An EMG-based force prediction and control approach for robot-assisted lower limb rehabilitation

This paper proposes an electromyography (EMG)-based method for online force prediction and control of a lower limb rehabilitation robot. Root mean square (RMS) features of EMG signals from four muscles of the lower limb are used as the inputs to a support vector regression (SVR) model to estimate the human-robot interaction force. The autoregressive algorithm is utilized to construct the relationship between EMG signals and the impact force. Combining the force prediction model with the position-based impedance controller, the robot can be controlled to track the desired force of the lower limb, and so as to achieve an adaptive and active rehabilitation mode, which is adaptable to the individual muscle strength and movement ability. Finally, the method was validated through experiments on a healthy subject. The results show that the EMG-based SVR model can predict the lower limb force accurately and the robot can be controlled to track the estimated force by using simplified impedance model

An EMG-based force prediction and control approach for robot-assisted lower limb rehabilitation

This paper proposes an electromyography (EMG)-based method for online force prediction and control of a lower limb rehabilitation robot. Root mean square (RMS) features of EMG signals from four muscles of the lower limb are used as the inputs to a support vector regression (SVR) model to estimate the human-robot interaction force. The autoregressive algorithm is utilized to construct the relationship between EMG signals and the impact force. Combining the force prediction model with the position-based impedance controller, the robot can be controlled to track the desired force of the lower limb, and so as to achieve an adaptive and active rehabilitation mode, which is adaptable to the individual muscle strength and movement ability. Finally, the method was validated through experiments on a healthy subject. The results show that the EMG-based SVR model can predict the lower limb force accurately and the robot can be controlled to track the estimated force by using simplified impedance model

The effects of dog management on Echinococcus spp. prevalence in villages on the eastern Tibetan Plateau, China

Background The pastoral area of the eastern Tibetan plateau is a very important human echinococcosis endemic region. Domestic dogs are the main definitive host for the transmission of Echinococcus granulosus sensu lato (s.1.) and E. multilocularis to humans. To control the infection risks, a national-level canine echinococcosis prevention and control program has been implemented since 2015 in Shiqu County, Sichuan, China, The objective of this investigation was to evaluate its effect on Echinococcus spp. prevalence in dogs. Methods We surveyed 69 households with 84 owned dogs, for dog keeping information in the villages of Rizha and Eduoma. A total of 105 dog fecal samples, consisting of 75 from owned dogs and 30 unknown dog fecal samples were collected between 2015 and 2017 to determine Echinococcus spp. prevalence using copro-PCR. Eight variables based on household surveys were included into a logistic regression model for significantly relevant factors to canine echinococcosis prevalence in dogs. Results The overall Echinococcus spp. copro-DNA prevalence decreased significantly in dogs from 51.2% (2015) to 20.0% (2017) in Rizha, and insignificantly from 11.5% (2016) to 4.3% (2017) in Eduoma. Echinococcus multilocularis was the most prevalent species continually detected during the entire research period, while E. granulosus was rare and not detected in 2017. Echinococcus shiquicus prevalence was as high as E. multilocularis , although only detected in 2015 in Rizha. Unleashed dog feces were mainly collected in Rizha Village in 2015. Although 93.2% of owned dogs were leashed, and the monthly praziquantel dosing rate reached 97%, E. multilocularis infection could still be detected in 11.1% of owned dogs in 2017. Monthly deworming, leashing dogs 24h per day, and the avoidance of dogs feeding on livestock viscera are significant measures to prevent canine echinococcosis infection in owned dogs. Conclusion Carrying out a canine echinococcosis prevention and control program can significantly decrease the Echinococcus prevalence. The potential contact between leashed dogs and wild small mammals is still a risk to re-infect owned dogs. This study shows that the long term application of regular dog dosing in the vast remote echinococcosis endemic areas of west China is still challenging