Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom

The current parallel ankle rehabilitation robot(ARR)suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation,which may lead to secondary injuries to the patient.This study investigates type synthesis of a parallel self-alignment ankle rehabilitation robot(PSAARR)based on the kinematic characteristics of ankle joint rotation center drift from the perspective of introducing"suitable passive degrees of freedom(DOF)"with a suitable number and form.First,the self-alignment principle of parallel ARR was proposed by deriving conditions for transforming a human-robot closed chain(HRCC)formed by an ARR and human body into a kinematic suitable constrained system and introducing conditions of"decoupled"and"less limb".Second,the relationship between the self-alignment principle and actuation wrenches(twists)of PSAARR was analyzed with the velocity Jacobian matrix as a"bridge".Subsequently,the type synthesis conditions of PSAARR were proposed.Third,a PSAARR synthesis method was proposed based on the screw theory and type of PSAARR synthesis conducted.Finally,an HRCC kinematic model was established to verify the self-alignment capability of the PSAARR.In this study,93 types of PSAARR limb structures were synthesized and the self-alignment capability of a human-robot joint axis was verified through kinematic analysis,which provides a theoretical basis for the design of such an ARR.

Progress in neurorehabilitation research and the support by the National Natural Science Foundation of China from 2010 to 2022

The National Natural Science Foundation of China is one of the major funding agencies for neuro rehabilitation research in China.This study reviews the frontier directions and achievements in the field of neurorehabilitation in China and wo rldwide.We used data from the Web of Science Core Collection(WoSCC) database to analyze the publications and data provided by the National Natural Science Foundation of China to analyze funding information.In addition,the prospects for neurorehabilitation research in China are discussed.From 2010 to 2022,a total of 74,220 publications in neurorehabilitation were identified,with there being an overall upward tendency.During this period,the National Natural Science Foundation of China has funded 476 research projects with a total funding of 192.38 million RMB to support neuro rehabilitation research in China.With the support of the National Natural Science Foundation of China,China has made some achievements in neurorehabilitation research.Research related to neurorehabilitation is believed to be making steady and significant progress in China.

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.

Smooth Trajectory Planning for a Cable Driven Parallel Waist Rehabilitation Robot Based on Rehabilitation Evaluation Factors

Rehabilitation robots can help physiatrists to assist patients in improving their movement ability.Due to the interaction between rehabilitation robots and patients,the robots need to complete rehabilitation training on a safe basis.This paper presents an approach for smooth trajectory planning for a cable-driven parallel waist rehabilitation robot(CDPWRR)based on the rehabilitation evaluation factors.First,motion capture technology is used to collect the motion data of several volunteers in waist twisting.Considering the impact of motion variability,the feature points at the center of the human pelvis are obtained after eliminating unreasonable data through rationality judgments.Then,point-to-point waist training trajectory planning based on quintic polynomial and cycloid functions,and multipoint waist training trajectory planning based on quintic B-spline functions are carried out.The corresponding planned curves and kinematics characteristics using three methods are compared and analyzed.Subsequently,the rehabilitation evaluation factors are introduced to conduct smooth trajectory planning for waist training,and the waist trajectory with better compliance is obtained based on the safety and feasibility of waist motion.Finally,the physical prototype of the CDPWRR is built,and the feasibility and effectiveness of the proposed smooth trajectory planning method are proved by numerical analysis and experiments.

Influence of Robot-Assisted Tumor Surgery Nursing on Patient Rehabilitation in Operating Room and Discussion on Nursing Strategies

Objective: To evaluate the effect of operating room nursing on the outcome of patients undergoing robot-assisted tumor surgery. Methods: This research starts from October 2021 to October 2022. The number of patients with robot-assisted tumor surgery included in our hospital is 769. The patients are treated in the operating room, and the prognosis of the patients is summarized. Results: The intraoperative blood loss in patients undergoing robot-assisted tumor surgery was (57.51 ± 12.01) ml;the operation time was (3.57 ± 0.66) h;and the hospital stay was (6.04 ± 0.53) d. There were 21 cases of complications after robot-assisted tumor surgery, accounting for 2.73%. After surgery, all robot-assisted tumor surgery patients recovered and were discharged smoothly after being checked by doctors. Conclusion: Robot-assisted tumor surgery nursing has a definite effect on patients’ rehabilitation in the operating room.

A Review on Lower Limb Rehabilitation Exoskeleton Robots

Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplinary areas. In this review, the typical products and prototypes of lower limb exoskeleton rehabilitation robots are introduced and stateof-the-art techniques are analyzed and summarized. Because the goal of rehabilitation training is to recover patients’ sporting ability to the normal level, studying the human gait is the foundation of lower limb exoskeleton rehabilitation robot research. Therefore, this review critically evaluates research progress in human gait analysis and systematically summarizes developments in the mechanical design and control of lower limb rehabilitation exoskeleton robots. From the performance of typical prototypes, it can be deduced that these robots can be connected to human limbs as wearable forms;further, it is possible to control robot movement at each joint to simulate normal gait and drive the patient’s limb to realize robot-assisted rehabilitation training. Therefore human–robot integration is one of the most important research directions, and in this context, rigid-flexible-soft hybrid structure design, customized personalized gait generation, and multimodal information fusion are three key technologies.

Fundamental problems in rehabilitation robots based on neuro-machine interaction

Study results in the last decades show that amount and quality of physical exercises,then the active participation,and now the cognitive involvement of patient in rehabilitation training are crucial to enhance recovery outcome of motor dysfunction patients after stroke.Rehabilitation robots mainly have been developed along this direction to satisfy requirements of recovery therapy,or focused on one or more of the above three points.Therefore,rehabilitation robot based on neuro-machine interaction has been proposed for the paralyzed limb training of post-stroke patient,which utilizes motor related EEG,UCSDI(Ultrasound Current Source Density Imaging),EMG for the robot control and feeds back the multi-sensory interaction information such as visual,auditory,force,haptic sensation to the patient simultaneously.This neuro-controlled and perceptual rehabilitation robot will bring great benefits to post-stroke patients.In order to develop such a kind of rehabilitation robot,some key technologies,such as non-invasive precise measurement and decoding of neural signals,realistic sensation feedback,coordinated control for both the rehabilitation robot and the patient,need to be solved.In this paper,some fundamental problems in developing and optimizing such a kind of rehabilitation robot based on neuro-machine interaction are proposed and discussed.

Research Progress of Lower Limb Rehabilitation Robots in China's Mainland

The number of people with lower limb disabilities caused by stroke, traffic accidents and work-related injuries is increasing sharply every year in China's Mainland, and the corresponding number of rehabilitation therapists is obviously insufficient. To solve this problem, domestic large hospitals have introduced advanced lower limb rehabilitation robots from abroad. However, such robots are expensive and the number of them cannot meet the needs of patients. As a result, many universities and colleges in China's Mainland have launched research on this issue. This paper collects and collates the research literature, gives the mature and typical structure and control system design scheme in China's Mainland, and lists some representative research results. Finally, the rehabilitation effect of these lower limb rehabilitation robots is evaluated.

Multi-objective Optimization of a Parallel Ankle Rehabilitation Robot Using Modified Differential Evolution Algorithm

Dimensional synthesis is one of the most difficult issues in the field of parallel robots with actuation redundancy. To deal with the optimal design of a redundantly actuated parallel robot used for ankle rehabilitation, a methodology of dimensional synthesis based on multi-objective optimization is presented. First, the dimensional synthesis of the redundant parallel robot is formulated as a nonlinear constrained multi-objective optimization problem. Then four objective functions, separately reflecting occupied space, input/output transmission and torque performances, and multi-criteria constraints, such as dimension, interference and kinematics, are defined. In consideration of the passive exercise of plantar/dorsiflexion requiring large output moment, a torque index is proposed. To cope with the actuation redundancy of the parallel robot, a new output transmission index is defined as well. The multi-objective optimization problem is solved by using a modified Differential Evolution（DE） algorithm, which is characterized by new selection and mutation strategies. Meanwhile, a special penalty method is presented to tackle the multi-criteria constraints. Finally, numerical experiments for different optimization algorithms are implemented. The computation results show that the proposed indices of output transmission and torque, and constraint handling are effective for the redundant parallel robot; the modified DE algorithm is superior to the other tested algorithms, in terms of the ability of global search and the number of non-dominated solutions. The proposed methodology of multi-objective optimization can be also applied to the dimensional synthesis of other redundantly actuated parallel robots only with rotational movements.

Adaptive Robust Control for a Lower Limbs Rehabilitation Robot Running Under Passive Training Mode

This paper focuses on the problem of the adaptive robust control of a lower limbs rehabilitation robot(LLRR) that is a nonlinear system running under passive training mode. In reality, uncertainties including modeling error, initial condition deviation, friction force and other unknown external disturbances always exist in a LLRR system. So, it is necessary to consider the uncertainties in the unilateral man-machine dynamical model of the LLRR we described. In the dynamical model, uncertainties are(possibly fast) time-varying and bounded. However, the bounds are unknown. Based on the dynamical model, we design an adaptive robust control with an adaptive law that is leakagetype based and on the framework of Udwadia-Kalaba theory to compensate for the uncertainties and to realize tracking control of the LLRR. Furthermore, the effectiveness of designed control is shown with numerical simulations.

Configuration Design and Kinematic Performance Analysis of a Novel 4-DOF Parallel Ankle Rehabilitation Mechanism with Two Virtual Motion Centers

Aiming at the problem that the existing ankle rehabilitation robot is difficult to fully fit the complex motion of human ankle joint and has poor human-machine motion compatibility,an equivalent series mechanism model that is highly matched with the actual bone structure of the human ankle joint is proposed and mapped into a parallel rehabilita-tion mechanism.The parallel rehabilitation mechanism has two virtual motion centers(VMCs),which can simulate the complex motion of the ankle joint,adapt to the individual differences of various patients,and can meet the reha-bilitation needs of both left and right feet of patients.Firstly,based on the motion properties and physiological structure of the human ankle joint,the mapping relationship between the rehabilitation mechanism and ankle joint is determined,and the series equivalent model of the ankle joint is established.According to the kinematic and con-straint properties of the ankle equivalent model,the configuration design of the parallel ankle rehabilitation robot is carried out.Secondly,according to the intersecting motion planes theory,the full-cycle mobility of the mechanism is proved,and the continuous axis of the mechanism is judged based on the constraint power and its derivative.Then,the kinematics of the parallel ankle rehabilitation robot is analyzed.Finally,based on the OpenSim biomechanical soft-ware,a human-machine coupling rehabilitation simulation model is established to evaluate the rehabilitation effect,which lays the foundation for the formulation of a rehabilitation strategy for the later prototype.

New Hybrid AD Methodology for Minimizing the Total Amount of Information Content:A Case Study of Rehabilitation Robot Design

Converting customer needs into specific forms and providing consumers with services are crucial in product design.Currently,conversion is no longer difficult due to the development of modern technology,and various measures can be applied for product realization,thus increasing the complexity of analysis and evaluation in the design process.The focus of the design process has thus shifted from problem solving to minimizing the total amount of information content.This paper presents a New Hybrid Axiomatic Design(AD)Methodology based on iteratively matching and merging design parameters that meet the independence axiom and attribute constraints by applying trimming technology,the ideal final results,and technology evolution theory.The proposed method minimizes the total amount of information content and improves the design quality.Finally,a case study of a rehabilitation robot design for hemiplegic patients is presented.The results indicate that the iterative matching and merging of related attributes can minimize the total amount of information content,reduce the cost,and improve design efficiency.Additionally,evolutionary technology prediction can ensure product novelty and improve market competitiveness.The methodology provides an excellent way to design a new(or improved)product.

Auditory P300 as an Indicator in Effectiveness of Robot-Assisted Lower Limb Rehabilitation Training among Hemiplegic Patients after Ischemic Stroke

Background: Robot-assisted lower limb rehabilitation training in early stage could improve the limb function among hemiplegic patients caused by ischemic stroke. P300 potential changes have importantly clinical value for evaluating the improvement in nerve function during the training as one of the objective targets. Methods: Sixty hemiplegic patients after stroke were randomly divided into a Lokomat group (30 cases) and a control group (30 cases). The Lokomat group received Lokomat rehabilitation while the control group only received traditional rehabilitation. The gait parameters and the balance ability were evaluated by the K421GAITRite analysis system and the Berg Balance Scale (BBS);ERP components including N100, N200, P200 and P300 potential were evaluated by a muscle electric inducing potentiometer. Results: There were no significant differences in BBS and gait parameters (P > 0.05), as well as in amplitude and incubation periods (IP) (P > 0.05) between the two groups before training. After 8 weeks treatment, the total (48.88 ± 3.68), static (26.40 ± 3.14) and dynamic (22.64 ± 3.68) balance scores improved significantly;the pace (59.22 ± 4.67), stride length (19.04 ± 2.24), feet wide (98.02 ± 7.97) and walking velocity (84.86 ± 9.88) and IP of N200 and P300 shortened obviously and P300 amplitude increased significantly in robot group (P < 0.05). Conclusion: This demonstrated that robot-assisted lower limb rehabilitation training in early stage could improve the limb function among hemiplegic patients caused by ischemic stroke. P300 may be considered as an indicator of neurological function improvement and effective robot-assisted lower limb rehabilitation training.

Development of a Wearable Upper Limb Rehabilitation Robot Based on Reinforced Soft Pneumatic Actuators

Dyskinesia of the upper limbs caused by stroke,sports injury,or trafc accidents limits the ability to perform the activities of daily living.Besides the necessary medical treatment,correct and scientifc rehabilitation training for the injured joint is an important auxiliary means during the treatment of the efected upper limb.Conventional upperlimb rehabilitation robots have some disadvantages,such as a complex structure,poor compliance,high cost,and poor portability.In this study,a novel soft wearable upper limb rehabilitation robot(SWULRR)with reinforced soft pneumatic actuators(RSPAs)that can withstand high pressure and featuring excellent loading characteristics was developed.Driven by RSPAs,this portable SWULRR can perform rehabilitation training of the wrist and elbow joints.In this study,the kinematics of an SWULRR were analyzed,and the force and motion characteristics of RSPA were studied experimentally.The results provide a reference for the development and application of wearable upper limb rehabilitation robots.An experimental study on the rotation angle of the wrist and the pressure of the RSPA was conducted to test the efect of the rehabilitation training and verify the rationality of the theoretical model.The process of wrist rehabilitation training was tested and evaluated,indicating that SWULRR with RSPAs will enhance the fexibility,comfort,and safety of rehabilitation training.This work is expected to promote the development of wearable upper-limb rehabilitation robots based on modular reinforced soft pneumatic actuators.

Examination of the Effect of Rehabili-Mouse, a Desktop Rehabilitation Robot for Upper Limb Paresis after Stroke

Background: Active rehabilitation of the paralyzed limb is necessary for functional recovery from upper limb paralysis after stroke. In particular, the amount of training is very important, and robot rehabilitation is useful. However, most conventional robots are expensive, large, and stationary. We have developed Rehabili-Mouse, a new tabletop rehabilitation robot that is compact and portable. The purpose of this study was to conduct paralyzed upper limb training for a patient after stroke using Rehabili-Mouse and to examine its effect. Case: The patient was a 44-year-old man who had left-sided paresis after a right cerebral infarction, 3 months after onset. The training was carried out between February 2021 and March 2021 at Oyu Rehabilitation Hotspring Hospital. The training was 20 minutes of Rehabili-Mouse in addition to 40 minutes of usual occupational therapy and performed five times a week for four weeks. Upper limb functions were evaluated before and after the training, and two questionnaires of patient satisfaction with the device and the training were administered after the completion of the training. Upper limb function improved. The patient’s satisfaction with the device was poor, but his satisfaction with the training was good. Discussion: Training for the paralyzed upper limb after stroke using Rehabili-Mouse improved upper limb function and satisfied the trained patient. We plan to increase the number of cases and conduct further studies.

A novel 5-DOF exoskeletal rehabilitation robot system for upper limbs

A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused bystroke is proposed in this paper.Its hardware structure is introduced and the control methods are ana-lyzed.To implement intelligent and interactive rehabilitation exercises,motion intention of patients' up-per limb is introduced into control methods of rehabilitation exercises.In passive motions,according tothe character of unilateral impaired,multi-channels surface electromyogram(sEMG)signals of patients'healthy arm muscles are acquired and analyzed to recognize the upper limb motions,then drive the robotand assist paralysis arm' s rehabilitation exercises.In active-resistant motions,because patients are re-covered with some muscle forces and active motion ability after a rehabilitation period,the tenninal forceloaded on the robot by an impaired arm are estimated with multi-channel joint torque sensors,accordingto which,the terminal velocity of the robot is controlled to drive the joint motions with a damp controller.

Treatment of hemolymphangioma by robotic surgery: A case report

BACKGROUND Hemolymphangioma of the jejunum is rare and lacks clinical specificity,and can manifest as gastrointestinal bleeding,abdominal pain,and intestinal obstruction.Computed tomography,magnetic resonance imaging,and other examinations show certain characteristics of the disease,but lack accuracy.Although capsule endoscopy and enteroscopy make up for this deficiency,the diagnosis also still re-quires pathology.CASE SUMMARY A male patient was admitted to the hospital due to abdominal distension and abdominal pain,but a specific diagnosis by computed tomography examination was not obtained.Partial resection of the small intestine was performed by robotic surgery,and postoperative pathological biopsy confirmed the diagnosis of hemo-lymphangioma.No recurrence in the follow-up examination was observed.CONCLUSION Robotic surgery is an effective way to treat hemolymphangioma through minima-lly invasive techniques under the concept of rapid rehabilitation.

The design of exoskeleton lower limbs rehabilitation robot

To achieve human lower limbs rehabilitation training, the exoskeleton lower limbs rehabilitation robot is designed. Through respective motor driving, the retarding mechanism and telescopic adjusting mechanism, the function of human walking is accomplished. After the design of the mechanical structure, the finite element analysis is carried out on the important parts and the control system is achieved by Single Chip Microcomputer.

Overall design of the multifunctional walking rehabilitation robot

In this paper, it introduced the mechanical structure design of the multifunctional walking rehabilitation robot, We used the SolidWorks to design and assemble the rehabilitation robot, and optimized the rehabilitation robot based on ergonomics. The result shows that the multifunctional walking rehabilitation robot has the characteristics of complete functions, convenient operation, compact structure and so on. It can meet the requirements of medical care equipment, and effectively complete the nursing work of patients.

Observation on clinical application effect of ankle rehabilitation robot

Objective:The effect of ankle rehabilitation robot on joint movement of hemiplegic patients was studied and quantitatively evaluated.Methods 90 hemiplegic patients with lower limb dysfunction treated in our hospital from April 2017 to March 2019 were selected as subjects.The patients were randomly divided into two groups:control group(n=45)and observation group(n=45).The patients in the two groups received language training,physiotherapy,exercise therapy,spa,occupational therapy,massage and other comprehensive rehabilitation treatment,on the basis of which the observation group received the auxiliary intervention of ankle rehabilitation robot.The soft tissue compliance of the patients was evaluated by ankle metatarsal flexion moment before and after treatment,the metatarsal flexor tension was evaluated by modified Tardieu scale,and the clinical effect was evaluated by ankle active ankle dorsiflexion.Results After treatment,the ankle flexion angles(0°,10°,20°,30°)in the two groups were significantly lower than those in the control group(P<0.05).Results compared with before treatment,the ankle flexion angles(0°,10°,20°,30°)in the two groups were significantly lower than those in the control group(P<0.05).After treatment,the angle of R1 and R2 measured by modified Tardieu scale of ankle plantar flexor group increased significantly,and the difference of R2-R1 decreased significantly(P<0.05).The improvement degree of the observation group was significantly better than that of the control group(P<0.05).After treatment,the active ankle extension activity of the two groups was significantly higher than that before treatment(P<0.05),and the effective rate of the observation group was significantly higher than that of the observation group(P<0.05).Conclusion Auxiliary intervention with ankle rehabilitation robot system can effectively improve the compliance of ankle soft tissue in spastic hemiplegia,reduce the contracture of metatarsal flexor muscle and improve the disturbance of joint movement in a short time.At the same time,the degree of coordination and acceptance of patients and their families is high,which is an effective means to improve the therapeutic effect.