This paper describes a multi-agent mobile system that walks. In particular, the gate of the system can be considered as an expansion of the ordinary wave gate, since the class of system configuration is not restricted...This paper describes a multi-agent mobile system that walks. In particular, the gate of the system can be considered as an expansion of the ordinary wave gate, since the class of system configuration is not restricted in a line shape. The system consists of a number of identical units with distributed controllers. The homogeneous units are mechanically connected to construct a mobile platform. Every unit has its local controller that communicates only with its adjacent units. This basic configuration of supervisor-less structure affirmatively confines the dependence of each unit to a local area, and therefore any unit can be removed from/add into any part of a system regardless of the timing without disturbing the performance of the whole system. This flexibility of configuration significantly contributes to easy maintenance of units, such as battery charging or hot-replacing for faulty units. Utilizing the flexibility as well, the system is capable of adapting to a variety of tasks including transportation application and to target objects having various kinds of shape and/or a wide range of mass. A proposed example unit contains a Gough-Stewart Platform, a symmetrical type of parallel link manipulator, as its leg. The whole mobile system is aimed at transportation platform, with high system flexibility, i.e., the system is able to adapt to wide range of target objects. The "digital actuation (D-actuation)" concept is applied to the local unit controller. D-actuation is a concept to drive a mechatronic system with numbers of "digital actuator (D-actuator)" that has only discrete stable states, such as pneumatic cylinders or solenoids. D-actuation yields great benefits: high repeatability, system simplicity, and low cost. Because of the simplicity of the communication data, the control strategy, and the concept of D-actuation, the controlling framework can be implemented as distributed and localized one on every unit. The Schlafli symbol is applied to denote the system configurations. For example, two-dimensional honeycomb like connection of the units is denoted as {3,6}. A simple, but effective, coordinate system, HC/P (HoneyComb by Projection), is introduced to denote the connecting relations among the units in the {3,6} system. In short, HC/P utilizes three-axes to describe 2D system, and the redundant triplet notation enables direct and clear computation regarding unit coordinates. The basic architecture of the unit mechanism and gait controller are justified with simulation results. The performed simulation shows the feasibility of the whole mobile system.展开更多
目的:脑卒中患者可能会出现痉挛、肌肉无力或感觉受损等多种感觉运动障碍。痉挛影响了20%~40%的脑卒中患者,出现痉挛的脑卒中患者可能会有疼痛、运动功能受损和活动范围减小等问题,进而导致日常生活能力和质量下降。体外冲击波治疗(extr...目的:脑卒中患者可能会出现痉挛、肌肉无力或感觉受损等多种感觉运动障碍。痉挛影响了20%~40%的脑卒中患者,出现痉挛的脑卒中患者可能会有疼痛、运动功能受损和活动范围减小等问题,进而导致日常生活能力和质量下降。体外冲击波治疗(extracorporeal shock wave therapy,ESWT)是一种能改善脑卒中后痉挛的治疗技术。全身振动(whole body vibration,WBV)治疗作为一种被动的神经肌肉刺激技术,能改善各类疾病人群的姿势控制、肌肉力量和肌肉做功等。目前少有研究将WBV联合ESWT用于治疗脑卒中偏瘫患者。本研究旨在探讨WBV联合ESWT对脑卒中偏瘫患者下肢痉挛及步态功能的影响。方法:选择2020年3月至2021年3月长沙市第一医院康复医学科收治的脑卒中偏瘫患者50例。随机分为对照组与联合组,每组25例。两组患者均进行常规治疗,对照组在常规治疗基础上,进行针对下肢痉挛肌群的ESWT和假WBV,联合组在常规治疗和ESWT后,进行WBV治疗。于治疗前和治疗4周后,采用偏瘫下肢改良Ashworth量表(Modified Ashworth Scale,MAS)、Fugl-Meyer运动功能量表下肢部分(Lower Extremity Portion of the Fugl-Meyer Motor Assessment,FMA-LE)、Berg平衡量表(Berg Balance Scale,BBS)对两组患者进行评分,通过三维步态分析采集两组患者步态的运动学参数(屈髋峰值、屈膝峰值)及时空参数(步速、步频及步幅)。结果:治疗4周后,两组患者MAS评分均低于治疗前(均P<0.05),且联合组低于对照组(P<0.001);BBS及FMA-LE评分均高于治疗前(均P<0.05),且联合组高于对照组(均P<0.001);对照组的步速、步频、步幅均高于治疗前(均P<0.05),而屈髋峰值和屈膝峰值与治疗前比较差异均无统计学意义(均P>0.05);联合组的屈髋峰值、屈膝峰值、步速、步频及步幅均高于治疗前(均P<0.05),且均高于对照组(P<0.05或P<0.001)。结论:ESWT联合WBV可显著改善脑卒中偏瘫患者偏瘫侧下肢肢体的痉挛、下肢运动功能、平衡功能及步态。展开更多
文摘This paper describes a multi-agent mobile system that walks. In particular, the gate of the system can be considered as an expansion of the ordinary wave gate, since the class of system configuration is not restricted in a line shape. The system consists of a number of identical units with distributed controllers. The homogeneous units are mechanically connected to construct a mobile platform. Every unit has its local controller that communicates only with its adjacent units. This basic configuration of supervisor-less structure affirmatively confines the dependence of each unit to a local area, and therefore any unit can be removed from/add into any part of a system regardless of the timing without disturbing the performance of the whole system. This flexibility of configuration significantly contributes to easy maintenance of units, such as battery charging or hot-replacing for faulty units. Utilizing the flexibility as well, the system is capable of adapting to a variety of tasks including transportation application and to target objects having various kinds of shape and/or a wide range of mass. A proposed example unit contains a Gough-Stewart Platform, a symmetrical type of parallel link manipulator, as its leg. The whole mobile system is aimed at transportation platform, with high system flexibility, i.e., the system is able to adapt to wide range of target objects. The "digital actuation (D-actuation)" concept is applied to the local unit controller. D-actuation is a concept to drive a mechatronic system with numbers of "digital actuator (D-actuator)" that has only discrete stable states, such as pneumatic cylinders or solenoids. D-actuation yields great benefits: high repeatability, system simplicity, and low cost. Because of the simplicity of the communication data, the control strategy, and the concept of D-actuation, the controlling framework can be implemented as distributed and localized one on every unit. The Schlafli symbol is applied to denote the system configurations. For example, two-dimensional honeycomb like connection of the units is denoted as {3,6}. A simple, but effective, coordinate system, HC/P (HoneyComb by Projection), is introduced to denote the connecting relations among the units in the {3,6} system. In short, HC/P utilizes three-axes to describe 2D system, and the redundant triplet notation enables direct and clear computation regarding unit coordinates. The basic architecture of the unit mechanism and gait controller are justified with simulation results. The performed simulation shows the feasibility of the whole mobile system.
文摘目的:脑卒中患者可能会出现痉挛、肌肉无力或感觉受损等多种感觉运动障碍。痉挛影响了20%~40%的脑卒中患者,出现痉挛的脑卒中患者可能会有疼痛、运动功能受损和活动范围减小等问题,进而导致日常生活能力和质量下降。体外冲击波治疗(extracorporeal shock wave therapy,ESWT)是一种能改善脑卒中后痉挛的治疗技术。全身振动(whole body vibration,WBV)治疗作为一种被动的神经肌肉刺激技术,能改善各类疾病人群的姿势控制、肌肉力量和肌肉做功等。目前少有研究将WBV联合ESWT用于治疗脑卒中偏瘫患者。本研究旨在探讨WBV联合ESWT对脑卒中偏瘫患者下肢痉挛及步态功能的影响。方法:选择2020年3月至2021年3月长沙市第一医院康复医学科收治的脑卒中偏瘫患者50例。随机分为对照组与联合组,每组25例。两组患者均进行常规治疗,对照组在常规治疗基础上,进行针对下肢痉挛肌群的ESWT和假WBV,联合组在常规治疗和ESWT后,进行WBV治疗。于治疗前和治疗4周后,采用偏瘫下肢改良Ashworth量表(Modified Ashworth Scale,MAS)、Fugl-Meyer运动功能量表下肢部分(Lower Extremity Portion of the Fugl-Meyer Motor Assessment,FMA-LE)、Berg平衡量表(Berg Balance Scale,BBS)对两组患者进行评分,通过三维步态分析采集两组患者步态的运动学参数(屈髋峰值、屈膝峰值)及时空参数(步速、步频及步幅)。结果:治疗4周后,两组患者MAS评分均低于治疗前(均P<0.05),且联合组低于对照组(P<0.001);BBS及FMA-LE评分均高于治疗前(均P<0.05),且联合组高于对照组(均P<0.001);对照组的步速、步频、步幅均高于治疗前(均P<0.05),而屈髋峰值和屈膝峰值与治疗前比较差异均无统计学意义(均P>0.05);联合组的屈髋峰值、屈膝峰值、步速、步频及步幅均高于治疗前(均P<0.05),且均高于对照组(P<0.05或P<0.001)。结论:ESWT联合WBV可显著改善脑卒中偏瘫患者偏瘫侧下肢肢体的痉挛、下肢运动功能、平衡功能及步态。
