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This study discusses the tracking trajectory issue of the exoskeleton under the bounded disturbance and designs an useful tracking trajectory control method to solve it. By using the proposed control method, the tracking error can be successfully convergence to the assigned boundary. Meanwhile, the chattering effect caused by the actuators is already reduced, and the tracking performance of the pneumatic artificial muscles (PAMs) elbow exoskeleton is improved effectively.

A prescribed performance sliding mode control method was developed in this study to fulfill the joint position tracking trajectory task on the elbow exoskeleton driven by two PAMs. In terms of the control structure, a dynamic model was built by conforming to the adaptive law to compensate for the time variety and uncertainty exhibited by the system. Subsequently, a super-twisting algorithm-based second-order sliding mode control method was subjected to the exoskeleton under the boundedness of external disturbance. Moreover, the prescribed performance control method exhibits a smooth prescribed function with an error transformation function to ensure the tracking error can be finally convergent to the pre-designed requirement.

From the theoretical perspective, the stability of the control method was verified through Lyapunov synthesis. On that basis, the tracking performance of the proposed control method was confirmed through the simulation and the manikin model experiment.

As revealed by the results of this study, the proposed control method sufficiently applies to the PAMs elbow exoskeleton for tracking trajectory, which means it has potential application in the actual robot-assisted passive rehabilitation tasks.

To improve the position tracking efficiency of the upper-limb rehabilitation robot for stroke hemiplegia patients, the optimization Learning rate of the membership function based on the fuzzy impedance controller of the rehabilitation robot is propose.

First, the impaired limb’s damping and stiffness parameters for evaluating its physical recovery condition are online estimated by using weighted least squares method based on recursive algorithm. Second, the fuzzy impedance control with the rule has been designed with the optimal impedance parameters. Finally, the membership function learning rate online optimization strategy based on Takagi-Sugeno (TS) fuzzy impedance model was proposed to improve the position tracking speed of fuzzy impedance control.

This method provides a solution for improving the membership function learning rate of the fuzzy impedance controller of the upper limb rehabilitation robot. Compared with traditional TS fuzzy impedance controller in position control, the improved TS fuzzy impedance controller has reduced the overshoot stability time by 0.025 s, and the position error caused by simulating the thrust interference of the impaired limb has been reduced by 8.4%. This fact is verified by simulation and test.

The TS fuzzy impedance controller based on membership function online optimization learning strategy can effectively optimize control parameters and improve the position tracking speed of upper limb rehabilitation robots. This controller improves the auxiliary rehabilitation efficiency of the upper limb rehabilitation robot and ensures the stability of auxiliary rehabilitation training.

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.

This paper aims to explore and review the potential of robotic rehabilitation as a treatment approach for Alzheimer’s disease (AD) and its impact on the health and quality of life of AD patients.

The present discourse endeavors to provide a comprehensive overview of extant scholarly inquiries that have examined the salience of inhibitory mechanisms vis-à-vis robotic interventions and their impact on patients with AD. Specifically, this review aims to explicate the contemporary state of affairs in this realm by furnishing a detailed explication of ongoing research endeavors. With the objective of elucidating the significance of inhibitory processes in robotic therapies for individuals with AD, this analysis offers a critical appraisal of extant literature that probes the intersection of cognitive mechanisms and assistive technologies. Through a meticulous analysis of diverse scholarly contributions, this review advances a nuanced understanding of the intricate interplay between inhibitory processes and robotic interventions in the context of AD.

According to the review papers, it appears that implementing robot-assisted rehabilitation can serve as a pragmatic and effective solution for enhancing the well-being and overall quality of life of patients and families engaged with AD. Besides, this new feature in the robotic area is anticipated to have a critical role in the success of this innovative approach.

Due to the nascent nature of this cutting-edge technology and the constrained configuration of the mechanized entity in question, further protracted analysis is imperative to ascertain the advantages and drawbacks of robotic rehabilitation vis-à-vis individuals afflicted with Alzheimer’s ailment.

The potential for robots to serve as indispensable assets in the provision of care for individuals afflicted with AD is significant; however, their efficacy and appropriateness for utilization by caregivers of AD patients must be subjected to further rigorous scrutiny.

This paper reviews the current robotic method and compares the current state of the art for the AD patient.

Biofeedback is used for regulating vestibular adaptation and balance by providing real-time stimulus to the individual during physical activities. This study aimed at (1) developing a wearable device, which tracks balance, counts the number and the direction of balance losses and provides haptic biofeedback through real-time vibration stimulus (2) investigating device efficacy on an adolescent medulloblastoma patient during static and dynamic tasks.

A 16-year-old medulloblastoma patient used the device during 10-m walking and single-leg stance tests. The knee joint kinematics and the number and direction of balance losses were recorded for “with” and “without” biofeedback conditions.

The device helped regulate the knee joint kinematics and reduce the number of balance losses of the medulloblastoma patient. The knee joint movement pattern similarity of the control subject was highly correlated (R² = 0.997, RMSE = 1.232). Conversely, medulloblastoma patient knee joint movement pattern similarity was relatively weak (R² = 0.359, RMSE = 18.6) when “with” and “without” biofeedback conditions were compared. The number of balance losses decreased when the medulloblastoma patient was guided with biofeedback.

The major limitation of this pilot study is the lack of a large and homogeneous number of participants. The medulloblastoma patient used the device while walking after she was given enough time to get used to the tactile biological feedback, so the long-term effect of the device and biofeedback guidance were not investigated. Additionally, the potential desensitization with prolonged use of the device was not evaluated.

Biofeedback reduced the number of balance losses; additionally, the knee joint movement pattern was regulated during static and dynamic tasks. This device can be integrated into the physical therapy of patients with balance, vestibular and postural control impairments.

This is compact and has an easy-to-wear design, patients, who have balance and postural control impairments, can practically use the device during their activities of daily living.

The device promotes physical activity adaptation and regulates gait through continuous and real-time balance control. Its design makes it simple for the user to wear it beneath clothing while using the sensor.

Gesture recognition plays an important role in many fields such as human–computer interaction, medical rehabilitation, virtual and augmented reality. Gesture recognition using wearable devices is a common and effective recognition method. This study aims to combine the inverse magnetostrictive effect and tunneling magnetoresistance effect and proposes a novel wearable sensing glove applied in the field of gesture recognition.

A magnetostrictive sensing glove with function of gesture recognition is proposed based on Fe-Ni alloy, tunneling magnetoresistive elements, Agilus30 base and square permanent magnets. The sensing glove consists of five sensing units to measure the bending angle of each finger joint. The optimal structure of the sensing units is determined through experimentation and simulation. The output voltage model of the sensing units is established, and the output characteristics of the sensing units are tested by the experimental platform. Fifteen gestures are selected for recognition, and the corresponding output voltages are collected to construct the data set and the data is processed using Back Propagation Neural Network.

The sensing units can detect the change in the bending angle of finger joints from 0 to 105 degrees and a maximum error of 4.69% between the experimental and theoretical values. The average recognition accuracy of Back Propagation Neural Network is 97.53% for 15 gestures.

The sensing glove can only recognize static gestures at present, and further research is still needed to recognize dynamic gestures.

A new approach to gesture recognition using wearable devices.

This study has a broad application prospect in the field of human–computer interaction.

The sensing glove can collect voltage signals under different gestures to realize the recognition of different gestures with good repeatability, which has a broad application prospect in the field of human–computer interaction.

This paper aims to propose a novel system design and control algorithm of lower limb exoskeleton, which provides walking assistance and load sharing for the wearer.

In this paper, the valve-controlled asymmetrical hydraulic cylinder is selected for driving the hip and knee joint of exoskeleton. Pressure shoe is developed that purpose on detecting changes in plantar force, and a fuzzy recognition algorithm using plantar pressure is proposed. Dynamic model of the exoskeleton is established, and the sliding mode control is developed to implement the position tracking of exoskeleton. A series of prototype experiments including benchtop test, full assistance, partial assistance and loaded walking experiments are set up to verify the tracking performance and power-assisted effect of the proposed exoskeleton.

The control performance of PID control and sliding mode control are compared. The experimental data shows the tracking trajectories and tracking errors of sliding mode control and demonstrate its good robustness to nonlinearities. sEMG of the gastrocnemius muscle tends to be significantly weakened during assisted walking.

In this paper, a structure that the knee joint and hip joint driven by the valve-controlled asymmetrical cylinder is used to provide walking assistance for the wearer. The sliding mode control is proposed to deal with the nonlinearities during joint rotation and fluids. It shows great robustness and frequency adaptability through experiments under different motion frequencies and assistance modes. The design and control method of exoskeleton is a good attempt, which takes positive impacts on the productivity or quality of the life of wearers.

This preliminary small-scale research aims to achieve an insight into drug use offenders’ rehabilitation experiences both in and out of prison, as well as considering how perceptions of the public may inhibit their successful reintegration into society.

A mixed-methods approach was used, with five semi-structured interviews conducted alongside the distribution of the Attitude towards prisoners questionnaire among the general public (n = 106) in the North-West region of England.

Participants recalled a mixture of experiences, highlighting the presence of contraband in prisons to be an inhibiting factor of successful rehabilitation. Additionally, participants expressed the need for more support when preparing for release such as confirmation of accommodation and possible employment. Questionnaires also indicated the public to perceive offenders negatively (M = 76, SD = 16.99), thus presenting a further challenge in the resettlement of drug use offenders.

Findings highlight that improving practices to decrease the presence of contraband in prisons, monitoring an individual’s use of methadone, preparing an individual for their release from prison and educating the public would reduce some of the obstacles experienced by drug use offenders.

This study outlines some of the obstacles that drug use offenders experience when attempting to end their drug use activity and criminal engagement.

This study aims to develop a decision support tool to improve planning for the rehabilitation of water distribution networks (WDN) using the analytical hierarchy process (AHP) method and the urgency level score.

In this paper the AHP method was used to outclass the indicators having a strong influence on the deterioration of the pipes and the score of the level of urgency is calculated to establish the rehabilitation program (short, medium and long term). The proposed model was tested for the case of the city of Souk-Ahras in Algeria.

Based on the judgments of twenty-four experts, the relative weights of the three physical, operational and environmental criteria of the pipeline were calculated and found to be equal to 35.40%, 55.60% and 9.00%, respectively. The two indicators, number of failures and pressure, were found to have the highest overall weights. The results of this article can be used to improve decision-making in WDN rehabilitation planning in Algeria.

The main objective of water companies is to provide citizens with good quality drinking water in sufficient quantity. However, over time, WDN age, degrade and deteriorate. This degradation leads to a drop in the performance through the degradation of water quality and an increase in loss rates. WDN rehabilitation is one of the most widely adopted solutions to address these drawbacks.

Application of a hybrid method (AHP- Level of Emergency) for the planning of the rehabilitation of WDN in Algeria.