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30th IEEE International Symposium on Industrial Electronics (ISIE) ; 2021.
Article in English | Web of Science | ID: covidwho-1816448


With an unprecedented increase in the global aging population and with it, the age-related neuromuscular dysfunction diseases, there is an exorbitant and escalating need for physical rehabilitation. Delivering these services - especially to those that are most vulnerable - under the current COVID-19 pandemic restriction for physical-distancing, is an even greater challenge. Interest in telerehabilitation is spiking, and robotic telerehabilitation could drastically improve patients' access to Some of the major challenges in developing the control methods for these robots are identifying, estimating, and overcoming the effects of dynamic modeling uncertainties, nonlinearities, and disturbances. Having humans in the loop creates the additional need for safety and compliance. Telerehabilitation control methods have the added requirement of delivering telepresence and addressing communication delays which, if not managed, could result in ineffective therapy, destabilize the system, and even cause injury. In this paper, we present a novel adaptive robust integral Radial Basis Function Neural Network Impedance model (RBFNN-I) control method for telerehabilitation with robotic exoskeletons which compensates for dynamic modeling uncertainties in the presence of external human torques and time delays. One of the salient features of the proposed control system is the implementation of a new human torque regulator which improves telepresence. Stability proof using Lyapunov stability theory is shown for the proposed control method. An exoskeleton was designed and used for unilateral and bilateral telerehabilitation simulations. Excellent tracking performance, telepresence and stability was achieved in the presence of large, variable and asymmetric time delays and human torques.

Zhonghua Nei Ke Za Zhi ; 59(8): 598-604, 2020 Aug 01.
Article in Chinese | MEDLINE | ID: covidwho-1555710


Objective: To retrospective analyze the epidemiology, clinical characteristics, treatment and prognosis in patients with coronavirus disease 2019 (COVID-19). Methods: A total of 278 patients with COVID-19 admitted to Guangzhou Eighth People's Hospital from January 20 to February 10, 2020 were selected. The general demographic data, epidemiological data, clinical symptoms, laboratory examinations, lung CT imaging, treatment and prognosis were analyzed. Results: There were 130 male patients (46.8%) and 148 females (53.2%) with age (48.1±17.0) years and 88.8% patients between 20-69 years. Two hundred and thirty-six (84.9%) patients had comorbidities. Two hundred and eleven cases (75.9%) were common type. The in-hospital mortality was 0.4% (1/278). The majority (201, 72.3%) were imported cases mainly from Wuhan (89, 44.3%). The most common clinical manifestations were fever (70.9%) and dry cough (61.5%). In some patients, hemoglobin (10.4%), platelets (12.6%) and albumin (55.4%) were lower than the normal range. Other biochemical tests according to liver and function were normal, while lactic dehydrogenase (LDH) was elevated in 61 patients (21.9%), creatine kinase increased in 26 patients (9.4%). Prolonged activated partial thromboplastin time (APTT) was seen in 52 patients (18.7%), D-dimer higher than normal in 140 patients (50.4%), while 117 patients (42.1%) had elevated high-sensitivity C-reactive protein. Typical CT manifestations included single or multiple ground glass shadows especially in lung periphery in early disease which infiltrated and enlarged during progressive stage. Diffuse consolidation with multiple patchy density in severe/critical cases and even "white lung" presented in a few patients. Two hundred and forty-two patients (87.1%) received one or more antiviral agents, 242 (87.1%) combined with antibacterials, 191 (68.7%) with oxygen therapy. There were 198 patients (71.2%) treated with traditional Chinese medicine. Conclusions: COVID-19 could attack patients in all ages with majority of common type and low mortality rate. Clinical manifestations involve multiple organs or systems. Progression of the disease results in critical status which should be paid much attention.

COVID-19 , Adult , Aged , Female , Fever , Humans , Male , Middle Aged , Prognosis , Retrospective Studies , SARS-CoV-2