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学者姓名：李剑锋
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Abstract ：
Stroke is a major cause of death and disability among adults in China, and an efficient rehabilitation strategy has been an urgent demand for post-stroke rehabilitation. The non-invasive brain stimulation (NBS) can modulate the excitability of the cerebral cortex and provide after-effects apart from immediate effects to regain extremity motor functions, whereas robotic therapy provides high-intensity and long-duration repetitive movements to stimulate the cerebral cortex backward. The combined strategy of the two techniques is widely regarded as a promising application for stroke patients with dyskinesia. Transcranial magnetic stimulation (TMS) and transcranial electrical stimulation (TES) are important methods of NBS. Their recovery principles, stimulation parameters, and clinical applications have been summarized. The combined treatments of rTMS/tDCS and robotic therapy are analyzed and discussed to overcome the application barriers of the two techniques. The future development trend and the key technical problems are expounded for the clinical applications.
Keyword ：
Robotic therapy Robotic therapy Combined strategy Combined strategy Stroke Stroke Non-invasive brain stimulation Non-invasive brain stimulation
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| GB/T 7714 | Zhang, Leiyu , Chang, Yawei , Zhang, Feiran et al. A Review on Combined Strategy of Non-invasive Brain Stimulation and Robotic Therapy [J]. | CHINESE JOURNAL OF MECHANICAL ENGINEERING , 2024 , 37 (1) . |
| MLA | Zhang, Leiyu et al. "A Review on Combined Strategy of Non-invasive Brain Stimulation and Robotic Therapy" . | CHINESE JOURNAL OF MECHANICAL ENGINEERING 37 . 1 (2024) . |
| APA | Zhang, Leiyu , Chang, Yawei , Zhang, Feiran , Li, Jianfeng . A Review on Combined Strategy of Non-invasive Brain Stimulation and Robotic Therapy . | CHINESE JOURNAL OF MECHANICAL ENGINEERING , 2024 , 37 (1) . |
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Abstract ：
In this paper, the problem of a fully actuated hexarotor performing a physical interaction with the environment through a rigidly attached tool is considered. A nonlinear model predictive impedance control (NMPIC) method is proposed to achieve the goal in which the controller is able to simultaneously handle the constraints and maintain the compliant behavior. The design of NMPIC is the combination of a nonlinear model predictive control and impedance control based on the dynamics of the system. A disturbance observer is exploited to estimate the external wrench and then provide compensation for the model which was employed in the controller. Moreover, a weight adaptive strategy is proposed to perform the online tuning of the weighting matrix of the cost function within the optimal problem of NMPIC to improve the performance and stability. The effectiveness and advantages of the proposed method are validated by several simulations in different scenarios compared with the general impedance controller. The results also indicate that the proposed method opens a novel way for interaction force regulation.
Keyword ：
impedance control impedance control unmanned aerial vehicle unmanned aerial vehicle physical interaction physical interaction nonlinear control nonlinear control model predictive control model predictive control
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| GB/T 7714 | Jiao, Ran , Li, Jianfeng , Rong, Yongfeng et al. Nonlinear Model Predictive Impedance Control of a Fully Actuated Hexarotor for Physical Interaction [J]. | SENSORS , 2023 , 23 (11) . |
| MLA | Jiao, Ran et al. "Nonlinear Model Predictive Impedance Control of a Fully Actuated Hexarotor for Physical Interaction" . | SENSORS 23 . 11 (2023) . |
| APA | Jiao, Ran , Li, Jianfeng , Rong, Yongfeng , Hou, Taogang . Nonlinear Model Predictive Impedance Control of a Fully Actuated Hexarotor for Physical Interaction . | SENSORS , 2023 , 23 (11) . |
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Abstract ：
Foot and ankle deformity is a common complaint in orthopedic surgery, among which the multisegment concurrent types are even more severe. As a key medical device for multisegment deformity correction, the composite parallel external fixator (PEF) design has a profound impact on the correction outcomes. However, existing PEFs share a single configuration and have inadequate adaptation to various deformity types, leading to problems, such as complex structural composition, excessive adjustment parameters, and uncomfortable wearing experience. To overcome these problems, this article proposes a novel correction requirement-dominated design approach for composite PEF. Multisite frame mounting modes and multitype struts are introduced to form required PEF configurations. Lower mobility struts can constrain the unwanted degrees-of-freedom, thus enabling the device to precisely match the requirement-function relationship. Taking the double-segment deformity as research object, clinical cases, and composite PEF assembly simulations are provided. Experiments are carried out on the mechanical prototype. The mounting test proves the interconverting ability and deformity-targeting property of the derived composite PEFs. Moreover, the motion test verifies that the device can distract patients of different weights to complete the correction path, and the stability test demonstrates that the device can resist external bumps, thus indicating the feasibility of the approach.
Keyword ：
medical robot medical robot Surgery Surgery External fixator External fixator robot-assisted orthopedic surgery robot-assisted orthopedic surgery IEEE transactions IEEE transactions foot and ankle deformity foot and ankle deformity Joints Joints Morphology Morphology parallel mechanism parallel mechanism Standards Standards Mechatronics Mechatronics Bones Bones
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| GB/T 7714 | Zuo, Shiping , Li, Jianfeng , Dong, Mingjie et al. Design of Composite Parallel External Fixator for Multisegment Foot and Ankle Deformity Correction: A Correction Requirement-Dominated Approach [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2023 , 28 (4) : 2271-2281 . |
| MLA | Zuo, Shiping et al. "Design of Composite Parallel External Fixator for Multisegment Foot and Ankle Deformity Correction: A Correction Requirement-Dominated Approach" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS 28 . 4 (2023) : 2271-2281 . |
| APA | Zuo, Shiping , Li, Jianfeng , Dong, Mingjie , Jiao, Ran , Wang, Shuang , Ju, Jie et al. Design of Composite Parallel External Fixator for Multisegment Foot and Ankle Deformity Correction: A Correction Requirement-Dominated Approach . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2023 , 28 (4) , 2271-2281 . |
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Abstract ：
针对一种下肢柔性助力机器人,开发了一种基于航姿参考模块(attitude and heading reference system,AHRS)设计的人体下肢运动学信息采集系统.该系统的AHRS具有体积小、功耗低的特点,便于通过绑带与人体保持紧致连接,并且能够长时间穿戴,AHRS的设计融合了卡尔曼滤波算法(Kalman filter,KF)以提高数据的精度,多通道的数据通过ZigBee技术组建的无线传感器网络进行通信,并传输至上位机.然后,建立人体下肢运动学模型,推出AHRS测量角度和人体下肢姿态角度转换关系.同时,考虑在人体不同的步态活动下机器人助力的情况不同,设计了决策树分类器以对不同的步态活动进行识别分类,进一步地协助下肢柔性助力机器人对人体进行有效助力.在多种步态活动下,通过将该系统所采集的数据与Vicon系统采集的数据进行对比可知,该系统所采数据具有较高的精度,也验证了系统具有良好的稳定性及可靠性,另外利用大量的步态数据训练决策树分类器,并通过对未知步态活动进行的分类实验验证了步态识别的准确性.
Keyword ：
步态识别 步态识别 卡尔曼滤波(KF) 卡尔曼滤波(KF) 柔性助力机器人 柔性助力机器人 无线网络 无线网络 航姿参考模块(AHRS) 航姿参考模块(AHRS) 运动学信息 运动学信息
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| GB/T 7714 | 李剑锋 , 周宇 , 王海东 et al. 下肢运动学信息采集与步态识别系统研发 [J]. | 北京工业大学学报 , 2023 , 49 (3) : 325-334 . |
| MLA | 李剑锋 et al. "下肢运动学信息采集与步态识别系统研发" . | 北京工业大学学报 49 . 3 (2023) : 325-334 . |
| APA | 李剑锋 , 周宇 , 王海东 , 董明杰 . 下肢运动学信息采集与步态识别系统研发 . | 北京工业大学学报 , 2023 , 49 (3) , 325-334 . |
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Abstract ：
PurposeThis paper aims to tackle the problem for a fully actuated unmanned aerial vehicle (FUAV) to perform physical interaction tasks in the Global Positioning System-denied environments without expensive motion capture system (like VICON) under disturbances. Design/methodology/approachA tether-based positioning system consisting of a universal joint, a tether-actuated absolute position encoder and an attitude sensor is designed to provide reliable position feedback for the FUAV. To handle the disturbances, including the tension force caused by the taut tether, model uncertainties and other external disturbances such as aerodynamic disturbance, a hybrid disturbance observer (HDO) combining the position-based method and momentum-based technology with force sensor feedback is designed for the system. In addition, an HDO-based impedance controller is built to allow the FUAV interacting with the environment and meanwhile rejecting the disturbances. FindingsExperimental validations of the proposed control algorithm are implemented on a real FUAV with the result of nice disturbance rejection capability and physical interaction performance. Originality/valueA cheap alternative to indoor positioning system is proposed, with which the FUAV is able to interact with external environment and meanwhile reject the disturbances under the help of proposed hybrid disturbance observer and the impedance controller.
Keyword ：
Physical interaction Physical interaction Unmanned aerial vehicle (UAV) Unmanned aerial vehicle (UAV) Positioning system Positioning system Disturbance observer (DO) Disturbance observer (DO) Impedance control Impedance control Robotics Robotics
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| GB/T 7714 | Jiao, Ran , Rong, Yongfeng , Dong, Mingjie et al. Hybrid-disturbance-observer-based interaction control for a fully actuated UAV with tether-based positioning system [J]. | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION , 2023 , 50 (5) : 740-752 . |
| MLA | Jiao, Ran et al. "Hybrid-disturbance-observer-based interaction control for a fully actuated UAV with tether-based positioning system" . | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION 50 . 5 (2023) : 740-752 . |
| APA | Jiao, Ran , Rong, Yongfeng , Dong, Mingjie , Li, Jianfeng . Hybrid-disturbance-observer-based interaction control for a fully actuated UAV with tether-based positioning system . | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION , 2023 , 50 (5) , 740-752 . |
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Abstract ：
本发明涉及一种基于走步机辅助的下肢助动训练方法。所发明实现的助动训练方法根据步态方程规划固定的训练轨迹，并且将训练轨迹根据步长离散化到机器人的驱动单元，与下肢康复机器人配套的被动式走步机作为训练的动平台为机器人的训练轨迹提供适配的训练速度。助动训练方法通过采集运行过程中驱动单元的实时位置和交互力矩作为助动方案选择的判断依据。此外，设定交互力阈值用于训练防抖。助动训练的助力方案包括纯被动助力方案和顺应性助力方案。
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| GB/T 7714 | 董明杰 , 王泽宇 , 李剑锋 et al. 一种基于走步机辅助的下肢助动训练方法 : CN202310716540.9[P]. | 2023-06-15 . |
| MLA | 董明杰 et al. "一种基于走步机辅助的下肢助动训练方法" : CN202310716540.9. | 2023-06-15 . |
| APA | 董明杰 , 王泽宇 , 李剑锋 , 周宇 . 一种基于走步机辅助的下肢助动训练方法 : CN202310716540.9. | 2023-06-15 . |
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Abstract ：
本发明提供一种基于绳索驱动的张拉整体腕外骨骼，包括电池组和驱动单元，第一支撑外骨骼经佩戴与患者小臂适配；第二支撑外骨骼经佩戴与患者手掌适配；屈伸张拉件和尺桡张拉件依次穿设过第一支撑外骨骼和第二支撑外骨骼，屈曲部从第一方向向屈伸驱动部延伸时伸展部沿与第一方向相反的第二方向延伸，尺偏部从第三方向向尺桡驱动部延伸时桡偏部沿与第三方向相反的第四方向延伸，屈曲部、伸展部、尺偏部、桡偏部分别与第一支撑外骨骼和第二支撑外骨骼配合以提供腕关节运动的至少四个方向自由度。本发明能够实现便于患者随身佩戴并为腕关节运动提供多自由度，进而提升对患者康复训练的治疗效果。
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| GB/T 7714 | 张雷雨 , 孙旭 , 杨洋 et al. 一种基于绳索驱动的张拉整体腕外骨骼 : CN202310262941.1[P]. | 2023-03-17 . |
| MLA | 张雷雨 et al. "一种基于绳索驱动的张拉整体腕外骨骼" : CN202310262941.1. | 2023-03-17 . |
| APA | 张雷雨 , 孙旭 , 杨洋 , 唐梓轩 , 田华明 , 李剑锋 . 一种基于绳索驱动的张拉整体腕外骨骼 : CN202310262941.1. | 2023-03-17 . |
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Abstract ：
本发明公开了一种可调式脊柱侧弯矫形器的设计方法, 包括以下步骤：首先使用激光扫描工具获取患者的身体数据，在将患者数据导入计算机软件在Rodin4D上进行辅助修型操作；使用Meshmixer软件对矫形器三维模型进行分割和模块化处理；接着设计可调节装置实现可调节功能。其中(1)为腋下模块，作用是对腋下区域施加压力；(3)为腰部模块，作用是对腰部区域施加压力；(4)为臀部模块，作用是对臀部区域施加压力；(2)为背板框架，作用是连接各施力模块；(5)(6)分别为左髂翼模块和右髂翼模块，作用是固定矫形器的位置；(7)(8)均为髂翼滑槽，作用是调节左右髂翼的位置；(9)为腰部滑槽，作用是调节腰部模块的位置。
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| GB/T 7714 | 李剑锋 , 裴云峰 , 徐朝 . 一种可调式脊柱侧凸矫形器设计方法 : CN202310299979.6[P]. | 2023-03-25 . |
| MLA | 李剑锋 et al. "一种可调式脊柱侧凸矫形器设计方法" : CN202310299979.6. | 2023-03-25 . |
| APA | 李剑锋 , 裴云峰 , 徐朝 . 一种可调式脊柱侧凸矫形器设计方法 : CN202310299979.6. | 2023-03-25 . |
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Abstract ：
本发明涉及一种用于手指康复的连杆传动三关节欠驱动机构。其中包括近指节滑槽连杆机构和中指节滑槽连杆机构。通过近指节滑槽和近指节连杆系统，中指节可与近指节保持随动；同理，远指节可通过中指节滑槽连杆与中指节保持随动。因此该机构可采用一个驱动同步控制三个指节的角度。该发明可有效减少非柔性手部康复医疗机器人驱动数量，降低控制难度，解决现非欠驱动机械手控制精度差或装置成本高、重量重等缺点。
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| GB/T 7714 | 董明杰 , 王帅榜 , 李剑锋 et al. 一种用于手指康复的连杆传动三关节欠驱动机构 : CN202310464251.4[P]. | 2023-04-27 . |
| MLA | 董明杰 et al. "一种用于手指康复的连杆传动三关节欠驱动机构" : CN202310464251.4. | 2023-04-27 . |
| APA | 董明杰 , 王帅榜 , 李剑锋 , 焦然 , 柳清扬 , 王迪 . 一种用于手指康复的连杆传动三关节欠驱动机构 : CN202310464251.4. | 2023-04-27 . |
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Abstract ：
Foot and ankle deformity remains a common presenting complaint in orthopedic surgery. External fixator is a key medical device to assist gradual correction. Its configuration selection has a significant influence on correction results. Among two external fixators currently used in clinic, conventional Ilizarov external fixator (IEF) has high use difficulty and low accuracy, whereas the single configuration of later hexapod external fixator (HEF) leads to inadequate adaptation to diverse deformity types in foot and ankle. To solve the above problems, this paper presents a novel parallel distraction apparatus (PDA). First, corrective degree-of-freedom (c-DOF) is defined to determine expected posture transformation of external fixator required by corrective manipulation. By summarizing and classifying c-DOF, predominant foot and ankle deformities with fewer correction requirements are divided into six types. Subsequently, six lower-mobility parallel mechanisms are introduced as the configurations of external fixators via the c-DOF based configuration synthesis approach. After performing reconfigurable structural design, PDA can respectively form six types of parallel external fixators for six deformity types. Finally, clinical case simulations are provided to verify the application potential and advantages of PDA.
Keyword ：
Corrective degree-of-freedom Corrective degree-of-freedom Foot and ankle deformity Foot and ankle deformity Configuration synthesis Configuration synthesis Parallel mechanism Parallel mechanism
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| GB/T 7714 | Zuo, Shiping , Dong, Mingjie , Tao, Chunjing et al. Configuration synthesis and structural design of lower-mobility parallel external fixators based on corrective degree-of-freedom classification [J]. | MECHANISM AND MACHINE THEORY , 2022 , 168 . |
| MLA | Zuo, Shiping et al. "Configuration synthesis and structural design of lower-mobility parallel external fixators based on corrective degree-of-freedom classification" . | MECHANISM AND MACHINE THEORY 168 (2022) . |
| APA | Zuo, Shiping , Dong, Mingjie , Tao, Chunjing , Jiao, Ran , Li, Guotong , Li, Jianfeng . Configuration synthesis and structural design of lower-mobility parallel external fixators based on corrective degree-of-freedom classification . | MECHANISM AND MACHINE THEORY , 2022 , 168 . |
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