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Objective A 2-PSU/ RR parallel ankle rehabilitation robot was designed, and the biomechanical properties of human muscles were also analyzed, so as to study rehabilitation strategy of the ankle rehabilitation robot. Methods The actual workspace of the robot was obtained by numerical discrete search method, and the effect of structural parameter changes on the height of robot moving platform was explored. Then the human biomechanical responses such as muscle force and muscle mobility were obtained by human biomechanical simulation software AnyBody, so as to investigate the effect of moving platform height changes on muscle behavior. Results The robot could meet the demand of ankle plantarflexion/ dorsiflexion and inversion/ eversion motion. Appropriately increasing the initial inclination angle and decreasing the length of the fixed-length bar enabled the ankle rehabilitation robot to have a lower overall height. The height of the moving platform was decreased by 10 mm in turn, and the muscle force and muscle activity of the human body involved in the movement were decreased to a certain extent. Conclusions This study provides a new design solution for ankle rehabilitation, offers theoretical guidance for motion analysis of the ankle rehabilitation robot, and accelerates rehabilitation of the patients’ ankles by modifying the mechanism parameters.
ABSTRACT
By analyzing the physiological structure and motion characteristics of human ankle joint, a four degree of freedom generalized spherical parallel mechanism is proposed to meet the needs of ankle rehabilitation. Using the spiral theory to analyze the motion characteristics of the mechanism and based on the method of describing the position with spherical coordinates and the posture with Euler Angle, the inverse solution of the closed vector equation of mechanism position is established. The workspace of mechanism is analyzed according to the constraint conditions of inverse solution. The workspace of the moving spherical center of the mechanism is used to match the movement space of the tibiotalar joint, and the workspace of the dynamic platform is used to match the movement space of subtalar joint. Genetic algorithm is used to optimize the key scale parameters of the mechanism. The results show that the workspace of the generalized spherical parallel mechanism can satisfy the actual movement space of human ankle joint rehabilitation. The results of this paper can provide theoretical basis and experimental reference for the design of ankle joint rehabilitation robot with high matching degree.
Subject(s)
Humans , Ankle Joint , Biomechanical Phenomena , Movement , Range of Motion, ArticularABSTRACT
Based on the biomechanical simulation curve of OpenSim, an open source software of biomechanical model, a spherical exoskeleton parallel mechanism with two degrees of freedom for hip joint is proposed in this paper for the rehabilitation therapy of patients with impaired leg motor function or elderly people with walking dysfunction. Firstly, the parallel mechanism is modeled and the position inverse solution of the parallel mechanism is obtained using inverse kinematics analysis. The velocity analysis expression of the mechanism is derived by deriving the inverse kinematics solution. The model is imported into the mechanical system dynamics analysis software ADAMS and matrix processing analysis software MATLAB to carry out simulation experiments. The correctness of the velocity analysis is verified by comparing the velocity simulation results of the two methods. Then, three singular types of the mechanism are analyzed according to the obtained Jacobian matrix. According to the inverse solution of the mechanism, the reachable workspace of the mechanism is obtained by programming in MATLAB with given mechanism parameters and restriction conditions. Finally, the prototype platform is built. The experimental results show that the exoskeleton hip joint using this parallel mechanism can satisfy the requirement of rotation angle of human hip joint movement, but also can be good to assist patients with leg flexion-extension movement and adduction-abduction movement, and it is helpful to carry out corresponding rehabilitation training. It also has theoretical significance and application value for the research work of human hip exoskeleton parallel mechanism.
Subject(s)
Humans , Biomechanical Phenomena , Exoskeleton Device , Hip Joint , Physiology , Models, Theoretical , Movement , Rehabilitation , Rotation , WalkingABSTRACT
Brain-injured patients may, with the assistance of life support, continue to perform basic bodily functions, but yet be deficient in wakefulness, awareness, decision making or other overt manifestations of consciousness. Here, we review two neurological states observed in brain injured patients with different degrees of brain impairment, the vegetative state (VS)and the minimally conscious state (MCS), and we discuss how these states are diagnosed through assessing patient behavioral responses during clinical examination. We consider howfunctional neuroimaging has revealed preserved cognitive capacities in patients that were supposed to be in the VS and has introduced a new diagnosis, cognitive motor dissociation.We review the GW Theory proposal that consciousness arises from functional connectivity (FC) of widely separated brain regions. We discuss how such high FC underlies the DefaultMode Network (DMN), a group of neural circuits that are active when an individual is not involved with external tasks and engages in introspective thinking. Finally, we discuss thefinding that the level of FC of the DMN is diminished in brain injured patients and the proposal that the level of residual DMN FC in brain injured patients is an index of their consciousness
Pacientes com lesão cerebral, quando assistidos, podem continuar a desempenhar funções fisiológicas básicas, mesmo estando com a vigília, a atenção, a capacidade de decisão e outras funções de consciência prejudicadas. Revisamos aqui dois níveis de distúrbio de consciência o estado vegetativo (VS) e o nível de consciência mínima (MCS), e discutimos como são diagnosticados através das respostas comportamentais durante o exame clínico. Abordamos como a neuroimagem funcional revelou capacidades cognitivas preservadas em pacientes supostamente em estado vegetativo, introduzindo um novo diagnóstico: a dissociação cognitivo-motora. Revisamos a proposta da Global Workspace (GW) teoria de que a consciência surge a partir de um alto grau de conectividade funcional (FC) entre áreas cerebrais distantes. Discutimos como esta alta conectividade é a base do Default Mode Network (DMN), uma rede neural ativada quando o indivíduo não está envolvido com tarefas externas e se volta para atividade mental introspectiva. Finalmente, discutimos os achados de redução do nível de FC no DMN em pacientes com lesão cerebral e a proposta de que o mesmo poderia ser um índice do nível de consciência nesses pacientes.
Subject(s)
Humans , Unconsciousness , Brain Injuries, Traumatic , Functional Neuroimaging , Neurologic ExaminationABSTRACT
After a description of the 6 types of reference management software ( EndNote, Mendeley, F1000Workspace, NoteExpress, King of medical literature and NoteFirst), their basic functions were comparatively analyzed.
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A Teoria do Espaço de Trabalho Global pretende descrever funcionalmente as tarefas da consciência. Atualmente existem tentativas de aplicação desta teoria cognitiva da consciência em máquinas, entretanto, esta teoria depende, essencialmente, da noção de metas para determinação de hierarquia do conteúdo na consciência. Este trabalho analisa características de metas e a diferença entre metas genuínas e metas parciais. Propõe-se que para que hajam metas genuínas em um sistema é preciso que este seja líquido (capaz de se adaptar a mudanças) sendo composto de microagentes com interesse em conjunto de sobrevivência e replicação. Sugere-se que duas correntes da Inteligência Artificial atual podem vira criar agentes com metas genuínas: a nanorrobótica e a vertente das máquinas híbridas. Por essa análise, acredita-se que uma aplicação fidedgnada Teoria do Espaço de Trabalho Global depende primeiramente da existência de sistemas artificiais com metas genuínas
The Global Workspace Theory att empts to describe conscious tasks functionally. Also, there are att empts of applying such cognitive theory to machine consciousness. However,the theory depends essentially on the notion of goals for determining the hierarchy of content in consciousness. This work analyzes characteristics of goals, differentiating "genuine goals" from "partial goals". This work proposes that in order for a system to have genuine goals it must be liquid, capable of adapting to changes, being composed of micro-agents with the common interest of survival and replication. We propose that two branches of Artificial Intelligence could be capable of creating agents with genuine goals in the future: nanorobotics and hybrid machinery.Because of such analysis we believe a trustworthy applicati on of Global Workspace Theory depends first on the existence of artificial systems with genuine goals
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Cognitive Science , RoboticsABSTRACT
Objective To simplify the management of multi-version data.Methods Oracle workspace manager technology was implemented to manage corresponding table in different version.Results The management of multi-version data in a single Oracle database could be achieved.Conclusion The method can make database management easier and save the cost of hardware.[Chinese Medical Equipment Journal,2008,29(3):45-46]