Comfort-Centered Design of a Lightweight and Backdrivable Knee Exoskeleton

This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three solutions are proposed in this paper: 1) a new wearable structure optimizes the strap attachment configuration and suit layout to ameliorate excessive shear forces of conventional wearable structure design; 2) rolling knee joint and double-hinge mechanisms reduce the misalignment in the sagittal and frontal plane, without increasing the mechanical complexity and inertia, respectively; 3) a low impedance mechanical transmission reduces the reflected inertia and damping of the actuator to human, thus the exoskeleton is highly-backdrivable. Kinematic simulations demonstrate that misalignment between the robot joint and knee joint can be reduced by 74% at maximum knee flexion. In experiments, the exoskeleton in the unpowered mode exhibits 1.03 Nm root mean square (RMS) low resistive torque. The torque control experiments demonstrate 0.31 Nm RMS torque tracking error in three human subjects.Comment: 8 pages, 16figures, Journa

Wearable Knee Assistive Devices for Kneeling Tasks in Construction

Construction workers regularly perform tasks that require kneeling, crawling, and squatting. Working in awkward kneeling postures for prolonged time periods can lead to knee pain, injuries, and osteoarthritis. In this paper, we present lightweight, wearable sensing and knee assistive devices for construction workers during kneeling and squatting tasks. Analysis of kneeling on level and slopped surfaces (0, 10, 20 degs) is performed for single- and double-leg kneeling tasks. Measurements from the integrated inertial measurement units are used for real-time gait detection and lower-limb pose estimation. Detected gait events and pose estimation are used to control the assistive knee-joint torque provided by lightweight exoskeletons with powerful quasi-direct drive actuation. Human subject experiments are conducted to validate the effectiveness of the proposed analysis and control design. The results show reduction in knee extension/flexion muscle activation (up to 39%) during stand-to-kneel and kneel-to-stand tasks. Knee-ground contact forces/pressures are also reduced (up to 15%) under robotic assistance during single-leg kneeling. Increasing assistive knee torque shows redistribution of the subject’s weight from the knee in contact with the ground to both supporting feet. The proposed system provides an enabling tool to potentially reduce musculoskeletal injury risks of construction workers

Poly[penta­kis­(μ-cyanido-κ2 N:C)tris­(5-phenyl-2,2′-bipyridine-κ2 N,N′)penta­copper(I)]

The hydro­thermal reaction of Cu(acetate)2 and K3[Fe(CN)6] with 5-phenyl-2,2′-bipyridine (5-ph-2,2′-bpy) in water yields the polymeric title complex, [Cu5(CN)5(C16H12N2)3]n, which consists of ribbons along the a axis, constructed from 26-membered {Cu10(CN)8} rings. In these rings, the metal atoms are bridged by cyanide groups, except for one close Cu⋯Cu contact [2.7535 (12) Å], which can be considered as ligand-unsupported. Within the rings, one Cu atom has a distorted tetra­hedral geometry through the coordination to two N atoms from 5-ph-2,2′-bpy and two N/C atoms from two cyanide groups. Two Cu atoms have a trigonal planar environment being coordinated by three cyanide groups and two other Cu atoms have a distorted square planar geometry through coordination to two N atoms from 5-ph-2,2′-bpy and two N/C atoms from two cyanide groups

An Endophytic Bacterial Strain Isolated from Eucommia ulmoides Inhibits Southern Corn Leaf Blight

Bacillus subtilis DZSY21 isolated from the leaves of Eucommia ulmoides oliv. was labeled by antibiotic marker and found to effectively colonize the leaves of maize plant. Agar diffusion assays and biocontrol effect experiments showed that strain DZSY21 and its lipopeptides had antagonistic activity against Bipolaris maydis, as well as high biocontrol effects on southern corn leaf blight caused by B. maydis. Using MALDI-TOF-MS analysis, we detected the presence of antimicrobial surfactin A, surfactin B, and fengycin in the strain DZSY21. Signaling pathways mediated by DZSY21 were analyzed by testing the expression of key plant genes involved in regulation of salicylic acid (SA) or JA/ET pathways, the defense-related genes PR1 and LOX were concurrently expressed in the leaves of DZSY21-treated plants; this corresponded to slight increase in the expression level of PDF1.2 and decreases in ERF gene transcription levels. The results indicated an induced systemic response that is dependent on the SA and jasmonic acid (JA) pathways. Thus, we hypothesized that the strain DZSY21 inhibits B. maydis by producing antifungal lipopeptides and activating an induced systemic response through SA- and JA-dependent signaling pathways. This work describes a mechanism behind reduced disease severity in plants inoculated with the endophytic bacteria DZSY21