Kinematics analysis and gait planning for a hemiplegic exoskeleton robot

Background: As the world's aging population increases, the number of hemiplegic patients is increasing year by year. At present, in many countries with low medical level, there are not enough rehabilitation specialists. Due to the different condition of patients, the current rehabilitation training system cannot be applied to all patients. so that patients with hemiplegia cannot get effective rehabilitation training. Methods: Through a motion capture experiment, the mechanical design of the hip joint, knee joint and ankle joint was rationally optimized based on the movement data. Through the kinematic analysis of each joint of the hemiplegic exoskeleton robot, the kinematic relationship of each joint mechanism was obtained, and the kinematics analysis of the exoskeleton robot was performed using the Denavit-Hartenberg (D-H) method. The kinematics simulation of the robot was carried out in automatic dynamic analysis of mechanical systems (ADAMS), and the theoretical calculation results were compared with the simulation results to verify the correctness of the kinematics relationship. According to the exoskeleton kinematics model, a mirror teaching method of gait planning was proposed, allowing the affected leg to imitate the movement of the healthy leg with the help of an exoskeleton robot. Conclusions: A new hemiplegic exoskeleton robot designed by Shenzhen Institute of Advanced Technology (SIAT-H) is proposed, which is lightweight, modular and anthropomorphic. The kinematics of the robot have been analyzed, and a mirror training gait is proposed to enable the patient to form a natural walking posture. Finally, the wearable walking experiment further proves the feasibility of the structure and gait planning of the hemiplegic exoskeleton robot.

SHOT-R: A next generation algorithm for particle kinematics analysis

Analysis of live-imaging experiments is crucial to decipher a plethora of cellular mechanisms within physiological and pathological contexts. Kymograph, i.e. graphical representations of particle spatial position over time, and single particle tracking (SPT) are the currently available tools to extract information on particle transport and velocity. However, the spatiotemporal approximation applied in particle trajectory reconstruction with those methods intrinsically prevents an accurate analysis of particle kinematics and of instantaneous behaviours. Here, we present SHOT-R, a novel numerical method based on polynomial reconstruction of 4D (3D+time) particle trajectories. SHOT-R, contrary to other tools, computes bona fide instantaneous and directional velocity, and acceleration. Thanks to its high order continuous reconstruction it allows, for the first time, kinematics analysis of co-trafficked particles. Overall, SHOT-R is a novel, versatile, and physically reliable numerical method that achieves all-encompassing particle kinematics studies at unprecedented accuracy on any live-imaging experiment where the spatiotemporal coordinates can be retrieved.

Stellar Spins in the Pleiades, Praesepe, and M35 Open Clusters

We analyze spectroscopic and photometric data to determine the projected inclinations of stars in three open clusters: the Pleiades, Praesepe, and M35. We determine the sin i values of 42, 35, and 67 stars in each cluster, respectively, and from their distributions we find that isotropic spins and moderate alignment are both consistent with the Pleiades and Praesepe data. While it is difficult to distinguish between these scenarios for a single cluster, an ensemble of such distributions may facilitate a distinction. The M35 inclination distribution is most consistent with a superposition of isotropic and anisotropic spins, the source of which could be systematic error or a physical grouping of aligned stars. We also study internal cluster kinematics using radial velocities and proper motions. Our kinematics analysis reveals significant plane-of-sky rotation in Praesepe, with a mean velocity of 0.132 ± 0.022 km s−1 in a clockwise direction.

Conceptual design and error analysis of a cable-driven parallel robot

This paper develops the conceptual design and error analysis of a cable-driven parallel robot (CDPR). The earlier error analysis of CDPRs generally regarded the cable around the pulley as a center point and neglected the radius of the pulleys. In this paper, the conceptual design of a CDPR with pulleys on its base platform is performed, and an error mapping model considering the influence of radius of the pulleys for the CDPR is established through kinematics analysis and a full matrix complete differential method. Monte Carlo simulation is adopted to deal with the sensitivity analysis, which can directly describe the contribution of each error component to the total orientation error of the CDPR by virtue of the error modeling. The results show that the sensitivity coefficients of pulleys’ geometric errors and geometric errors of the cables are relatively larger, which confirms that the cable length errors and pulleys’ geometric errors should be given higher priority in design and processing.

Kinematics of a screw linkage

This paper proposes a kinematics methodology in twist coordinates for screw linkages. Based on the definition of a twist, both the angular velocity of a link and the linear velocity of a point on it may be explicitly represented in twist coordinates. Through integration on the twist solution numerically or analytically, we may obtain the displacements. By differential or numerical differential interpolation of the twist, we can find the accelerations of the link. The most outstanding advantage of this kinematic algorithm is that only the numerical differential interpolation of the first order is required to calculate the acceleration while only the first order integration of the twist is enough to compute the displacement. This merit makes it particularly fit for developing programmes to accomplish the kinematics analysis of a spatial linkage.