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Article
Publication date: 7 May 2019

Hansong Wang, Canjun Yang, Wei Yang, Meiying Deng, Zhangyi Ma and Qianxiao Wei

Most current lower extremity exoskeletons emphasize assistance for walking rather than stability. The purpose of this paper is to propose a rehabilitation gait based on the…

Abstract

Purpose

Most current lower extremity exoskeletons emphasize assistance for walking rather than stability. The purpose of this paper is to propose a rehabilitation gait based on the transfer of gravity center to improve the balance of exoskeleton rehabilitation training of the hemiplegic patients in the frontal plane, reducing the dependence on crutches/walking frames.

Design/methodology/approach

The real-time and predictable instability factors of human and exoskeleton system (HES) are analyzed. Inspired by the walking balance strategy of the blind, a rehabilitation gait based on the transfer of gravity center is proposed and studied by modeling and experimental test and is finally applied to the prototype – Zhejiang University lower extremity exoskeleton (ZJULEEX) – to verify its feasibility.

Findings

At least three real-time and predictable factors cause the instability of HES, and the factor of lateral tilt caused by gravity should be focused in the balance control of frontal plane. With the proposed gait, the hip height of stepping leg of HES does not reduce obviously even when the crutches do not work, which can improve the balance of HES.

Research limitations/implications

However, the rehabilitation gait control needs to be more complete and intelligent to response to other types of perturbations to further improve the balance of HES. In addition, more clinical trials should be conducted to evaluate the effect of the proposed gait.

Social implications

May bring happiness to the rehabilitation of patients with hemiplegia.

Originality/value

The rehabilitation gait based on the transfer of gravity center to improve the balance of HES is first proposed and applied to HES.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 26 November 2019

Canjun Yang, Hansong Wang, Qihang Zhu, Xiangzhi Liu, Wei Yang, Zhangyi Ma and Qianxiao Wei

Lower extremity exoskeletons have drawn much attention recently due to their potential ability to help the stroke and spinal cord injury patients to regain the ability of walking…

Abstract

Purpose

Lower extremity exoskeletons have drawn much attention recently due to their potential ability to help the stroke and spinal cord injury patients to regain the ability of walking. However, the balance of the human-exoskeleton system (HES) remains a big challenge. Usually, patients use crutches to keep balance when they wear exoskeleton. However, the balance depends greatly on the patient's balance ability and will be inevitably poor occasionally, which often causes the landing in advance of HES. The purpose of this paper is to propose a real-time stepping gait trajectory planning method based on the hip height variation of the swing leg to solve the problem.

Design/methodology/approach

The hip height of the swing leg was analyzed and measured. The simulation with MATLAB and the experimental test with the prototype of the proposed gait were conducted to verify its feasibility.

Findings

With the proposed method, HES can achieve successful step even when the balance kept by crutches is poor.

Research limitations/implications

Instead of actively avoiding the poor balance due to the instability caused by gravity, the method just modifies the stepping gait passively to avoid the landing in advance when the poor balance appears. In addition, it may not work well when the balance is too poor. Moreover, the proposed gait is just used in the initial stage of rehabilitation training. Besides, the step length of the gait must be limited for comfort.

Originality/value

A real-time stepping gait trajectory planning method based on the hip height variation of the swing leg is first proposed and its feasibility to avoid the landing in advance when the balance kept by the crutches is poor has been preliminary verified.

Details

Industrial Robot: the international journal of robotics research and application, vol. 47 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 3 September 2020

Dawen Xu, Qingcong Wu and Yanghui Zhu

Hand motor dysfunction has seriously reduced people’s quality of life. The purpose of this paper is to solve this problem; different soft exoskeleton robots have been developed…

Abstract

Purpose

Hand motor dysfunction has seriously reduced people’s quality of life. The purpose of this paper is to solve this problem; different soft exoskeleton robots have been developed because of their good application prospects in assistance. In this paper, a new soft hand exoskeleton is designed to help people conduct rehabilitation training.

Design/methodology/approach

The proposed soft exoskeleton is an under-actuated cable-driven mechanism, which optimizes the force transmission path and many local structures. Specifically, the path of force transmission is optimized and cables are wound around cam-shaped spools to prevent cables lose during fingers movement. Besides, a pre-tightening system is presented to adjust the preload force of the cable-tube. Moreover, a passive brake mechanism is proposed to prevent the cables from falling off the spools when the remote side is relaxed.

Findings

Finally, three control strategies are proposed to assist in rehabilitation training. Results show that the average correlation coefficient of trajectory tracking is 90.99% and this exoskeleton could provide steady clamping force up to 35 N, which could meet the demands of activities in daily living. Surface electromyography (sEMG)-based intention recognition method is presented to complete assistance and experiments are conducted to prove the effectiveness of the assisted grasping method by monitoring muscle activation, finger angle and interactive force.

Research limitations/implications

However, the system should be further optimized in terms of hardware and control to reduce delays. In addition, more clinical trials should be conducted to evaluate the effect of the proposed rehabilitation strategies.

Social implications

May improve the ability of hemiplegic patients to live independently.

Originality/value

A novel under-actuated soft hand exoskeleton structure is proposed, and an sEMG-based auxiliary grasping control strategy is presented to help hemiplegic patients conduct rehabilitation training.

Details

Industrial Robot: the international journal of robotics research and application, vol. 48 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 15 October 2019

Zhenzhen Zhao and Jiandi Feng

The purpose of this paper is to analyze the characteristics of spatio-temporal dynamics and the evolution of land use change is essential for understanding and assessing the…

Abstract

Purpose

The purpose of this paper is to analyze the characteristics of spatio-temporal dynamics and the evolution of land use change is essential for understanding and assessing the status and transition of ecosystems. Such analysis, when applied to Horqin sandy land, can also provide basic information for appropriate decision-making.

Design/methodology/approach

By integrating long time series Landsat imageries and geographic information system (GIS) technology, this paper explored the spatio-temporal dynamics and evolution-induced land use change of the largest sandy land in China from 1983 to 2016. Accurate and consistent land use information and land use change information was first extracted by using the maximum likelihood classifier and the post-classification change detection method, respectively. The spatio-temporal dynamics and evolution were then analyzed using three kinds of index models: the dynamic degree model to analyze the change of regional land resources, the dynamic change transfer matrix and flow direction rate to analyze the change direction, and the barycenter transfer model to analyze the spatial pattern of land use change.

Findings

The results indicated that land use in Horqin sandy land during the study period changed dramatically. Vegetation and sandy land showed fluctuating changes, cropland and construction land steadily increased, water body decreased continuously, and the spatial distribution patterns of land use were generally unbalanced. Vegetation, sandy land and cropland were transferred frequently. The amount of vegetation loss was the largest. Water body loss was 473.6 km2, which accounted for 41.7 per cent of the total water body. The loss amount of construction land was only 1.0 km2. Considerable differences were noted in the rate of gravity center migration among the land use types in different periods, and the overall rate of construction land migration was the smallest. Moreover, the gravity center migration rates of the water body and sandy land were relatively high and were related to the fragile ecological environment of Horqin sandy land.

Originality/value

The results not only confirmed the applicability and effectiveness of the combined method of remote sensing and GIS technology but also revealed notable spatio-temporal dynamics and evolution-induced land use change throughout the different time periods (1983-1990, 1990-2000, 2000-2010, 2010-2014, 2014-2016 and 1983-2016).

Details

Sensor Review, vol. 39 no. 6
Type: Research Article
ISSN: 0260-2288

Keywords

Article
Publication date: 5 October 2012

Yi Sun, Zheng Wang and Shengnan Ma

High‐tech industry transferring shows different features to the transferring of the traditional industries. In order to explain those special features in China, the purpose of

2192

Abstract

Purpose

High‐tech industry transferring shows different features to the transferring of the traditional industries. In order to explain those special features in China, the purpose of this paper is to build a new conceptual model for high‐tech industry transferring and explore some empirical evidence.

Design/methodology/approach

This paper employs a perspective of specialization to analyze high‐tech industry transferring and a primary conceptual analytical model is discussed. Key models and methodologies are the industrial gravity center model, dynamic modes analysis, character induction and mechanism deduction method.

Findings

The features of high‐tech industry transferring within the China context include fast, surge, inverse‐gradient, as well as agglomeration and specification transferring. Based on the transfer pattern, high‐tech industry transferring modes are classified into two categories: vibration transferring and surge transferring.

Originality/value

Using a conceptual model, this paper analyzes the features of high‐tech industry transferring in China and proposes two typical patterns to explain how the industries transfer and what are the dynamic mechanisms. In order to improve high‐tech industry transferring in China, five policy implications are recommended.

Details

Journal of Science and Technology Policy in China, vol. 3 no. 3
Type: Research Article
ISSN: 1758-552X

Keywords

Article
Publication date: 1 May 1993

BALASUBRAMANIAM RAMASWAMY

Sinusoidal gravity modulation fields imposed on two‐dimensional Rayleigh‐Benard convection flow are studied to understand the effects of periodic source (g‐jitter) on fluids…

Abstract

Sinusoidal gravity modulation fields imposed on two‐dimensional Rayleigh‐Benard convection flow are studied to understand the effects of periodic source (g‐jitter) on fluids system and heat transfer mechanism. The transient Navier‐Stokes and energy equations are solved by semi‐implicit operator splitting finite element method. Results include two sets. One is considered at normal terrestrial condition and the other one is related to low‐gravity condition. Under low‐gravity condition the research focuses on the effects of modulation frequency and direction in order to find out the critical frequency for heat transfer mechanism transferring from conduction to convection.

Details

International Journal of Numerical Methods for Heat & Fluid Flow, vol. 3 no. 5
Type: Research Article
ISSN: 0961-5539

Keywords

Article
Publication date: 1 March 2003

Ching‐Yao Chen and Chi‐Yuan Liao

Displacements of a miscible magnetic layer in a capillary tube under a moving ring‐shaped magnet are studied numerically. The magnet is adjusted dynamically to maintain a constant…

Abstract

Displacements of a miscible magnetic layer in a capillary tube under a moving ring‐shaped magnet are studied numerically. The magnet is adjusted dynamically to maintain a constant distance from the front mixing interface on the centerline. Control parameters, such as magnetic strength, effective viscosity variation due to magnetization, diffusion and the position of the magnet, are analyzed systematically. Motion of the magnetic layer is evaluated by two quantitative measurements, i.e. movement of center of gravity and spread of layer width. In general, the moving speed of the center of gravity depends only slightly on the magnetic strength, and is found slower at a higher viscosity ratio and a closer placement to the front interface as well if the magnet is placed amid the layer. A weaker spread occurs in situations of stronger magnetic strength, lower viscosity parameters and also placements near the rear interface. A multi‐front finger results if the magnet is positioned ahead of the front interface.

Details

International Journal of Numerical Methods for Heat & Fluid Flow, vol. 13 no. 2
Type: Research Article
ISSN: 0961-5539

Keywords

Article
Publication date: 1 July 1995

K. Aboubi, L. Robillard, E. Bilgen and P. Vasseur

The present study deals with two‐dimensional convective motion due tothe effect of a centrifugal force field on a fluid contained between twohorizontal concentric cylinders, for…

Abstract

The present study deals with two‐dimensional convective motion due to the effect of a centrifugal force field on a fluid contained between two horizontal concentric cylinders, for the particular case of an adiabatic inner boundary (zero heat flux) and a constant heat flux imposed on the outer boundary. The normal terrestrial gravity is considered negligible. Governing equations for a two‐dimensional flow field are solved using analytical and numerical techniques. Based on a concentric flow approximation, the analytical solution is obtained in terms of the Rayleigh number and the radius ratio. The numerical solution is based on a finite difference method. Results indicate that the flow field always consists of two symmetrical cells at incipient convection even at radius ratios near unity. A good agreement is found between the analytical and numerical solutions at finite amplitude convection.

Details

International Journal of Numerical Methods for Heat & Fluid Flow, vol. 5 no. 7
Type: Research Article
ISSN: 0961-5539

Keywords

Article
Publication date: 25 January 2008

Haibin Shang, Pingyuan Cui and Enjie Luan

The purpose of this paper is to study the application of the planetary aerogravity‐assist (AGA) technique to the interplanetary transfer mission with low‐thrust engine, and the…

Abstract

Purpose

The purpose of this paper is to study the application of the planetary aerogravity‐assist (AGA) technique to the interplanetary transfer mission with low‐thrust engine, and the design and optimization approach of low‐thrust AGA trajectory.

Design/methodology/approach

In the research, the transfer trajectory with planetary AGA maneuver is analyzed first, the maximum atmospheric turn angle and the matching condition for AGA trajectory is derived out, which is the significant principle for AGA trajectory design and studies. Then, a design and optimization approach for interplanetary low‐thrust trajectory with AGA maneuver is developed. The complicated design problem is transformed into a parameter optimization problem with multiple nonlinear constraints by using calculus of variations and the matching condition associated with AGA trajectory. Furthermore, since the optimization problem is very sensitive to the launch date and AGA maneuver parameters, three ordinal sub‐problems are reformulated to reduce the sensitivity. Finally, a direct/indirect hybrid approach is utilized to solve these sub‐problems.

Findings

The planetary AGA maneuver is feasible and effective in decreasing the propellant consumption and flight time for interplanetary low‐thrust mission and provides better performance than pure planetary gravity assist. Moreover, the proposed approach is effective to design and optimize the low‐thrust transfer mission with AGA maneuver.

Research limitations/implications

In further research, some simple preliminary design approaches for interplanetary low‐thrust trajectory with AGA maneuver are required to developed, which can provide a good initial conjecture for a hybrid optimization algorithm.

Originality/value

The paper provides the matching condition for interplanetary AGA transfer trajectory by analyzing some characteristics of planetary AGA maneuver, and presents an effective approach to design and optimize interplanetary low‐thrust AGA trajectory.

Details

Aircraft Engineering and Aerospace Technology, vol. 80 no. 1
Type: Research Article
ISSN: 0002-2667

Keywords

Article
Publication date: 1 February 1974

THE FUEL SYSTEM is a simple state‐of‐the‐art system which is designed to minimise system maintenance and provide a very high probability of mission success. It requires no fuel…

Abstract

THE FUEL SYSTEM is a simple state‐of‐the‐art system which is designed to minimise system maintenance and provide a very high probability of mission success. It requires no fuel management or manipulation of system controls during a normal mission. It is designed to use MIL‐J‐5624G, grades JP‐4 and JP‐5 turbine fuel.

Details

Aircraft Engineering and Aerospace Technology, vol. 46 no. 2
Type: Research Article
ISSN: 0002-2667

1 – 10 of over 3000