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The purpose of this paper is to design a new trajectory error compensation method to improve the trajectory tracking performance and compliance of the knee exoskeleton in human–exoskeleton interaction motion.

A trajectory error compensation method based on admittance-extended Kalman filter (AEKF) error fusion for human–exoskeleton interaction control. The admittance controller is used to calculate the trajectory error adjustment through the feedback human–exoskeleton interaction force, and the actual trajectory error is obtained through the encoder feedback of exoskeleton and the designed trajectory. By using the fusion and prediction characteristics of EKF, the calculated trajectory error adjustment and the actual error are fused to obtain a new trajectory error compensation, which is feedback to the knee exoskeleton controller. This method is designed to be capable of improving the trajectory tracking performance of the knee exoskeleton and enhancing the compliance of knee exoskeleton interaction.

Six volunteers conducted comparative experiments on four different motion frequencies. The experimental results show that this method can effectively improve the trajectory tracking performance and compliance of the knee exoskeleton in human–exoskeleton interaction.

The AEKF method first uses the data fusion idea to fuse the estimated error with measurement errors, obtaining more accurate trajectory error compensation for the knee exoskeleton motion control. This work provides great benefits for the trajectory tracking performance and compliance of lower limb exoskeletons in human–exoskeleton interaction movements.

Industry 4.0 is exacerbating the need for offsite construction (OSC) adoption, and this rapid transformation is pushing the boundaries of construction skills towards extensive modernisation. The adoption of this modern production strategy by the construction industry would redefine the position of OSC. This study aims to examine whether the existing skills are capable of satisfying the needs of different OSC types.

A critical literature review evaluated the impact of transformative technology on OSC skills. An existing industry standard OSC skill classification was used as the basis to develop a master list that recognises emerging and diminishing OSC skills. The master list recognises 67 OSC skills under six skill categories: managers, professionals, technicians and trade workers, clerical and administrative workers, machinery operators and drivers and labourers. The skills data was extracted from a series of 13 case studies using document reviews and semi-structured interviews with project stakeholders.

The multiple case study evaluation recognised 13 redundant skills and 16 emerging OSC skills such as architects with building information modelling and design for manufacture and assembly knowledge, architects specialised in design and logistics integration, advanced OSC technical skills, factory operators, OSC estimators, technicians for three dimensional visualisation and computer numeric control operators. Interview findings assessed the current state and future directions for OSC skills development. Findings indicate that the prevailing skills are not adequate to readily relocate construction activities from onsite to offsite.

To the best of the authors’ knowledge, this research is one of the first studies that recognises the major differences in skill requirements for non-volumetric and volumetric OSC types.

In complex environments, a spherical robot has great application value. When the pendulum spherical robot is stopped or disturbed, there will be a periodic oscillation. This situation will seriously affect the stability of the spherical robot. Therefore, this paper aims to propose a control method based on backstepping and disturbance observers for oscillation suppression.

This paper analyzes the mechanism of oscillation. The oscillation model of the spherical robot is constructed and the relationship between the oscillation and the internal structure of the sphere is analyzed. Based on the oscillation model, the authors design the oscillation suppression control of the spherical robot using the backstepping method. At the same time, a disturbance observer is added to suppress the disturbance.

It is found that the control system based on backstepping and disturbance observer is simple and efficient for nonlinear models. Compared with the PID controller commonly used in engineering, this control method has a better control effect.

The proposed method can provide a reliable and effective stability scheme for spherical robots. The problem of instability in real motion is solved.

In this paper, the oscillation model of a spherical robot is innovatively constructed. Second, a new backstepping control method combined with a disturbance observer for the spherical robot is proposed to suppress the oscillation.

The purpose of this paper is to advance the understanding of paradoxes, underlying tensions and potential management strategies when integrating digital technologies into existing lean-based production systems (LPSs), with the aim of achieving synergies and fostering the development of production systems.

This study adopts a collaborative management research (CMR) approach to identify patterns of organisational tensions and paradoxes and explore management strategies to overcome them. The data were collected through interviews and focus group interviews with experts on lean and/or digital technologies from the companies, from documents and from workshops with the in-case researchers.

The findings of this paper provide insights into the salient organisational paradoxes embraced in the integration of digital technologies in LPS by identifying different aspects of the performing, organising, learning and belonging paradoxes. Furthermore, the findings demonstrate the intricacies and relatedness between different paradoxes and their resolutions, and more specifically, how a resolution strategy adopted to manage one paradox might unintentionally generate new tensions. This, in turn, calls for either re-contextualising actions to counteract the drift or the adoption of new resolution strategies.

This paper adds perspective to operations management (OM) research through the use of paradox theory, and we (1) provide a fine-grained perspective on why integration sometimes “fails” and label the forces of internal drift as mechanisms of imbalances and (2) provide detailed insights into how different management and resolution strategies are adopted, especially by identifying re-contextualising actions as a key to rebalancing organisational paradoxes in favour of the integration of digital technologies in LPSs.

Wearable health devices (WHDs) have demonstrated significant potential in assisting elderly adults with proactive health management by utilizing sensors to record and monitor various aspects of their health, including physical activity, heart rate, etc. However, limited research has systematically explored older adults’ continued usage intention toward WHD. By utilizing the extended unified theory of acceptance and use of technology (UTAUT2), this paper aims to probe the precursors of elderly adults’ continuance intention to use WHD from an enabler–inhibitor perspective.

The research model was developed based on UTAUT2 and examined utilizing the partial least squares technique (PLS). The research data were collected through in-person meetings with older people (n = 272) in four cities in China.

Results reveal that performance expectancy, effort expectancy, social influence, facilitating conditions, hedonic values and perceived complexity are the positive predictors of elderly adults’ continuance intention to use WHDs. Technology-related anxiety and usage cost negatively influence the formation of older people’s continuance intention.

This work is an original empirical investigation that draws on several theories as guiding frameworks. It adds to the existing literature on the usage of wearable technologies and offers insights into how the elderly’s intentions to continue using WHDs can be developed. This study broadens the scope of the UTAUT2 application and presents an alternative theoretical framework that can be utilized in future research on the usage behavior of wearable devices by individuals.

Imitation learning is a powerful tool for planning the trajectory of robotic end-effectors in Cartesian space. Present methods can adapt the trajectory to the obstacle; however, the solutions may not always satisfy users, whereas it is hard for a nonexpert user to teach the robot to avoid obstacles in time as he/she wishes through demonstrations. This paper aims to address the above problem by proposing an approach that combines human supervision with the kernelized movement primitives (KMP) model.

This approach first extracts the reference database used to train KMP from demonstrations by using Gaussian mixture model and Gaussian mixture regression. Subsequently, KMP is used to modulate the trajectory of robotic end-effectors in real time based on feedback from its interaction with humans to avoid obstacles, which benefits from a novel reference database update strategy. The user can test different obstacle avoidance trajectories in the current task until a satisfactory solution is found.

Experiments performed with the KUKA cobot for obstacle avoidance show that this approach can adapt the trajectories of the robotic end-effector to the user’s wishes in real time, including trajectories that the robot has already passed and has not yet passed. Simulation comparisons also show that it exhibits better performance than KMP with the original reference database update strategy.

An interactive learning approach based on KMP is proposed and verified, which not only enables users to plan the trajectory of robotic end-effectors for obstacle avoidance more conveniently and efficiently but also provides an effective idea for accomplishing interactive learning tasks under constraints.

Component positioning is an important part of aircraft assembly, aiming at the problem that it is difficult to accurately fall into the corresponding ball socket for the ball head connected with aircraft component. This study aims to propose a ball head adaptive positioning method based on impedance control.

First, a target impedance model for ball head positioning is constructed, and a reference positioning trajectory is generated online based on the contact force between the ball head and the ball socket. Second, the target impedance parameters were optimized based on the artificial fish swarm algorithm. Third, to improve the robustness of the impedance controller in unknown environments, a controller is designed based on model reference adaptive control (MRAC) theory and an adaptive impedance control model is built in the Simulink environment. Finally, a series of ball head positioning experiments are carried out.

During the positioning of the ball head, the contact force between the ball head and the ball socket is maintained at a low level. After the positioning, the horizontal contact force between the ball head and the socket is less than 2 N. When the position of the contact environment has the same change during ball head positioning, the contact force between the ball head and the ball socket under standard impedance control will increase to 44 N, while the contact force of the ball head and the ball socket under adaptive impedance control will only increase to 19 N.

In this paper, impedance control is used to decouple the force-position relationship of the ball head during positioning, which makes the entire process of ball head positioning complete under low stress conditions. At the same time, by constructing an adaptive impedance controller based on MRAC, the robustness of the positioning system under changes in the contact environment position is greatly improved.

This study proposes a predictive neural network model reference decoupling control method for the coupling problem between the leg joints of hydraulic quadruped robots, and verifies its decoupling effect..

The machine–hydraulic cross-linking coupling is studied as the coupling behavior of the hydraulically driven quadruped robot, and the mechanical dynamics coupling force of the robot system is controlled as the disturbance force of the hydraulic system through the Jacobian matrix transformation. According to the principle of multivariable decoupling, a prediction-based neural network model reference decoupling control method is proposed; each module of the control algorithm is designed one by one, and the stability of the system is analyzed by the Lyapunov stability theorem.

The simulation and experimental research on the robot joint decoupling control method is carried out, and the prediction-based neural network model reference decoupling control method is compared with the decoupling control method without any decoupling control method. The results show that taking the coupling effect experiment between the hip joint and knee joint as an example, after using the predictive neural network model reference decoupling control method, the phase lag of the hip joint response line was reduced from 20.3° to 14.8°, the amplitude attenuation was reduced from 1.82% to 0.21%, the maximum error of the knee joint coupling line was reduced from 0.67 mm to 0.16 mm and the coupling effect between the hip joint and knee joint was reduced from 1.9% to 0.48%, achieving good decoupling.

The prediction-based neural network model reference decoupling control method proposed in this paper can use the neural network model to predict the next output of the system according to the input and output. Finally, the weights of the neural network are corrected online according to the predicted output and the given reference output, so that the optimization index of the neural network decoupling controller is extremely small, and the purpose of decoupling control is achieved.

This paper aims to concentrate on recent innovations in flexible wearable sensor technology tailored for monitoring vital signals within the contexts of wearable sensors and systems developed specifically for monitoring health and fitness metrics.

In recent decades, wearable sensors for monitoring vital signals in sports and health have advanced greatly. Vital signals include electrocardiogram, electroencephalogram, electromyography, inertial data, body motions, cardiac rate and bodily fluids like blood and sweating, making them a good choice for sensing devices.

This report reviewed reputable journal articles on wearable sensors for vital signal monitoring, focusing on multimode and integrated multi-dimensional capabilities like structure, accuracy and nature of the devices, which may offer a more versatile and comprehensive solution.

The paper provides essential information on the present obstacles and challenges in this domain and provide a glimpse into the future directions of wearable sensors for the detection of these crucial signals. Importantly, it is evident that the integration of modern fabricating techniques, stretchable electronic devices, the Internet of Things and the application of artificial intelligence algorithms has significantly improved the capacity to efficiently monitor and leverage these signals for human health monitoring, including disease prediction.

Today, e-government (electronic government) applications have extended to the frontiers of health-care delivery. E-Nabız contains personal health records of health services received, whether public or private. The use of the application by patients and physicians has provided efficiency and cost advantages. The success of e-Nabız depends on the level of technology acceptance of health-care service providers and recipients. While there is a large research literature on the technology acceptance of service recipients in health-care services, there is a limited number of studies on physicians providing services. This study aims to determine the level of influence of trust and privacy variables in addition to performance expectancy, effort expectancy, social influence and facilitating factors in the unified theory of acceptance and use of technology (UTAUT) model on the intention and behavior of using e-Nabız application.

The population of the study consisted of general practitioners and specialist physicians actively working in any health facility in Turkey. Data were collected cross-sectionally from 236 physicians on a voluntary basis through a questionnaire. The response rate of data collection was calculated as 47.20%. Data were collected cross-sectionally from 236 physicians through a questionnaire. Descriptive statistics, correlation analysis and structural equation modeling were used to analyze the data.

The study found that performance expectancy, effort expectancy, trust and perceived privacy had a significant effect on physicians’ behavioral intentions to adopt the e-Nabız system. In addition, facilitating conditions and behavioral intention were determinants of usage behavior (p < 0.05). However, no significant relationship was found between social influence and behavioral intention (p > 0.05).

This study confirms that the UTAUT model provides an appropriate framework for predicting factors influencing physicians’ behaviors and intention to use e-Nabız. In addition, the empirical findings show that trust and perceived privacy, which are additionally considered in the model, are also influential.