Reviewing Clinical Effectiveness of Active Training Strategies of Platform-Based Ankle Rehabilitation Robots

Objective; This review aims to provide a systematical investigation of clinical effectiveness of active training strategies applied in platform-based ankle robots. Method. English-language studies published from Jan 1980 to Aug 2017 were searched from four databases using key words of “Ankle” AND “Robot” AND “Effect OR Improv OR Increas.” Following an initial screening, three rounds of discrimination were successively conducted based on the title, the abstract, and the full paper. Result. A total of 21 studies were selected with 311 patients involved; of them, 13 studies applied a single group while another eight studies used different groups for comparison to verify the therapeutic effect. Virtual-reality (VR) game training was applied in 19 studies, while two studies used proprioceptive neuromuscular facilitation (PNF) training. Conclusion. Active training techniques delivered by platform ankle rehabilitation robots have been demonstrated with great potential for clinical applications. Training strategies are mostly combined with one another by considering rehabilitation schemes and motion ability of ankle joints. VR game environment has been commonly used with active ankle training. Bioelectrical signals integrated with VR game training can implement intelligent identification of movement intention and assessment. These further provide the foundation for advanced interactive training strategies that can lead to enhanced training safety and confidence for patients and better treatment efficacy

Case study on user knowledge and design knowledge in product form design

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Design and control of soft rehabilitation robots actuated by pneumatic muscles: State of the art

Robot-assisted rehabilitation has become a new mainstream trend for the treatment of stroke patients with movement disability. Pneumatic muscle (PM) is one of the most promising actuators for rehabilitation robots, due to its inherent compliance and safety features. In this paper, we conduct a systematic review on the soft rehabilitation robots driven by pneumatic muscles. This review discusses up to date mechanical structures and control strategies for PMs-actuated rehabilitation robots. A variety of state-of-the-art soft rehabilitation robots are classified and reviewed according to the actuation configurations. Special attentions are paid to control strategies under different mechanical designs, with advanced control approaches to overcome PM’s highly nonlinear and time-varying behaviors and to enhance the adaptability to different patients. Finally, we analyze and highlight the current research gaps and the future directions in this field, which is potential for providing a reliable guidance on the development of advanced soft rehabilitation robots

An Attention-Based CNN-LSTM Model with Limb Synergy for Joint Angles Prediction

Estimation of lower limb movement is crucial in exoskeleton-assisted gait rehabilitation which can reduce the training load by recognizing the movement intention of patients, so as to realize the adaptive and transparent robotic assistance. Human locomotion has inherent synergies and coordination, and the dynamic mapping of the upper and lower limbs is beneficial to improve the prediction accuracy. Current prediction methods do not fully consider the correlation of gait data in time and space, resulting in a large amount of redundant data and low prediction accuracy. This paper proposes a gait trajectory prediction method based on attention-based CNN-LSTM model, which predicts the human knee/ankle joint trajectory based on upper and lower limb collaborative data. The attention mechanism is applied to determine which dimensions are essential in estimation of lower limb movement, so the accuracy can be improved by adopting key elements. Results show that, within a predicted horizon of 60 ms, prediction RMSE is as low as 0.317 degrees

Design and Hierarchical Force-Position Control of Redundant Pneumatic Muscles-Cable-Driven Ankle Rehabilitation Robot

Ankle dysfunction is common in the public following injuries, especially for stroke patients. Most of the current robotic ankle rehabilitation devices are driven by rigid actuators and have problems such as limited degrees of freedom, lack of safety and compliance, and poor flexibility. In this letter, we design a new type of compliant ankle rehabilitation robot redundantly driven by pneumatic muscles (PMs) and cables to provide full range of motion and torque ability for the human ankle with enhanced safety and adaptability, attributing to the PM's high power/mass ratio, good flexibility and lightweight advantages. The ankle joint can be compliantly driven by the robot with full three degrees of freedom to perform the dorsiflexion/plantarflexion, inversion/ eversion, and adduction/abduction training. In order to keep all PMs and cables in tension which is essential to ensure the robot's controllability and patient's safety, Karush-Kuhn-Tucker (KKT) theorem and analytic-iterative algorithm are utilized to realize a hierarchical force-position control (HFPC) scheme with optimal force distribution for the redundant compliant robot. Experiment results demonstrate that all PMs are kept in tension during the control while the position tracking accuracy of the robot is acceptable, which ensures controllability and stability throughout the compliant robot-assisted rehabilitation training

A Feasibility Study of Robot-Assisted Ankle Training Triggered by Combination of SSVEP Recognition and Motion Characteristics

In order to inspire subjects exerting more energy and pay more attention to SSVEP-based ankle training, this study introduce motion intention detection both in the first half cycle of single trainings and at the beginning of the training. This study also propose a novel method to recognize motion intention of subjects through merging the motion characteristics of the ankle training into the identification of SSVEP signals. Five healthy subjects participate in the training, and all can accomplish the training with the success rate of more than 80%. The proposed hybrid method can increase success rate from 50% to 80% comparing with the identification of SSVEP signals

Design and modelling of a compliant ankle rehabilitation robot redundantly driven by pneumatic muscles

Ankle sprains are the most common type of ankle injuries for the general public. Due to the lack of human manual therapy resources, it is highly demanding for robot-assisted rehabilitation training. However, most of the current robotic ankle rehab devices are driven by rigid actuators and have problems such as limited degrees of freedom, lack of safety and compliance and poor flexibility. This paper will design a new version of compliant ankle rehabilitation robot redundantly driven by pneumatic muscles (PMs) to provide full range of motion and torque ability for human ankle with enhanced safety and adaptability, attributing to the PM's high power/mass ratio, good flexibility and light weight advantages. In this paper, the driving characteristics of the PM actuators, as well as the kinematics and rehabilitation requirements of the ankle joint are analyzed. A new type of ankle rehabilitation robot that is redundantly driven by five PMs is designed and modeled. The ankle joint can be compliantly driven by the robot with full three degrees of freedom to perform dorsiflexion/plantarflexion, inversion/ eversion and adduction/abduction training. Then the kinematics and dynamics model of the rehabilitation robot is established to validate and verify the design and the models

Path Planning and Impedance Control of a Soft Modular Exoskeleton for Coordinated Upper Limb Rehabilitation

The coordinated rehabilitation of the upper limb is important for the recovery of the daily living abilities of stroke patients. However, the guidance of the joint coordination model is generally lacking in the current robot-assisted rehabilitation. Modular robots with soft joints can assist patients to perform coordinated training with safety and compliance. In this study, a novel coordinated path planning and impedance control method is proposed for the modular exoskeleton elbow–wrist rehabilitation robot driven by pneumatic artificial muscles (PAMs). A convolutional neural network-long short-term memory (CNN-LSTM) model is established to describe the coordination relationship of the upper limb joints, so as to generate adaptive trajectories conformed to the coordination laws. Guided by the planned trajectory, an impedance adjustment strategy is proposed to realize active training within a virtual coordinated tunnel to achieve the robot-assisted upper limb coordinated training. The experimental results showed that the CNN-LSTM hybrid neural network can effectively quantify the coordinated relationship between the upper limb joints, and the impedance control method ensures that the robotic assistance path is always in the virtual coordination tunnel, which can improve the movement coordination of the patient and enhance the rehabilitation effectiveness

Effects of dietary lipid levels on growth, survival and lipid metabolism during early ontogeny of Pelteobagrus vachelli larvae

A feeding trial was conducted to investigate the effect of dietary lipid level on darkbarbel catfish (Pelteobagrus vachelli) larvae during ontogeny with regard to growth, survival and lipid utilization. Larvae were fed, from mouth opening to 20 days after hatching (DAH), with five isonitrogenous microdiets containing different lipid levels (58, 74, 111, 151 and 199 g kg(-1) diet). Live prey (newly hatched Artemia, unenriched) was used as the control diet. The activities of lipoprotein lipase (LPL), hepatic lipase (HL), pancreatic lipase (PL) and LPL gene expression at 3 DAH (mouth opening), 6 DAH, 11 DAH and 20 DAH were examined. The results showed that dietary lipid significantly affected survival and growth of darkbarbel catfish larvae. At the end of the feeding trial, larvae fed diets containing 111 to 151 g lipid kg(-1) had significantly higher survival. Specific growth rate (SGR) of larvae fed the diet containing the highest dietary lipid (199 g kg(-1)) was significantly (P<0.05) lower while no significant differences were observed among other groups fed formulated diets. LPL mRNA level generally increased first with increasing dietary lipid levels and then reached a plateau at different sampling ages. A similar pattern was observed for LPL activity only at 6 DAH and 20 DAH. High dietary lipid increased HL activity at 20 DAH. At 6 DAH, highest PL activity was observed at 199 g lipid kg(-1) diet. Higher dietary lipid resulted in earlier elevated activities of LPL, PL and HL The specific activities of the above three enzymes and LPL mRNA expression were detected at mouth opening and were significantly influenced by age. The activities of these enzymes increased first and then decreased or reached a plateau during development. The results suggest that dietary lipid could modify lipid utilization during ontogeny of darkbarbel catfish larvae. (C) 2009 Published by Elsevier B.V

Effects of different weaning strategies on survival and growth in Chinese longsnout catfish (Leiocassis longirostris Gunther) larvae

The effects of different weaning strategies during the larval rearing of Chinese longsnout catfish were determined in two trials. In the first trial, the effect of abrupt-weaning from live prey (Artemia nauplii) to micro-diet at 5, 6, 7, 8, 10 dph, respectively was investigated. The second trial examined the effect of weaning with co-feeding at different ages (6, 8 and 10 dph). The survival, growth, digestive enzymes, coefficient of variation of final body weight (CVFBW) and body length (CVBL), digestive enzyme activities, fish body lysozyme and fish body glucose were significantly influenced by abrupt-introducing of microdiet (P<0.05). When weaning with live prey, only the fish body lysozyme significantly increased in the group introduced to microdiet on 8 and 10 dph (P<0.05). The study showed that abrupt-weaning of Chinese longsnout catfish should be obtained after 10 dph. Co-feeding could reduce the stress to larvae and therefore the weaning could start at 6 dph with co-feeding. (C) 2012 Elsevier B.V. All rights reserved.The effects of different weaning strategies during the larval rearing of Chinese longsnout catfish were determined in two trials. In the first trial, the effect of abrupt-weaning from live prey (Artemia nauplii) to micro-diet at 5, 6, 7, 8, 10 dph, respectively was investigated. The second trial examined the effect of weaning with co-feeding at different ages (6, 8 and 10 dph)