry of Agriculture and Rural AffairsShihezi 832000XinjiangChina Changzhou Han-Sun Machinery Co. Ltd.Changzhou 213034JiangsuChina

In order to solve the problem of residual film pollution caused by large area of cotton mulched planting in Xinjiang,a strip type residual film recycling and baling machine was designed,which can complete mulching film picking up,impurities separation,baling and other *** picking up device,as the key part of residual film recycling machine,was designed and *** kinematics of the pick-up nail tooth was analyzed,and its motion equation,motion trajectory and the conditions for completing the film pick-up were *** the key parameters were determined by analyzing the conditions of no missing picking and the stress of the residual *** to the Box-Benhnken test design principle,field experiments were carried out with the forward speed of machine,the pickup speed ratio and the number of auxiliary film removing mechanisms as the key experimental factors,and the residual film pickup rate,the cotton stalk content and the residual film winding rate as the operation performance indexes of the picking up *** mathematical models between the experimental factors and indexes were established,and the effect of each factor was *** multi-objective parameter optimization and field experiment,the optimal combination of operation parameters was obtained as follows:the forward speed of machine of 1.67 m/s,the pickup speed ratio of 1.13,and the number of auxiliary film removing mechanisms of *** this parameter combination,the pickup rate of residual film was 88.9%,the cotton stalk content in recycled residual film of 3.9%,and the residual film winding rate of 1.5%.The absolute error with the theoretical value was less than 0.6%.The research results show that the picking up device has stable operation performance and good residual film recycling effect,which meets the design and practical operation requirements.

关键词： strip mulching film recycle pick-up nail tooth motion analysis parameter optimization film removing mechanism

Design and Optimization of Planting Process Parameters for 2ZYX-2 Type Green Onion Ditching and Transplanting Machine

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Phyton-International Journal of Experimental Botany 2020年第1期89卷 147-166页

作者： Jiqiang Zhang Ziru Niu Tianhua Li Yanqiang Wu Rui Xi Yuhua Li Guanghua Li Jialin Hou College of Mechanical and Electronic Engineering Shandong Agricultural UniversityTai’an271018China College of Horticultural Science and Engineering Shandong Agricultural UniversityTai’an271018China Qingzhou Hualong Machinery Technology Development Co. Ltd.Qingzhou262500China

Considering the current low level of mechanization for domestic green onion planting and the high labor intensity of artificial planting,a 2ZYX-2 green onion ditching and transplanting machine,which can complete ditching,ridging,transplanting,repression,soil covering and other operations,is designed in this *** Central Composite test design method was carried out with the speed of the transplanting machine,the depth of the opener and the horizontal position of the opener as the experimental factors and with the qualification ratio of perpendicularity,the variation coefficient of the plant spacing and the qualification ratio of the planting depth as the test *** the analysis of the model interaction and response surface,the change laws that the influence the machine’s forward speed,the depth of the opener and the horizontal position of the opener were *** regression model was optimized by Design-Expert 8.0.6 software,and the accuracy of the predicted results was verified by *** optimal working parameters showed that the forward speed of the machine was 0.06 m/s,the depth of the opener was 102 mm,and the horizontal position of the opener was 29 *** conditions of optimal working parameters,the qualification rate of the verticality was 86.83%,the coefficient of variation for the plant spacing was 2.77,and the pass rate of planting depth was 88.26%.The research related to the thesis can provide a reference for the mechanized planting of green onion,which is of great significance to the cost-effectiveness of the green onion industry.

关键词： Agricultural machinery motion analysis green onion experiment

A novel dynamic frame rate control algorithm for H.264 low-bit-rate video coding

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High Technology Letters 2007年第1期13卷 53-57页

作者：杨静 Fang Xiangzhong Institute of Image Communication ＆ Information Processing Shanghai Jiaotong University Shanghai 200030 P.R. China

The goal of this paper is to improve human visual perceptual quality as well as coding efficiency of H. 264 video at low bit rate conditions by adaptively adjusting the number of skipped frames. The encoding frames are selected according to the motion activity of each frame and the motion accumulation of successive frames. The motion activity analysis is based on the statistics of motion vectors and with consider- ation of the characteristics of H. 264 coding standard. A prediction model of motion accumulation is pro- posed to reduce complex computation of motion estimation. The dynamic encoding frame rate control algorithm is applied to both the frame level and the GOB （Group of Macroblocks ） level. Simulation is done to compare the performance of JM76 with the proposed frame level scheme and GOB level scheme.

关键词： H.264 motion analysis frame rate control low-bit-rate

Concurrent validity of a markerless motion capture system for the assessment of shoulder functional movement

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Medicine in Novel Technology and Devices 2022年第3期15卷 49-54页

作者： Bin Chen Wenli Wang Guojiong Hu Rongzhou Zhong Xiaoyun Su Hongping Zhi Wenxin Niu Shanghai Yangzhi Rehabilitation Hospital(Shanghai Sunshine Rehabilitation Center) School of MedicineTongji UniversityShanghai201619China IFLYTEK Suzhou Technology Co. Ltd.Suzhou215000China

As a markerless motion capture system(MLS),the Microsoft Kinect sensor may be a low-cost and portable option for measuring shoulder joint ***,the system's concurrent validity to capture shoulder functional movement is *** purpose of this study was to investigate the concurrent validity of MLS for capturing shoulder kinematics during functional movement by comparing the MLS measures to those of the marker-based motion capture system(MBS).Twenty-five healthy participants were included in this *** the Microsoft Kinect sensor as the MLS and Vicon as the MBS,six shoulder functional movements were measured in all three anatomical planes *** six movements included flexion to max,maximum extension,abduction to 90°,internal rotation at 90°abduction,external rotation at 0°abduction,and maximum horizontal *** shoulder joint kinematics was measured with both *** MLS showed a good to excellent correlation(r>0.75)with MBS for abduction to 90°,maximum external rotation at 0°abduction and maximum internal rotation at 90°*** results for maximum extension(r=0.727)and maximum horizontal adduction(r=0.619)showed a moderate to good *** maximum flexion,a poor correlation was observed(r=0.479).The validity of the MLS to measure shoulder kinematics would be *** system demonstrates potential as a measurement tool of joint motions for a function assessment and rehabilitation purpose.

关键词： Shoulder Kinect motion analysis Validity Functional movement