Application of Optimal-Jerk Trajectory Planning in Gait-balance Training Robot

To accommodate the gait and balance disorder of the elderly with age progression and the occurrence of various senile diseases,this paper proposes a novel gait balance training robot(G-Balance)based on a six degree-of-freedom parallel platform.Using the platform movement and IMU wearable sensors,two training modes,i.e.,active and passive,are developed to achieve vestibular stimulation.Virtual reality technology is applied to achieve visual stimulation.In the active training mode,the elderly actively exercises to control the posture change of the platform and the switching of the virtual scene.In the passive training mode,the platform movement is combined with the virtual scene to simulate bumpy environments,such as earthquakes,to enhance the human anti-interference ability.To achieve a smooth switching of the scene,continuous speed and acceleration of the platform motion are required in some scenarios,in which a trajectory planning algorithm is applied.This paper describes the application of the trajectory planning algorithm in the balance training mode and the optimization of jerk(differential of acceleration)based on cubic spline planning,which can reduce impact on the joint and enhance stability.

Balance training in the intervention of fall risk in elderly with diabetic peripheral neuropathy: A review

Diabetic peripheral neuropathy(DPN)was the most common complications of elderly diabetic,which could contribute to an increased risk of falling.Despite the increased prevalence of elderly diabetic,high risk of falls and serious consequences of falls in elderly with DPN,It is necessary to adopt means of reducing the risk of falls in elderly with DPN.Impaired balance in the elderly with DPN was the most important risk factor of increasing falls.This review will introduce the epidemiology of falls in elderly with DPN,analysis the reasons for high risk of falls in elderly with DPN,provide a review of the development of balance training in the intervention of fall risk in elderly with DPN and offer recommendations to medical personnels on how to provide an efficient balance training for elderly with DPN.

Determination method of load balance ranges for train operation safety under strong wind

The aerodynamic performances of a passenger car and a box car with different heights of windbreak walls under strong wind were studied using the numerical simulations, and the changes of aerodynamic side force, lift force and overturning moment with different wind speeds and wall heights were calculated. According to the principle of static moment balance of vehicles, the overturning coefficients of trains with different wind speeds and wall heights were obtained. Based on the influence of wind speed and wall height on the aerodynamic performance and the overturning stability of trains, a method of determination of the load balance ranges for the train operation safety was proposed, which made the overturning coefficient have nearly closed interval. A min(|A1|+|A2|), s.t. |A1|→|A2|(A1 refers to the downwind overturning coefficient and A2 refers to the upwind overturning coefficient)was found. This minimum value helps to lower the wall height as much as possible, and meanwhile, guarantees the operation safety of various types of trains under strong wind. This method has been used for the construction and improvement of the windbreak walls along the Lanzhou–Xinjiang railway(from Lanzhou to Urumqi, China).

Athletes who train on unstable compared to stable surfaces exhibit unique postural control strategies in response to balance perturbations

Background:Athletes have been shown to exhibit better balance compared to non-athletes(NON).However,few studies have investigated how the surface on which athletes train affects the strategies adopted to maintain balance.Two distinct athlete groups who experience different types of sport-specific balance training are stable surface athletes(SSA) such as basketball players and those who train on unstable surfaces(USA) such as surfers.The purpose of this study was to investigate the effects of training surface on dynamic balance in athletes compared to NON.Methods:Eight NON,eight SSA,and eight USA performed five 20-s trials in each of five experimental conditions including a static condition and four dynamic conditions in which the support surface translated in the anteroposterior(AP) or mediolateral(ML) planes using positive or negative feedback paradigms.Approximate entropy(Ap En) and root mean square distance(RMS) of the center of pressure(Co P) were calculated for the AP and ML directions.Four 3 × 5(group × condition) repeated measures ANOVAs were used to determine significant effects of group and condition on variables of interest.Results:USA exhibited smaller Ap En values than SSA in the AP signals while no significant differences were observed in the ML Co P signals.Generally,the negative feedback conditions were associated with significantly greater RMS values than the positive feedback conditions.Conclusion:USA exhibit unique postural strategies compared to SSA.These unique strategies seemingly exhibit a direction-specific attribute and may be associated with divergent motor control strategies.