Assistive Robotics for Upper Limb Physical Rehabilitation:A Systematic Review and Future Prospects

Physical assistive robotics are oriented to support and improve functional capacities of people.In physical rehabilitation,robots are indeed useful for functional recovery of affected limb.However,there are still open questions related to technological aspects.This work presents a systematic review of upper limb rehabilitation robotics in order to analyze and establish technological challenges and future directions in this area.A bibliometric analysis was performed for the systematic literature review.Literature from the last six years,conducted between August 2020 and May 2021,was reviewed.The methodology for the literature search and a bibliometric analysis of the metadata are presented.After a preliminary search resulted in 820 articles,a total of 66 articles were included.A concurrency network and bibliographic analysis were provided.And an analysis of occurrences,taxonomy,and rehabilitation robotics reported in the literature is presented.This review aims to provide to the scientific community an overview of the state of the art in assistive robotics for upper limb physical rehabilitation.The literature analysis allows access to a gap of unexplored options to define the technological prospects applied to upper limb physical rehabilitation robotics.

Assistive Devices and Clothing: Exploring Adaptive Clothing Needs for Women with Lower Limb Prostheses Using the FEA Model

This study aimed to comprehensively investigate the essential considerations in designing adaptive clothing for women with lower limb prostheses in Saudi Arabia. Employing a qualitative methodology, the research entailed semi-structured, in-depth interviews with women utilizing lower limb prostheses and prosthetic specialists. This approach was selected to unearth pivotal design prerequisites and comprehend the specific challenges these women encounter within the realm of clothing. The utilization of selective sampling facilitated the collection of intricate and valuable insights. A Functional, Expressive, and Aesthetic (FEA) User Needs model was utilized to scrutinize participant feedback. Functional requisites encompass ease of dressing and undressing, accessibility to the prosthetic limb, comfort, mobility with the prosthesis, and appropriate fit. Additionally, participants highlighted various expressive needs, including privacy preservation, modesty, camouflaging disability appearances, maintaining alignment with non-disabled women’s fashion, and considerations about the aesthetic aspects of garments.

A Wire-Driven Series Elastic Mechanism Based on Ultrasonic Motor for Walking Assistive System

In order to improve the elderly people's quality of life,supporting their walking behaviors is a promising technology.Therefore,based on one ultrasonic motor,a wire-driven series elastic mechanism for walking assistive system is proposed and investigated in this research.In contrast to tradition,it innovatively utilizes an ultrasonic motor and a wire-driven series elastic mechanism to achieve superior system performances in aspects of simple structure,high torque/weight ratio,quiet operation,quick response,favorable electromagnetic compatibility,strong shock resistance,better safety,and accurately stable force control.The proposed device is mainly composed of an ultrasonic motor,a linear spring,a steel wire,four pulleys and one rotating part.To overcome the ultrasonic motor's insufficient output torque,a steel wire and pulleys are smartly combined to directly magnify the torque instead of using a conventional gear reducer.Among the pulleys,there is one tailored pulley playing an important role to keep the reduction ratio as 4.5 constantly.Meanwhile,the prototype is manufactured and its actual performance is verified by experimental results.In a one-second operating cycle,it only takes 86 ms for this mechanism to output an assistive torque of 1.6 N·m.At this torque,the ultrasonic motor's speed is around 4.1 rad/s.Moreover,experiments with different operation periods have been conducted for different application scenarios.This study provides a useful idea for the application of ultrasonic motor in walking assistance system.

An RGB-D Camera Based Visual Positioning System for Assistive Navigation by a Robotic Navigation Aid

There are about 253 million people with visual impairment worldwide.Many of them use a white cane and/or a guide dog as the mobility tool for daily travel.Despite decades of efforts,electronic navigation aid that can replace white cane is still research in progress.In this paper,we propose an RGB-D camera based visual positioning system(VPS)for real-time localization of a robotic navigation aid(RNA)in an architectural floor plan for assistive navigation.The core of the system is the combination of a new 6-DOF depth-enhanced visual-inertial odometry(DVIO)method and a particle filter localization(PFL)method.DVIO estimates RNA’s pose by using the data from an RGB-D camera and an inertial measurement unit(IMU).It extracts the floor plane from the camera’s depth data and tightly couples the floor plane,the visual features(with and without depth data),and the IMU’s inertial data in a graph optimization framework to estimate the device’s 6-DOF pose.Due to the use of the floor plane and depth data from the RGB-D camera,DVIO has a better pose estimation accuracy than the conventional VIO method.To reduce the accumulated pose error of DVIO for navigation in a large indoor space,we developed the PFL method to locate RNA in the floor plan.PFL leverages geometric information of the architectural CAD drawing of an indoor space to further reduce the error of the DVIO-estimated pose.Based on VPS,an assistive navigation system is developed for the RNA prototype to assist a visually impaired person in navigating a large indoor space.Experimental results demonstrate that:1)DVIO method achieves better pose estimation accuracy than the state-of-the-art VIO method and performs real-time pose estimation(18 Hz pose update rate)on a UP Board computer;2)PFL reduces the DVIO-accrued pose error by 82.5%on average and allows for accurate wayfinding(endpoint position error≤45 cm)in large indoor spaces.

Ageing Society and Assistive Products

North East Asian countries are facing to rapid increase in aged population ratio.The most recent values of aged population ratios are 19.5%,8.7%,and 6.9%,for Japan,Korea and China,respectively.One of the welfare services in the aged society is provision of assistive products.Electronic control systems are commonly adopted in modern assistive products and sensors are indispensable for control units.Alarm systems,such as fire alarm,smoke detectors,and gas leak detectors,have been regarded as indispensable to safety of elderly persons and persons with disability.Main application of chemical sensors in home care of elderly persons is in the field of personal care and personal medical treatment.Products for personal medical treatment include that for medical treatment in home care and that to keep elderly persons healthy.Large market is expected in the latter one.

Stand-Up Assistive Devices Allowing Patients to Perform Voluntary Movements within the Safety Movement Tolerance

This paper proposes a novel standing assistance robot,which realizes voluntary movements of the patient within a safety motion range.In the previous studies,conventional assistive robots did not require patients to use their own physical strength to stand,which led to decreased strength in the elderly.Such general assistive robots helped patients by using a fixed motion reference pathway in spite of their original intention,and as a result,these robots failed to use the physical strength of the patients.Therefore,this study proposes a novel method for assisting the patient to stand up safely while using their physical abilities,by determining the range of movements that can be safely performed from the patient’s physical condition and allowing the patient to move freely within this range.The standing motion is a set of different movements:inclining the trunk forward,lifting the trunk,and extending the trunk.In this study,the range of movements in which the patient can safely stand in each movement is determined in terms of body stability and the muscle output that the patient can generate.Furthermore,this study proposes a robot control method that allows movements based on the patient’s free will if the patient’s posture is within the safety tolerance,and it corrects the movements when the patient’s posture is estimated to fall outside of it.The proposed idea is implemented in our new prototype,and its effectiveness is verified by experimental results with elderly subjects who live in the nursing care house.

Conceptual exploration of a gravity-assisted electrorheological fluid-based gripping methodology for assistive technology

Gripping devices help patients carry out everyday tasks and increase their independence.However,there seems to be a lack of bionic gripping technologies that can fully adapt to any possible shape,as the use of artificial fingers and predetermined grip settings limits the operating space.The development of a more agile device,which is operated by a simple control paradigm,could greatly benefit users.An electrorheological(ER)fluid system should be able to adapt to the shape of an object and then hold that configuration.The aim of this study was to explore if a conceptual prototype of an ER system could hold a geometric shape when it is activated.A test rig was constructed with a moving part(set in different silicone oils)that could be displaced using a tensometer.Silica particles were dispersed in the silicone oils,and a field with a voltage of 4 kV mm?1 was generated to activate the fluid.The results show that the developed system can support an increased force when activated and hold a simple geometric position without any noticeable delay.This outcome provides an initial proof of concept for a possible new(gravity-assisted)gripping approach using smart fluids,which could be developed with materials that are biocompatible and widely available.

A Short Review of the Literature on Assistive Technologies for Alzheimer’s Patients and Their Caregivers

Alzheimer’s is one of the most disabling neurocognitive diseases. A person diagnosed with Alzheimer’s slowly loses cognitive function and ultimately becomes entirely dependent upon the caregivers. Caregivers must help the patient in everyday activities ranging from walking to cooking, eating, and so on. In most caregiving facilities, a single caregiver often handles more than one patient, which results in caregiver burnout. Researchers are developing useful technologies to prevent caregiver burnouts and facilitate families in the best possible manner. The goal of this purposive short review of literature is to study the modern tools, devices, and gadgets available to Alzheimer’s patients and caregivers and understand the focus areas for future research. The review identified a range of products and technologies that help in monitoring to diagnosis, aid therapy, and reduce the burden on caregivers. These technologies play a vital role in improving the quality of life for both the patients and the caregivers. The study identified reducing cost of the devices, increasing robustness and dependability of the devices, and various aspects of the assistive technologies, including ethical and privacy issues, as the focus areas for future research.

Recent Advances of Sensors for Assistive Technologies

In this paper, the recent advances of sensors incorporated in assistive technologies are presented. Based on the function and operation of modern assistive devices, a variety of sensors are described with their features and applications. Further improvements and future trend are pointed out and discussed.

Biomechanical Analysis of the STS Movement and Impact of an Assistive Device on the Elderly and People with Displacement Difficulties

This study presents a biomechanical analysis of the performance of the STS(sit-to-stand)movement applied to elderly and people with difficulty of displacement comparing it with and without an assistive technology device.A biomechanical kinemetry method was used for the movement evaluation.A two-dimensional virtual human model was developed through segmented ergonomic video analysis and the data obtained were numerically simulated to measure the inertial forces and torques of the complete execution of the STS movement.The device allows a vertical elevation of 0 to 400 mm and an anterior slope of up to 25°.A prototype was used to compare the movement with and without the assistive device.As a result,the torques in the lower limbs’joints and the vertical ground reaction forces were reduced by up to 60%and 23%,respectively.There was a reduction of up to 37°in the maximum trunk flexion angle during the cycle.The horizontal displacement of the center of mass was reduced by up to 70%.

Assistive Navigation Device for Visually Impaired—A Study on Reaction Time to Tactile Modality Stimuli

A tactile system to support severe visually-impaired or blind people in the world for their orientation and navigation had been developed. To optimize the design, some parameters of tactile display device were evaluated. In the present paper,we focused on the reaction time to tactile stimuli. In the test, the stimuli were produced through a vibration belt that was worn around the participants’ waist. In the choice reaction time task, the participants had to click corresponding arrow keys according to the location of a tactile signal. The findings of this study provided a reference of the reaction time range, so as to design a more effective and safe tactile navigation system.

Assistive technologies and habit development:a Semiotic Model of Technological Mediation

In the field of philosophy of technology,the concept of mediation is central to understanding how technology shapes human experience and behavior.Our aim in this paper is to contribute to the understanding of technological mediation,in particular how and why it is possible.Technological mediation occurs within a mediation space between the technological realm and the user realm.In the technological realm,technology regularizes events and actions,while in the user realm,the user interprets the significative potential of the technology.This interpretation process is identical with use and involves the formation of user habits,which are constrained by technological,cognitive,and sociocultural factors.To provide a theoretical framework for our analysis,we propose the Semiotic Model of Technological Mediation(SMTM),which draws on Charles Peirceʼs semiotics.To illustrate our argument,we focus on assistive technology and provide a recurring example of the Medimi®Smart,a digital,comprehensive system for medication handling.

Development of Rehabilitation and Assistive Robots in China: Dilemmas and Solutions

China is rapidly becoming an aging society, leading to a significant demand for chronic disease management and personalized healthcare. The development of rehabilitation and assistive robotics in China has gatheredsignificant attention not only in research fields but also in industries. Such robots aim to either guide patientsin completing therapeutic training or assist people with impaired functions in performing their daily activities.In the past decades, we have witnessed the advancement in rehabilitation and assistive robotics, with diversemechanical designs, functionalities, and purposes. However, the construction of dedicated regulations and policiesis relatively lagged compared with the flourishing development in research fields. Moreover, these kinds of robotsare working or collaborating closely with human beings, bringing unprecedented considerations on ethical issues.This paper aims to provide an overview of major dilemmas in the development of rehabilitation and assistiverobotics in China and propose several potential solutions.

Harnessing the Power of Artificial Intelligence in Neuromuscular Disease Rehabilitation: A Comprehensive Review and Algorithmic Approach

Neuromuscular diseases present profound challenges to individuals and healthcare systems worldwide, profoundly impacting motor functions. This research provides a comprehensive exploration of how artificial intelligence (AI) technology is revolutionizing rehabilitation for individuals with neuromuscular disorders. Through an extensive review, this paper elucidates a wide array of AI-driven interventions spanning robotic-assisted therapy, virtual reality rehabilitation, and intricately tailored machine learning algorithms. The aim is to delve into the nuanced applications of AI, unlocking its transformative potential in optimizing personalized treatment plans for those grappling with the complexities of neuromuscular diseases. By examining the multifaceted intersection of AI and rehabilitation, this paper not only contributes to our understanding of cutting-edge advancements but also envisions a future where technological innovations play a pivotal role in alleviating the challenges posed by neuromuscular diseases. From employing neural-fuzzy adaptive controllers for precise trajectory tracking amidst uncertainties to utilizing machine learning algorithms for recognizing patient motor intentions and adapting training accordingly, this research encompasses a holistic approach towards harnessing AI for enhanced rehabilitation outcomes. By embracing the synergy between AI and rehabilitation, we pave the way for a future where individuals with neuromuscular disorders can access tailored, effective, and technologically-driven interventions to improve their quality of life and functional independence.

Research Progress of Deep Eutectic Solvents in Extraction of Plant Flavonoids

As a new type of green solvents,deep eutectic solvents(DESs)have the advantages of strong extraction ability,designability,simple preparation,low price,recoverability and biodegradation,and show great application potential in the field of plant flavonoid extraction.In this paper,the definition,classification and preparation methods of DESs were introduced.The effects of DES composition,molar ratio of DES components,water content of DES systems,liquid-material ratio,extraction temperature,extraction time and extraction auxiliary techniques on the extraction yield of plant flavonoids were expounded.The recycling methods of DESs were summarized.Existing problems of DESs in the field of plant flavonoids extraction were pointed out,and further research direction and trend were analyzed and prospected.

基于NodeMCU和Home Assistant的智能家居控制系统

为了提高家居生活的舒适性和便利性,开发了一套智能家居控制系统。该系统采用节点微控制单元(NodeMCU)作为基础硬件,负责收集传感器数据并操控相关执行器件。同时,该系统利用消息队列遥测传输协议(MQTT)和WiˉFi技术构建数据传输链路。此外,该系统利用开源的Home Assistant系统建立了后台服务端,以实现数据的图形化展示。用户可通过安卓移动设备实时监控家居环境状况,并对智能设备实施控制。该系统经过严格测试,表现稳定,显著提高了家居环境的智能化程度。

Grindability Evaluation of Ultrasonic Assisted Grinding of Silicon Nitride Ceramic Using Minimum Quantity Lubrication Based SiO_(2)Nanofluid

Minimum quantity Lubrication(MQL)is a sustainable lubrication system that is famous in many machining systems.It involve the spray of an infinitesimal amount of mist-like lubricants during machining processes.The MQL system is affirmed to exhibit an excellent machining performance,and it is highly economical.The nanofluids are understood to exhibit excellent lubricity and heat evacuation capability,compared to pure oil-based MQL system.Studies have shown that the surface quality and amount of energy expended in the grinding operations can be reduced considerably due to the positive effect of these nanofluids.This work presents an experimental study on the tribological performance of SiO_(2)nanofluid during grinding of Si_(3)N_(4)ceramic.The effect different grinding modes and lubrication systems during the grinding operation was also analyzed.Different concentrations of the SiO_(2)nanofluid was manufactured using canola,corn and sunflower oils.The quantitative evaluation of the grinding process was done based on the amount of grinding forces,specific grinding energy,frictional coefficient,and surface integrity.It was found that the canola oil exhibits optimal lubrication performance compared to corn oil,sunflower oil,and traditional lubrication systems.Additionally,the introduction of ultrasonic vibrations with the SiO_(2)nanofluid in MQL system was found to reduce the specific grinding energy,normal grinding forces,tangential grinding forces,and surface roughness by 65%,57%,65%,and 18%respectively.Finally,regression analysis was used to obtain an optimum parameter combinations.The observations from this work will aid the smooth transition towards ecofriendly and sustainable machining of engineering ceramics.

Mechatronic Design of a Synergetic Upper Limb Exoskeletal Robot and Wrench-based Assistive Control

Upper limb exoskeletal rehabilitation robots are required to assist patients＇ arms to perform activities of daily living according to their motion intentions. In this paper, we address two questions： how to design an exoskeletal robot which can mechanically reconstruct functional movements using only a few actuators and how to establish wrench-based assistive control. We first show that the mechanism replicating the synergic feature of the human upper limb can be designed in a recursive manner, meaning that the entire robot can be constructed from two basic mechanical units. Next, we illustrate that the assistive control for the synergetic exoskeletal robot can be transformed into an optimization problem and a Riemannian metric is proposed to generate anthropomorphic reaching movements according to contact forces and torques. Finally, experiments are carried out to verify the functionality of the proposed theory.

Design and Control of an Assistive Device for the Study of the Post-stroke Sit-To-Stand Movement

Every year more than 5 million people worldwide become hemiplegic as a direct consequence of stroke. This neurological deficiency, often leads to a partial or a total loss of standing up abilities and/or ambulation skills. In order to propose new supporting solutions lying between the wheelchair and the walker, this paper presents a technological strategy for designing an assistive device for a biomechanical study of the Sit-To-Stand movement （STS）. The control algorithms are implemented in TwinCAT runtime environment. The communi- cation between the component and the control computer is ensured via the EtherCAT fieldbus. The aim of this architecture lies in the fact that it allows a quick development of a research prototype with the same safety issues found on an industrial machine. An experimental test of the STS strategy is presented and discussed in order to evaluate the strategy.

Real-time Compliance Control of an Assistive Joint Using QNX Operating System

An assistive robot is a novel service robot, playing an important role in the society. For instance, it can amplify human power not only for the elderly and disabled to recover/rehabilitate their lost/impaired musculoskeletal functions but also for healthy people to perform tasks requiring large forces. Consequently, it is required to consider both accurate position control and human safety, which is the compliance. This paper deals with the robot control compliance problem based on the QNX real-time operating system. Firstly, the mechanical structure of a compliant joint on the assistive robot is designed using Solidworks. Then the parameters of the assistive robot system are identified. The software of robot control includes data acquisition and processing, and control to meet the compliance requirement of the joint control. Finally, a Hogan impedance control experiment is carried out. The experimental results prove the effectiveness of the method proposed.