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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 ：
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 ：
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 ：
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 ：
Concerning the biomechanics and energy consumption of the lower limbs, a soft exoskeleton for the powered plantar flexion of the ankle, named A-Suit, was developed to improve walking endurance in the lower limbs and reduce metabolic consumption. The method of ergonomics design was used based on the biological structures of the lower limbs. A profile of auxiliary forces was constructed according to the biological force of the Achilles tendon, and an iterative learning control was applied to shadow this auxiliary profile by iteratively modifying the traction displacements of drive units. During the evaluation of the performance experiments, four subjects wore the A-Suit and walked on a treadmill at different speeds and over different inclines. Average heart rate was taken as the evaluation index of metabolic consumption. When subjects walked at a moderate speed of 1.25 m/s, the average heart rate H-av under the Power-ON condition was 7.25 +/- 1.32% (mean +/- SEM) and 14.40 +/- 2.63% less than the condition of No-suit and Power-OFF. Meanwhile, the additional mass of A-Suit led to a maximum H-av increase of 7.83 +/- 1.44%. The overall reduction in H-av with Power-ON over the different inclines was 6.93 +/- 1.84% and 13.4 +/- 1.93% compared with that of the No-Suit and Power-OFF condition. This analysis offers interesting insights into the viability of using this technology for human augmentation and assistance for medical and other purposes.
Keyword ：
iterative learning control iterative learning control ankle assistance ankle assistance powered planter flexion powered planter flexion soft robotic suit soft robotic suit
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| GB/T 7714 | Zhang, Leiyu , Gao, Xiang , Cui, Ying et al. Ergonomics Design and Assistance Strategy of A-Suit [J]. | MICROMACHINES , 2022 , 13 (7) . |
| MLA | Zhang, Leiyu et al. "Ergonomics Design and Assistance Strategy of A-Suit" . | MICROMACHINES 13 . 7 (2022) . |
| APA | Zhang, Leiyu , Gao, Xiang , Cui, Ying , Li, Jianfeng , Ge, Ruidong , Jiao, Zhenxing et al. Ergonomics Design and Assistance Strategy of A-Suit . | MICROMACHINES , 2022 , 13 (7) . |
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Abstract ：
End-effector type upper limb rehabilitation robots (ULRRs) are connected to patients at one distal point, making them have simple structures and less complex control algorithms, and they can avoid abnormal motion and posture of the target anatomical joints and specific muscles. Given that the end-effector type ULRR focuses more on the rehabilitation of the combined motion of upper limb chain, assisting the patient to perform collaborative tasks, and its intervention has some advantages than the exoskeleton type ULRR, we developed a novel three-degree-of-freedom (DOF) end-effector type ULRR. The advantage of the mechanical design is that the designed end-effector type ULRR can achieve three DOFs by using a four-bar mechanism and a lifting mechanism; we also developed the patient-specific exercises including patient-passive exercise and patient-cooperative exercise, and the advantage of the developed patient-cooperative exercise is that we simplified the human-robot coupling system model into a single spring system instead of the mass-spring-damp system, which efficiently improved the response speed of the control system. In terms of the organization structure of the work, we introduced the end-effector type ULRR's mechanical design, control system, inverse solution of positions, patient-passive exercise based on the inverse solution of positions and the linear position interpolation of servo drives, and patient-cooperative exercise based on the spring model, in sequence. Experiments with three healthy subjects have been conducted, with results showing good trajectory tracking performance in patient-passive exercise and showing effective, flexible, and good real-time interactive performance in patient-cooperative exercise.
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| GB/T 7714 | Dong, Mingjie , Fan, Wenpei , Li, Jianfeng et al. Patient-Specific Exercises with the Development of an End-Effector Type Upper Limb Rehabilitation Robot [J]. | JOURNAL OF HEALTHCARE ENGINEERING , 2022 , 2022 . |
| MLA | Dong, Mingjie et al. "Patient-Specific Exercises with the Development of an End-Effector Type Upper Limb Rehabilitation Robot" . | JOURNAL OF HEALTHCARE ENGINEERING 2022 (2022) . |
| APA | Dong, Mingjie , Fan, Wenpei , Li, Jianfeng , Zhang, Pengfei . Patient-Specific Exercises with the Development of an End-Effector Type Upper Limb Rehabilitation Robot . | JOURNAL OF HEALTHCARE ENGINEERING , 2022 , 2022 . |
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Abstract ：
Lower limb rehabilitation robot (LLRR) can effectively help restore the lower limb's motor function of patients with hemiplegia caused by stroke through a large number of targeted and repetitive rehabilitation training. To improve the safety and comfort of robot-assisted lower limb rehabilitation, we developed an LLRR with rigid-flexible characteristics; the design of passive joints is used to improve human-machine compatibility; the design of flexible unit makes the mechanism have certain rigid-flexible characteristics. Three different rehabilitation training methods have been developed to adapt to the patients at different stages of rehabilitation, namely, passive exercise, active exercise and resistance exercise, respectively. Experiments with healthy subjects have been conducted to verify the effectiveness of the development of the different training modes of the LLRR, showing good compatibility of the mechanism and good trajectory tracking performance of the developed training methods.
Keyword ：
passive joint passive joint rehabilitation training rehabilitation training rigid-flexible rigid-flexible lower limb rehabilitation robot lower limb rehabilitation robot
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| GB/T 7714 | Dong, Mingjie , Yuan, Jianping , Li, Jianfeng . A Lower Limb Rehabilitation Robot with Rigid-Flexible Characteristics and Multi-Mode Exercises [J]. | MACHINES , 2022 , 10 (10) . |
| MLA | Dong, Mingjie et al. "A Lower Limb Rehabilitation Robot with Rigid-Flexible Characteristics and Multi-Mode Exercises" . | MACHINES 10 . 10 (2022) . |
| APA | Dong, Mingjie , Yuan, Jianping , Li, Jianfeng . A Lower Limb Rehabilitation Robot with Rigid-Flexible Characteristics and Multi-Mode Exercises . | MACHINES , 2022 , 10 (10) . |
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Abstract ：
The demands of continuum robots, which can achieve remote operations or pushing objects, are immense in armoured vehicles, submarines and space stations. A novel class of continuum robots named chain telescopic robots (CT-Robots), which consist of many rigid links, can be stored in a constrained space or form a telescopic arm with higher stiffness and arbitrary length. The design methodology of a CT-Robot is systematically presented concerning link connection, drive unit and chain box. However, current studies on CT-Robots lacks evidence on the comparative performance of different dynamic models for the vibration responses of telescopic arms. The mass spring-damping model (MSD-model) of the telescopic arm is derived and compared with the cantilever beam model (CB-model). We test the models on the CT-Robot with friction wheels by extending the telescopic arm under two conditions. Our results suggest that the MSD-model more accurately describes the real dynamic responses (lateral displacement, velocity, acceleration) of the telescopic arm. In particular, the Euclidean distance dy,m between the results of the MSDmodel and vibration experiments declines by 57.93% and 41.54% compared with that of the CB-model.
Keyword ：
mass spring damping model mass spring damping model Continuum robot Continuum robot dynamics modelling dynamics modelling telescopic mechanism telescopic mechanism chain drive chain drive
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| GB/T 7714 | Zhang, Leiyu , Ye, Tuxian , Zhang, Feiran et al. Design and Dynamic Modelling of Chain Telescopic Robot [J]. | MECHANISM AND MACHINE THEORY , 2022 , 181 . |
| MLA | Zhang, Leiyu et al. "Design and Dynamic Modelling of Chain Telescopic Robot" . | MECHANISM AND MACHINE THEORY 181 (2022) . |
| APA | Zhang, Leiyu , Ye, Tuxian , Zhang, Feiran , Li, Jianfeng . Design and Dynamic Modelling of Chain Telescopic Robot . | MECHANISM AND MACHINE THEORY , 2022 , 181 . |
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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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