Structural design and performance analysis of an auxiliary dining robot / 生物医学工程学杂志

An auxiliary dining robot is designed in this paper, which implements the humanoid feeding function with theory of inventive problem solving (TRIZ) theory and aims at the demand of special auxiliary nursing equipment. Firstly, this robot simulated the motion function of human arm by using the tandem joints of the manipulator. The end-effector used a motor-driven spoon to simulate the feeding actions of human hand. Meanwhile, the eye in hand installation style was adopted to instead the human vision to realize its automatic feeding action. Moreover, the feeding and drinking actions of the dining robot were considered comprehensively with the flexibility of spatial movement under the lowest degree of freedom (DOF) configuration. The structure of the dining robot was confirmed by analyzing its stresses and discussing the specific application scenarios under this condition. Finally, the simulation results demonstrate high-flexibility of the dining robot in the workspace with lowest DOF configuration.

A Standing Balance Evaluation Method Based on Largest Lyapunov Exponent / 生物医学工程学杂志

In order to evaluate the ability of human standing balance scientifically, we in this study proposed a new evaluation method based on the chaos nonlinear analysis theory. In this method, a sinusoidal acceleration stimulus in forward/backward direction was forced under the subjects' feet, which was supplied by a motion platform. In addition, three acceleration sensors, which were fixed to the shoulder, hip and knee of each subject, were applied to capture the balance adjustment dynamic data. Through reconstructing the system phase space, we calculated the largest Lyapunov exponent (LLE) of the dynamic data of subjects' different segments, then used the sum of the squares of the difference between each LLE (SSDLLE) as the balance capabilities evaluation index. Finally, 20 subjects' indexes were calculated, and compared with evaluation results of existing methods. The results showed that the SSDLLE were more in line with the subjects' performance during the experiment, and it could measure the body's balance ability to some extent. Moreover, the results also illustrated that balance level was determined by the coordinate ability of various joints, and there might be more balance control strategy in the process of maintaining balance.

A modeling method for human standing balance system based on T-S fuzzy identification / 生物医学工程学杂志

In order to develop safe training intensity and training methods for the passive balance rehabilitation train- ing system, we propose in this paper a mathematical model for human standing balance adjustment based on T-S fuzzy identification method. This model takes the acceleration of a multidimensional motion platform as its inputs, and human joint angles as its outputs. We used the artificial bee colony optimization algorithm to improve fuzzy C--means clustering algorithm, which enhanced the efficiency of the identification for antecedent parameters. Through some experiments, the data of 9 testees were collected, which were used for model training and model results validation. With the mean square error and cross-correlation between the simulation data and measured data, we concluded that the model was accurate and reasonable.

Linear features analysis of human body balance regulation under passive movement / 生物医学工程学杂志

In order to find the linear region of adjustment process about human body balance under the passive movement, and provide the basis for the unified evaluation criteria of passive balance test, an equipment was built with pulsed excitation source and wave detector of gravity's center. The pulsed excitation source was a multi-dimensional motion platform with high accuracy. The wave detector was a force platform. Human body and force platform were treated as a whole object, and the dynamic model of the object was built using the method of system identification. The balance ability was evaluated by setting time. In the pulse excitement range from 2mm to 20 mm with 2mm increments, balance ability of 5 students was evaluated and analyzed respectively. Results showed that response curve of human balance regulation was a typical second order linear system characteristic, and in a large enough linear region, the evaluating result had good consistency.