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Regional Equity and Influencing Factor of Social Assistance in China 被引量:4
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作者 WANG Jiawei YE Shilin QI Xinhua 《Chinese Geographical Science》 SCIE CSCD 2021年第4期611-628,共18页
Social assistance is the last safety net in the social security system and plays a vital role in poverty alleviation in countries around the world. Promoting the equal financial assistance is meaningful to achieve equ... Social assistance is the last safety net in the social security system and plays a vital role in poverty alleviation in countries around the world. Promoting the equal financial assistance is meaningful to achieve equalization of social assistance. Based on the provincial panel data from 2002 to 2017, this paper analyzes the dynamic characteristics and main influencing factors of the equity of social assistance in China, using the Theil index and geographically weighted regression(GWR) model. The results suggest that the level of per capita social assistance expenditure(PSAE) in China keeps increasing year by year, but the changes in different regions and provinces are quite different. These changes not only significantly changed the spatial pattern of PSAE in China, but also greatly improved its spatial coupling with the deeply impoverished areas. Further analysis shows that the regional inequality of PSAE between provinces is obvious during the study period, and the inter-regional inequality is significantly higher than the intra-regional inequality.This makes inter-regional inequality become the main source of the regional inequality of PSAE in China for a long time. According to GWR results, there is obvious spatiotemporal heterogeneity in the influence intensity and direction of the per capita financial revenue,urbanization rate, urban unemployment rate, natural disaster-affected area, and transfer payment intensity on the PSAE. The urbanization rate and per capita financial revenue are the main driving factors of PSAE, and the impact intensity of per capita financial revenue tends to strengthen. The remaining three factors have a positive effect on PSAE, but the effect intensity is not high. 展开更多
关键词 social assistance regional equity spatiotemporal pattern poverty alleviation influencing factors China
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Brain region-specific roles of brain-derived neurotrophic factor in social stress-induced depressive-like behavior 被引量:1
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作者 Man Han Deyang Zeng +7 位作者 Wei Tan Xingxing Chen Shuyuan Bai Qiong Wu Yushan Chen Zhen Wei Yufei Mei Yan Zeng 《Neural Regeneration Research》 SCIE CAS 2025年第1期159-173,共15页
Brain-derived neurotrophic factor is a key factor in stress adaptation and avoidance of a social stress behavioral response.Recent studies have shown that brain-derived neurotrophic factor expression in stressed mice ... Brain-derived neurotrophic factor is a key factor in stress adaptation and avoidance of a social stress behavioral response.Recent studies have shown that brain-derived neurotrophic factor expression in stressed mice is brain region–specific,particularly involving the corticolimbic system,including the ventral tegmental area,nucleus accumbens,prefrontal cortex,amygdala,and hippocampus.Determining how brain-derived neurotrophic factor participates in stress processing in different brain regions will deepen our understanding of social stress psychopathology.In this review,we discuss the expression and regulation of brain-derived neurotrophic factor in stress-sensitive brain regions closely related to the pathophysiology of depression.We focused on associated molecular pathways and neural circuits,with special attention to the brain-derived neurotrophic factor–tropomyosin receptor kinase B signaling pathway and the ventral tegmental area–nucleus accumbens dopamine circuit.We determined that stress-induced alterations in brain-derived neurotrophic factor levels are likely related to the nature,severity,and duration of stress,especially in the above-mentioned brain regions of the corticolimbic system.Therefore,BDNF might be a biological indicator regulating stress-related processes in various brain regions. 展开更多
关键词 AMYGDALA chronic mild stress chronic social defeat stress corticolimbic system DEPRESSION HIPPOCAMPUS medial prefrontal cortex nucleus accumbens social stress models ventral tegmental area
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Hierarchical Privacy Protection Model in Advanced Metering Infrastructure Based on Cloud and Fog Assistance
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作者 Linghong Kuang Wenlong Shi Jing Zhang 《Computers, Materials & Continua》 SCIE EI 2024年第8期3193-3219,共27页
The Advanced Metering Infrastructure(AMI),as a crucial subsystem in the smart grid,is responsible for measuring user electricity consumption and plays a vital role in communication between providers and consumers.Howe... The Advanced Metering Infrastructure(AMI),as a crucial subsystem in the smart grid,is responsible for measuring user electricity consumption and plays a vital role in communication between providers and consumers.However,with the advancement of information and communication technology,new security and privacy challenges have emerged for AMI.To address these challenges and enhance the security and privacy of user data in the smart grid,a Hierarchical Privacy Protection Model in Advanced Metering Infrastructure based on Cloud and Fog Assistance(HPPM-AMICFA)is proposed in this paper.The proposed model integrates cloud and fog computing with hierarchical threshold encryption,offering a flexible and efficient privacy protection solution that significantly enhances data security in the smart grid.The methodology involves setting user protection levels by processing missing data and utilizing fuzzy comprehensive analysis to evaluate user importance,thereby assigning appropriate protection levels.Furthermore,a hierarchical threshold encryption algorithm is developed to provide differentiated protection strategies for fog nodes based on user IDs,ensuring secure aggregation and encryption of user data.Experimental results demonstrate that HPPM-AMICFA effectively resists various attack strategies while minimizing time costs,thereby safeguarding user data in the smart grid. 展开更多
关键词 AMI cloud and fog assistance fuzzy comprehensive analysis hierarchical threshold encryption
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Paired Assistance:Policy Rationale and Economic Performance as Illustrated by Xizang and Xinjiang
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作者 Li Xihui Wang Guiduo +1 位作者 Duan Pengfei Huang Jixin 《China Economist》 2024年第3期70-88,共19页
This study highlights the changing priorities of China’s paired assistance throughout the past decades,as well as its theoretical implications and economic growth effects for recipient regions.Using panel data from 3... This study highlights the changing priorities of China’s paired assistance throughout the past decades,as well as its theoretical implications and economic growth effects for recipient regions.Using panel data from 32 prefecture-level cities from 1990 to 2020,this study uses the multiperiod difference-in-differences approach to examine how paired assistance has contributed to economic growth in Xizang Autonomous Region and Xinjiang Uygur Autonomous Region.The findings indicate that,first,the implementation of the paired assistance policy has boosted economic growth in Xizang and Xinjiang.Second,paired assistance has stimulated economic growth in recipient communities by improving infrastructure.Third,paired assistance has contributed to economic growth in recipient communities by providing improved public services such as education and healthcare.Improvements to public services have a relatively smaller indirect effect in short term than infrastructure development on economic growth.Yet both education and healthcare are crucial to people’s quality of life in recipient communities.This paper has refined and broadened research on the effects of paired assistance,providing preference for future policymaking. 展开更多
关键词 Chinese characteristics paired assistance multiperiod difference-in-differences assessment of policy effects
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Thoughts on Pairing Assistance to Tibet for Promoting Agricultural High-quality Development in Southern Tibet from the Perspective of Agricultural Power
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作者 Zhiguo SUN Li GAO +3 位作者 Yuanpeng SUN Guangchao CAO Xinying ZHOU Xiaoqiang LI 《Asian Agricultural Research》 2024年第3期18-24,共7页
In the new era,there is an urgent need to further promote pairing assistance to Tibet,promote the simultaneous construction of a strong agriculture in Tibet and the China's Mainland,and compose a Chinese-style mod... In the new era,there is an urgent need to further promote pairing assistance to Tibet,promote the simultaneous construction of a strong agriculture in Tibet and the China's Mainland,and compose a Chinese-style modernization.Southern Tibet,located in the southeastern part of the Tibet Autonomous Region,includes Shannan City and Nyingchi City,is a region assisted by four provincial partners including Hubei Province.This paper introduces the agricultural environment in southern Tibet,studies its agricultural characteristics,and analyzes the main issues of its pairing assistance.Taking forging the strong consciousness of the Chinese national community as the main line,the paper explores strategies for promoting agricultural high-quality development in southern Tibet through pairing assistance to Tibet from the perspective of agricultural power,and proposes some strategies,such as inheriting agricultural cultural heritage,promoting the upgrading of modern seed industry,enhancing the characteristic advantages of highland barley(naked barley)and animal husbandry industries,and developing edible fungi and cold water fish industries. 展开更多
关键词 PAIRING assistance to TIBET Southern TIBET Shannan CITY Nyingchi CITY AGRICULTURAL high-quality development AGRICULTURAL power
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Evaluating Methods of Visual Assistance for Workers to Improve Quality and Usability in Individualized Kitchen Cabinet Assembly
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作者 Albert Eff Michael S. J. Walter 《Journal of Computer and Communications》 2024年第2期156-172,共17页
In times of digitalisation, visual assistance systems in assembly are increasingly important. The design of these assembly systems needs to be highly complex to meet the requirements. Due to the increasing number of v... In times of digitalisation, visual assistance systems in assembly are increasingly important. The design of these assembly systems needs to be highly complex to meet the requirements. Due to the increasing number of variants in production processes, as well as shorter innovation and product life cycles, assistance systems should improve quality and reduce complexity of assembly processes. However, many large kitchen manufacturers still assemble kitchen cabinets manually, due to the high variety of components, such as rails and fittings. This paper focuses on the analysis and evaluation of virtual assistance systems to improve quality and usability in individualised kitchen cabinet assembly processes at a large German manufacturer. A solution is identified and detailed. 展开更多
关键词 Digitalisation Assembly Process Visual assistance USABILITY Human-Centred Assembly Design
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On the Rule of Law Path for Inclusive Education to Empower Education Assistance for Persons with Disabilities
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作者 WANG Sufen YANG Xiaoting QIAN Chuijun 《The Journal of Human Rights》 2024年第4期922-950,共29页
Inclusive education is the mainstream of developing education for persons with disabilities worldwide.It advocates the recognition and protection of the right of persons with disabilities to receive inclusive educatio... Inclusive education is the mainstream of developing education for persons with disabilities worldwide.It advocates the recognition and protection of the right of persons with disabilities to receive inclusive education in mainstream schools.From the perspective of inclusive education,the educational assistance system for persons with disabilities represents a theoretical innovation in traditional educational support methods,playing a crucial role in integrating persons with disabilities into society,reversing their disadvantaged status,and maintaining educational equity.At present,China's legal system for inclusive education assistance for persons with disabilities needs improvement,and faces several obstacles,including conceptual“limited capacity”,“monotonous”subjects,“crowding-out”obstacles and supervision“absence”obstacles.It is urgent to begin with the transformation of the rule of law concept,clarify the legal positioning of multiple responsibility subjects,achieve mutual reinforcement of education law and education aid legislation,establish a supervision system for inclusive education assistance,and improve the legal framework for educational assistance for persons with disabilities.This will ensure that persons with disabilities can successfully realize their right to education,share in the benefits of social development,and ultimately contribute to achieving common prosperity. 展开更多
关键词 inclusive education the right to education of persons with disabilities education assistance multiple responsible entities
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Design Strategies for the Sustainable Improvement of Urban Social Assistance Buildings
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作者 DING Wei PAN Hui JIN Haibo 《Journal of Landscape Research》 2015年第5期5-8,共4页
Transformation and innovation of assistance model promote the transition of urban social assistance building to multi-functional building. This paper, on the basis of analyzing complexity and peculiarity of urban soci... Transformation and innovation of assistance model promote the transition of urban social assistance building to multi-functional building. This paper, on the basis of analyzing complexity and peculiarity of urban social assistance building, as well as researches and practices of sustainable improvement of domestic architecture, proposed environmental, social and economic objectives of the sustainable improvement of urban social assistance building, and elaborated design strategies from the perspectives of site selection and its impact on environment, application, evaluation and utilization of ecological technologies, reform of old buildings, flexible internal layout of building and combination of routine use and disaster use design, so as to improve social benefits and social assessment of assistance buildings sustainably, and to balance humanistic concerns and social resource input. 展开更多
关键词 Urban social assistance building Sustainable improvement Design strategy
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Forty-Year Development of Social Assistance System in China: Review and Outlook
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作者 Lin Mingang Wu Lingwei 《Contemporary Social Sciences》 2019年第4期1-12,共12页
This paper reviews the forty-year development of the social assistance system in China and discovers that under the leadership of the Chinese government, the basic framework of the social assistance system has taken s... This paper reviews the forty-year development of the social assistance system in China and discovers that under the leadership of the Chinese government, the basic framework of the social assistance system has taken shape and become a proud image of China’s social security system’s reform and development. The development of the social assistance system in China demonstrates the bottom-line thinking of state governance and its multi-tiered, cross-sector and community-focused characteristics. At its present stage of growth the social assistance system is actively developing multiple means of assistance and will be based on the objective of “supporting the vulnerable.” 展开更多
关键词 social assistance SYSTEM social assistance SUBJECT social security SYSTEM supporting the VULNERABLE
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Uncoordination of China’s social assistance program resources and policy solutions
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作者 Haomiao Zhang 《Social Work and Social Welfare》 2019年第1期I0001-I0006,共6页
With the promulgation and implementation of Social Assistance Interim Measures, China hasbasically established the social assistance system framework with Dibao, Three-nos people support and disasterrelief as the basi... With the promulgation and implementation of Social Assistance Interim Measures, China hasbasically established the social assistance system framework with Dibao, Three-nos people support and disasterrelief as the basis, with housing aid, medical aid ,education aid and employment aid as the support and with temporaryassistance and charity help as the supplement. The establishment of various social assistance programsundoubtedly aims to fulfil different demands of urban and rural neddy people, however,the increase of socialassistance programs does not necessarily bring about an increase in the effectiveness of social assistance. Thispaper analyzes the uncoordination of Chinas social assistance program resources and put forward related policysolutions. 展开更多
关键词 social assistance PROGRAM RESOURCES POLICY SOLUTIONS China
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Study on migrant workers of intergenerational transmission of poverty and social assistance problems
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作者 FAN Dandan 《International English Education Research》 2017年第2期22-24,共3页
With the accelerated pace of urbanization, the construction of the city needs a large number of labor force, more and more farmers come out of the countryside to work in the city, forming a special group of migrant wo... With the accelerated pace of urbanization, the construction of the city needs a large number of labor force, more and more farmers come out of the countryside to work in the city, forming a special group of migrant workers. With the emergence of migrant workers groups, there has been a new generation of migrant workers. This article from the perspective ofintergenerational transfer of migrant workers poverty, social assistance as the breakthrough point, through the transfer phenomenon and social relief situation of migrant workers in poverty from generation to generation, according to international advanced experience put forward the blocking of migrant workers in the intergenerational transmission of poverty. 展开更多
关键词 Migrant workers Transmission of poverty social assistance Status analysis and suggestions to solve
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Research on The Social Assistance of Left-behind Children in Rural Areas under The Policy of Precise Poverty Alleviation
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作者 LI Wenqing 《International English Education Research》 2017年第4期40-42,共3页
With the development of economy, a large number of surplus labor force in rural areas has been transferred to cities, resulting in the increasing number of left-behind children in rural areas. Left-behind children are... With the development of economy, a large number of surplus labor force in rural areas has been transferred to cities, resulting in the increasing number of left-behind children in rural areas. Left-behind children are in a critical period of ideological enlightenment, accepting obligation education, outlook on life and world outlook, and the absence of parental care and education has a negative impact on their growth. It is an important problem to solve this problem in every aspect of society. 展开更多
关键词 Precise poverty alleviation Left-behind children in rural areas social assistance
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Study on the Problems of Social Assistance for Drug Abusers
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作者 Gong Shijun 《学术界》 CSSCI 北大核心 2014年第10期249-252,共4页
Drug addicts are not only harmoffenders to society,but also the special social vulnerable groups. Fromthe perspective of social responsibility and the social welfare,this paper,through an objective assessment of the d... Drug addicts are not only harmoffenders to society,but also the special social vulnerable groups. Fromthe perspective of social responsibility and the social welfare,this paper,through an objective assessment of the drug abuser 's situation and analysis of the existing problems of social assistances for drug users,put forward the countermeasures and suggestions on effective drug control and giving up drugs combined with compulsory addiction treatment with social assistance. 展开更多
关键词 社会救助 药物滥用 吸毒者 弱势群体 社会福利 社会责任 客观评估 阻力控制
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The Social Assistance of Migrant Workers and the Urban Minimum Living Security System
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作者 Bing Fei Dong 《International English Education Research》 2015年第7期57-59,共3页
The surplus rural labors transferring to the city is an inevitable trend in the economic development of the reform and opening up. The household register system has made urban migrant workers free from the social secu... The surplus rural labors transferring to the city is an inevitable trend in the economic development of the reform and opening up. The household register system has made urban migrant workers free from the social security system and drift on the brink of city. Social assistance system concerning their interests is few. This article starts with the current situation of rural migrant workers in social assistance system, states the necessity and feasibility for bringing the migrant workers into the urban minimum living security system and according to the characteristics of the migrant workers on the reasonable classification, finally talks about existing obstacles and countermeasures of the migrant workers joining into the urban low income system. I believe that with the continuous reform of the registered permanent household register system, the continuous development of urbanization, the basic life of migrant worker will be guaranteed. 展开更多
关键词 MIGRANT worker social SALVATION SYSTEM URBAN minimum LIVING security SYSTEM
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English Language Assistance Needs of Chinese Students
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作者 马树芳 林森兰 《海外英语》 2011年第8X期94-95,105,共3页
It is known that the IELTS test has not been a good predictor of English capability in academic settings. More information is required. Are students not motivated to keep improving their English; what obstacles do the... It is known that the IELTS test has not been a good predictor of English capability in academic settings. More information is required. Are students not motivated to keep improving their English; what obstacles do they face? The English language issues facing international students from China at one University are explored through a survey and focus groups. It is observed that a lack of motivation is not the key factor. Rather one core problem is the very difficult demands of acculturation within a short time frame which would enable confidence for the students to continue to engage with other English speaking students. When faced with such immediate and hard to achieve acculturation, many retreat to their language groups. In the academic context, support for the transition to discipline based academic genres is double difficult as the time frame for second language learners is longer, but performance requirements are more immediate. Many first language students also have difficulties in this area, but have the easier language path to mastery. The study draws usefully on a comparison made with students studying English in China. 展开更多
关键词 ENGLISH LANGUAGE assistance Needs
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基于NodeMCU和Home Assistant的智能家居控制系统
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作者 杨骏 梁念渝 王凯 《通讯世界》 2024年第8期124-126,共3页
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。... 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。 展开更多
关键词 NodeMCU Home assistant 智能家居
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Computer Assisted Language Learning Social Networks: What Are They Talking about? 被引量:1
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作者 Andrew Laghos Efi Nisiforou 《Social Networking》 2018年第3期170-180,共11页
There are many reasons that motivate people to build online communities. The purpose of this study was to identify the topics that learners discuss when they are part of a computer assisted language learning course in... There are many reasons that motivate people to build online communities. The purpose of this study was to identify the topics that learners discuss when they are part of a computer assisted language learning course in order to answer the question “What are they talking about?”. We have examined an e-community of 618 students who were learning the Modern Greek language online. We analyzed their conversation topics directly from the discussion boards of the web-based course and sorted them into the pre-defined topic categories. The results of the study showed that during the first lessons of the course the students contributed more to social discussions which were unrelated to the course material. The reason of this outcome is that the students want to introduce themselves and meet their peers. As they progressed through the course’s lessons, however, their discussion topics became more course material related. The study ends with implications of the results and future research directions. 展开更多
关键词 Computer assisted Language Learning social Networks Students’ Discussion TOPICS
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Bimanual motor skill learning and robotic assistance for chronic hemiparetic stroke: a randomized controlled trial 被引量:5
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作者 Maral Yeganeh Doost Benoît Herman +6 位作者 Adrien Denis Julien Sapin Daniel Galinski Audrey Riga Patrice Laloux Benoît Bihin Yves Vandermeeren 《Neural Regeneration Research》 SCIE CAS CSCD 2021年第8期1566-1573,共8页
Using robotic devices might improve recovery post-stroke, but the optimal way to apply robotic assistance has yet to be determined. The current study aimed to investigate whether training under the robotic active-assi... Using robotic devices might improve recovery post-stroke, but the optimal way to apply robotic assistance has yet to be determined. The current study aimed to investigate whether training under the robotic active-assisted mode improves bimanual motor skill learning(biMSkL) more than training under the active mode in stroke patients. Twenty-six healthy individuals(HI) and 23 chronic hemiparetic stroke patients with a detectable lesion on MRI or CT scan, who demonstrated motor deficits in the upper limb, were randomly allocated to two parallel groups. The protocol included a two-day training on a new bimanual cooperative task, LIFT-THE-TRAY, under either the active or activeassisted modes(where assistance decreased in a pre-determined stepwise fashion) with the bimanual version of the REAplan? robotic device. The hypothesis was that the active-assisted mode would result in greater biMSkL than the active mode. The biMSkL was quantified by a speed-accuracy trade-off(SAT) before(T1) and immediately after(T2) training on days 1 and 2(T3 and T4). The change in SAT after 2 days of training(T4/T1) indicated that both HI and stroke patients learned and retained the bimanual cooperative task. After 2 days of training, the active-assisted mode did not improve biMSkL more than the active mode(T4/T1) in HI nor stroke patients. Whereas HI generalized the learned bimanual skill to different execution speeds in both the active and active-assisted subgroups, the stroke patients generalized the learned skill only in the active subgroup. Taken together, the active-assisted mode, applied in a pre-determined stepwise decreasing fashion, did not improve biMSkL more than the active mode in HI and stroke subjects. Stroke subjects might benefit more from robotic assistance when applied "as-needed." This study was approved by the local ethical committee(Comité d'éthique médicale, CHU UCL Namur, MontGodinne, Yvoir, Belgium;Internal number: 54/2010, Eudra CT number: NUB B039201317382) on July 14, 2016 and was registered with ClinicalTrials.gov(Identifier: NCT03974750) on June 5, 2019. 展开更多
关键词 BIMANUAL HEMIPARESIS motor learning rehabilitation ROBOTIC robotic assistance slacking stroke retention
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3-Port incisionless laparoscopic surgery for rectal cancer with a transrectal assistance 被引量:4
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作者 Lin Zhang Guohu Zhang +4 位作者 Peihong Wang Yonghua Wang Yaning Song Hong Zou Lijun Tang 《Case Reports in Clinical Medicine》 2013年第7期386-389,共4页
Introduction: To present the initial experience of 3-port incisionless laparoscopic surgery for rectal cancer with a transrectal assistance by using a toothed oval clamp. Case Presentation: One patient received 3-port... Introduction: To present the initial experience of 3-port incisionless laparoscopic surgery for rectal cancer with a transrectal assistance by using a toothed oval clamp. Case Presentation: One patient received 3-port incisionless laparoscopic surgery for rectal cancer with a transrectal assistance by using a toothed oval clamp. Better direct vision and exposure could be acquired for performing laparoscopic surgical procedure, avoiding additional port inserted. Using this procedure, with strictly adhering to the principles of laparoscopic colectomy and oncological procedure, along with the specimen exteriorized via recta, transacted and a stapled anastomosis performed, no incision can be achieved at the end of an operation. The operative time was 180 minutes. The estimated blood loss in the course of an operation was 80 ml. The patient recovered quickly after surgery, with no post-operative pain and no incision. The patient was dischanged home on the 6th postoperative day. Conclusions: With a transrectal assistance by using a toothed oval clamp, 3-port laparoscopic surgery for rectal cancer could be achieved without no incision at the end of the operation, the same as NOTES. It is enormously advantageous to the patient and suitable for application in developing countries, especially in a rural area. 展开更多
关键词 LAPAROSCOPIC SURGERY Incisionless RECTAL Cancer TRANSRECTAL assistance
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Robotic Walker for Slope Mobility Assistance with Active-Passive Hybrid Actuator 被引量:2
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作者 Junqiang Li Lei Zhao Tiejun Li 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2021年第5期185-194,共10页
Walking assistance can be realized by active and passive robotic walkers when their users walk on even roads.However,fast signal processing and real-time control are necessary for active robotic walkers when the users... Walking assistance can be realized by active and passive robotic walkers when their users walk on even roads.However,fast signal processing and real-time control are necessary for active robotic walkers when the users walk on slopes,while assistive forces cannot be provided by passive robotic walkers when the users walk uphill.A robotic walker with an active-passive hybrid actuator(APHA)was developed in this study.The APHA,which consists of a rotary magnetorheological(MR)brake and a DC motor,can provide mobility assistance to users walking both uphill and downhill via the cooperative operation of the MR brake and DC motor.The rotary MR brake was designed with a T-shaped configuration,and the system was optimized to minimize the brake volume.Prototypes of the APHA and robotic walker were constructed.A control algorithm for the robotic walker was developed based on the characteristics of the APHA and the structure of the robotic walker.The mechanical properties of the APHA were characterized,and experiments were conducted to evaluate the mobility assistance supplied by the robotic walker on different roads.The results show that the APHA can meet the requirements of the robotic walker,and suitable assistive forces can be provided by the robotic walker,which has a simple mechanical structure and control method. 展开更多
关键词 Robotic walker Active-passive hybrid actuator MR brake Slope mobility assistance
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