scholarly journals Effects of Individualized Gait Rehabilitation Robotics for Gait Training on Hemiplegic Patients: Before-After Study in The Same Person

2021 ◽  
Author(s):  
Zhao Guo ◽  
Jing Ye ◽  
Shisheng Zhang ◽  
Lanshuai Xu ◽  
Gong Chen ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Statistical Significance ◽  
Rehabilitation Robotics ◽  
Physical Parameters ◽  
Gait Rehabilitation ◽  
Rehabilitation Training ◽  
Exoskeleton Robot ◽  
Consumption Situation ◽  
Flat Ground ◽  
Hemiplegic Patient

Abstract Background : Lower-limb exoskeleton robots are being widely used in gait rehabilitation training for stroke patients. However, most of the current rehabilitation robots are guided by predestined gait trajectories, which are often different from the actual gait trajectories of specific patients. One solution is to train patients using individualized gait trajectories generated from the physical parameters of patients. Hence, we aimed to explore the effect of individual gaits on energy consumption situation during gait rehabilitation training for hemiplegic patient with low-limb exoskeleton robot.Methods : 9 unilateral-hemiplegic patients were recruited. On the first day of the experiment, the 9 patients were guided by a low-limb exoskeleton robot, walking on a flat ground for 15 minutes in general gait trajectory, which was gained by CGA (clinical gait analysis) method.On the other day, the same 9 patients wore the identical robot and walked on the same flat ground for 15 minutes in individualized gait trajectory. The main physiological parameters including heart rate (HR) and peripheral capillary oxygen saturation (SpO2) were acquired via cardiotachometer and oximeter before and after the walking training. The energy consumption situation was indicated by the variation of the value of HR and SpO2 after walking training compared to before.Results : Between-group comparison shows that the individualized gait trajectory training results in lower increase in HR levels and decrease in SpO2 levels in experimenters compared to general gait trajectory training. Difference has statistical significance(p<0.05).Conclusions : Using individualized gait guidance in rehabilitation walking training can significantly improve energy efficiency for hemiplegic patient with stroke.Trial registration: Registered on 29 July 2021 at Chinese Clinical Trial Registry (ChiCTR2100049310). https://www.chictr.org.cn/edit.aspx?pid=130960\&htm=4

scholarly journals Identical Limb Dynamics for Unilateral Impairments through Biomechanical Equivalence

Symmetry ◽  
2021 ◽  
Vol 13 (4) ◽  
pp. 705
Author(s):  
Fatemeh Rasouli ◽  
Kyle B. Reed
Keyword(s):  
Mathematical Model ◽  
Numerical Solution ◽  
Dynamic Models ◽  
Assistive Devices ◽  
Assistive Device ◽  
Human Walking ◽  
Physical Parameters ◽  
Gait Rehabilitation ◽  
And Performance ◽  
Two Sides

Dynamic models, such as double pendulums, can generate similar dynamics as human limbs. They are versatile tools for simulating and analyzing the human walking cycle and performance under various conditions. They include multiple links, hinges, and masses that represent physical parameters of a limb or an assistive device. This study develops a mathematical model of dissimilar double pendulums that mimics human walking with unilateral gait impairment and establishes identical dynamics between asymmetric limbs. It introduces new coefficients that create biomechanical equivalence between two sides of an asymmetric gait. The numerical solution demonstrates that dissimilar double pendulums can have symmetric kinematic and kinetic outcomes. Parallel solutions with different physical parameters but similar biomechanical coefficients enable interchangeable designs that could be incorporated into gait rehabilitation treatments or alternative prosthetic and ambulatory assistive devices.

A novel methodology to explore the periodic gait of a biped walker under uncertainty using a machine learning algorithm

Robotica ◽  
2021 ◽  
pp. 1-16
Author(s):  
Namjung Kim ◽  
Bongwon Jeong ◽  
Kiwon Park
Keyword(s):  
Limit Cycle ◽  
Systematic Approach ◽  
Learning Algorithm ◽  
Initial Conditions ◽  
Angular Displacement ◽  
External Disturbance ◽  
Rehabilitation Robotics ◽  
Stable Region ◽  
Gait Rehabilitation ◽  
External Disturbances

Abstract In this paper, we present a systematic approach to improve the understanding of stability and robustness of stability against the external disturbances of a passive biped walker. First, a multi-objective, multi-modal particle swarm optimization (MOMM-PSO) algorithm was employed to suggest the appropriate initial conditions for a given biped walker model to be stable. The MOMM-PSO with ring topology and special crowding distance (SCD) used in this study can find multiple local minima under multiple objective functions by limiting each agent’s search area properly without determining a large number of parameters. Second, the robustness of stability under external disturbances was studied, considering an impact in the angular displacement sampled from the probabilistic distribution. The proposed systematic approach based on MOMM-PSO can find multiple initial conditions that lead the biped walker in the periodic gait, which could not be found by heuristic approaches in previous literature. In addition, the results from the proposed study showed that the robustness of stability might change depending on the location on a limit cycle where immediate angular displacement perturbation occurs. The observations of this study imply that the symmetry of the stable region about the limit cycle will break depending on the accelerating direction of inertia. We believe that the systematic approach developed in this study significantly increased the efficiency of finding the appropriate initial conditions of a given biped walker and the understanding of robustness of stability under the unexpected external disturbance. Furthermore, a novel methodology proposed for biped walkers in the present study may expand our understanding of human locomotion, which in turn may suggest clinical strategies for gait rehabilitation and help develop gait rehabilitation robotics.

Energy Consumer Demand Predict of Hebei Province in the Domain of Low-Carbon Economy — Analysis Based on Gray Model GM (1,1)

2013 ◽  
Vol 380-384 ◽  
pp. 4456-4460
Author(s):  
Ju Qin Wang ◽  
Bao Lin Li
Keyword(s):  
Energy Consumption ◽  
Industrial Structure ◽  
Hebei Province ◽  
Scientific Development ◽  
Low Carbon ◽  
Low Carbon Economy ◽  
The Face ◽  
Consumption Situation ◽  
World Economic ◽  
Carbon Economy

The face of the world economic development has transitioned to a low-carbon economy, in order to meet the dual challenges of climate change and scientific development, the development of low-carbon economy has become the reality of the development of key choice. In this background, based on energy consumption situation in Hebei Province,we use GM (1,1) gray prediction model to predict Hebei Provinces energy consumption and energy consumption structure in 2003-2010. Based on the analysis of the results, support from the policies, laws, and adjust the industrial structure, promote the three levels of the low-carbon concept has made a number of recommendations for the Hebei Province future energy planning and low-carbon development.

Motion and force control method of 7-DOF cable-driven rehabilitation exoskeleton robot

2018 ◽  
Vol 38 (5) ◽  
pp. 595-605 ◽  
Author(s):  
Wencheng Ni ◽  
Hui Li ◽  
Zhihong Jiang ◽  
Bainan Zhang ◽  
Qiang Huang
Keyword(s):  
Design Methodology ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Body Measurements ◽  
Joint Movement ◽  
Content Type ◽  
Rehabilitation Training ◽  
Exoskeleton Robot ◽  
Training Mode ◽  
Active Rehabilitation

Purpose The purpose of this paper is to design an exoskeleton robot and present a corresponding rehabilitation training method for patients in different rehabilitation stages. Design/methodology/approach This paper presents a lightweight seven-degrees-of-freedom (DOF) cable-driven exoskeleton robot that is wearable and adjustable. After decoupling joint movement caused by a cable-driven mechanism, active rehabilitation training mode and passive rehabilitation training mode are proposed to improve the effect of rehabilitation training. Findings Simulations and experiments have been carried out, and the results validated the feasibility of the proposed mechanism and methods by a fine rehabilitative effect with different persons. Originality/value This paper designed a 7-DOF cable-driven exoskeleton robot that is suitable for patients of different body measurements and proposed the active rehabilitation training mode and passive rehabilitation training mode based on the cable-driven exoskeleton robot.

Energy-saving Optimization of Crude Benzol Pretreating in Hydrotreating Process

2011 ◽  
Vol 233-235 ◽  
pp. 1270-1274
Author(s):  
Qing Yuan Ma ◽  
Xu Zang ◽  
Da Li Lin
Keyword(s):  
Energy Consumption ◽  
Energy Saving ◽  
Heat Exchangers ◽  
Raw Material ◽  
Analytic Method ◽  
Available Energy ◽  
Consumption Situation ◽  
Crude Benzene

The article mainly analyses energy consumption in raw material pretreatment craft question of crude benzol hydrotreating process, with available energy analytic method. By calculating the available energy of heat exchangers and evaporators of K-K process, find the energy consumption situation during crude benzene refinement production, and then give some suggestions in Energy-saving Optimization measure.

scholarly journals The Efficacy of State of the Art Overground Gait Rehabilitation Robotics: A Bird's Eye View

2017 ◽  
Vol 105 ◽  
pp. 365-370 ◽  
Author(s):  
Nor Akmal Alias ◽  
M. Saiful Huq ◽  
B.S.K.K. Ibrahim ◽  
Rosli Omar
Keyword(s):  
State Of The Art ◽  
Rehabilitation Robotics ◽  
Gait Rehabilitation

scholarly journals Control and Supervision of a Solar Electric System

2019 ◽  
Vol 10 (4) ◽  
pp. 2096
Author(s):  
Khadidja Benabed ◽  
Boudghene Stambouli Amine ◽  
Benabadji Noureddine
Keyword(s):  
Energy Consumption ◽  
Power Plant ◽  
Energy Transition ◽  
Photovoltaic System ◽  
Physical Parameters ◽  
Solar Photovoltaic ◽  
Correct Operation ◽  
Electric System ◽  
Solar Photovoltaic System ◽  
Proper Operation

<p>Energy consumption is one of the biggest concerns because it is increasing and it has a great impact on our environment. Photovoltaic energy is a possible response to the challenges of the energy transition of tomorrow. For proper operation, the solar photovoltaic system needs a rigorous supervision of its electrical and physical parameters. Monitoring is one of the foundations of photovoltaic maintenance engineering. This article describes the design and realization of a solar monitor for the monitoring of the correct operation of a mini power plant from panels photovoltaic.</p>

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