Robotics Perception and Control: Key Technologies and Applications.

The integration of advanced sensor technologies has significantly propelled the dynamic development of robotics, thus inaugurating a new era in automation and artificial intelligence. Given the rapid advancements in robotics technology, its core area-robot control technology-has attracted increasing attention. Notably, sensors and sensor fusion technologies, which are considered essential for enhancing robot control technologies, have been widely and successfully applied in the field of robotics. Therefore, the integration of sensors and sensor fusion techniques with robot control technologies, which enables adaptation to various tasks in new situations, is emerging as a promising approach. This review seeks to delineate how sensors and sensor fusion technologies are combined with robot control technologies. It presents nine types of sensors used in robot control, discusses representative control methods, and summarizes their applications across various domains. Finally, this survey discusses existing challenges and potential future directions.

A membership-function-based broad learning system for human-robot interaction force estimation under drawing task.

Estimating interaction force is of great significance in the field of human-robot interaction (HRI) thanks to its guarantee of interaction safety. To this end, this paper proposes a novel estimation method by leveraging broad learning system (BLS) and human surface electromyography (sEMG) signals. Since the previous sEMG may also contain valuable information of human muscle force, it would cause the estimation to be incomplete and abate the estimation accuracy in the case of neglecting the previous sEMG. To remedy this thorn, a new linear membership function is first developed to calculate contributions of sEMG at different sampling times in the proposed method. Subsequently, the contribution values calculated by the membership function are integrated with features of sEMG to be considered as the input layer of BLS. For extensive studies, five different features extracted from sEMG signals and their combination are explored to estimate the interaction force by the proposed method. Lastly, the performance of the proposed method is compared with those of three well-known methods through experimental test regarding the drawing task. The experimental results confirm that combining the time domain (TD) with frequency domain (FD) features of sEMG can enhance the estimation quality. Moreover, the proposed method outperforms its contenders with respect to estimation accuracy.

Cost Function Determination for Human Lifting Motion via the Bilevel Optimization Technology.

Investigating the optimal control strategy involved in human lifting motion can provide meritorious insights on designing and controlling wearable robotic devices to release human low-back pain and fatigue. However, determining the latent cost function regarding this motion remains challenging due to the complexities of the human central nervous system. Recently, it has been discovered that the underlying cost function of a biological motion can be identified from an inverse optimization control (IOC) issue, which can be handled via the bilevel optimization technology. Inspired by this discovery, this work is dedicated to studying the underlying cost function of human lifting tasks through the bilevel optimization technology. To this end, a nested bilevel optimization approach is developed by integrating particle swarm optimization (PSO) with the direction collocation (DC) method. The upper level optimizer leverages particle swarm optimization to optimize weighting parameters among different predefined performance criteria in the cost function while minimizing the kinematic error between the experimental data and the result predicted by the lower level optimizer. The lower level optimizer implements the direction collocation method to predict human kinematic and dynamic information based on the human musculoskeletal model inserted into OpenSim. Following after a benchmark study, the developed method is evaluated by experimental tests on different subjects. The experimental results reveal that the proposed method is effective at finding the cost function of human lifting tasks. Thus, the proposed method could be regarded as a paramount alternative in the predictive simulation of human lifting motion.

Acceptability of and barriers to human papillomavirus vaccination in China: A systematic review of the Chinese and English scientific literature.

INTRODUCTION: Widespread adoption of the human papillomavirus (HPV) vaccine will require population acceptance and tailoring of immunisation services to community needs and preferences. We examined peer-reviewed publications on the acceptability of and barriers to the HPV vaccine across China. METHODS: We searched English (MEDLINE, Embase, and Web of Science) and Chinese (CNKI, VIP, Wanfang data) databases between 1 January 2006 and 31 December 2017. We adopted a narrative approach for data synthesis. RESULTS: We identified 73 studies. The overall median acceptability of HPV vaccine was 71.8% (Q1-Q3: 58.6%-81%). Low levels of acceptability (<40%) of HPV vaccine were found in eastern regions of China. The largest differences of acceptability were observed between rural western regions (all >90%) and urban eastern regions (all <35%). Despite these regional variations, common barriers to HPV vaccine acceptance were concerns about vaccine safety, uncertainty over vaccine effectiveness, low perceived risk of cervical cancer and the price of the vaccine. The level of willingness to pay for the HPV vaccine (over 153 US dollars) was very low (<7%). CONCLUSION: The acceptability of and attitudes towards HPV vaccine vary by regions and populations across China. HPV vaccination programmes will need to tailor service delivery as well as information materials to take account of regional concerns.

Effect of Muscle Fatigue on Surface Electromyography-Based Hand Grasp Force Estimation.

Surface electromyography- (sEMG-) based hand grasp force estimation plays an important role with a promising accuracy in a laboratory environment, yet hardly clinically applicable because of physiological changes and other factors. One of the critical factors is the muscle fatigue concomitant with daily activities which degrades the accuracy and reliability of force estimation from sEMG signals. Conventional qualitative measurements of muscle fatigue contribute to an improved force estimation model with limited progress. This paper proposes an easy-to-implement method to evaluate the muscle fatigue quantitatively and demonstrates that the proposed metrics can have a substantial impact on improving the performance of hand grasp force estimation. Specifically, the reduction in the maximal capacity to generate force is used as the metric of muscle fatigue in combination with a back-propagation neural network (BPNN) is adopted to build a sEMG-hand grasp force estimation model. Experiments are conducted in the three cases: (1) pooling training data from all muscle fatigue states with time-domain feature only, (2) employing frequency domain feature for expression of muscle fatigue information based on case 1, and 3) incorporating the quantitative metric of muscle fatigue value as an additional input for estimation model based on case 1. The results show that the degree of muscle fatigue and task intensity can be easily distinguished, and the additional input of muscle fatigue in BPNN greatly improves the performance of hand grasp force estimation, which is reflected by the 6.3797% increase in R2 (coefficient of determination) value.

A comprehensive association analysis between homocysteine metabolic pathway gene methylation and ischemic stroke in a Chinese hypertensive population.

BACKGROUND: Ischemic stroke (IS) is a serious global health burden. In order to improve our understanding of the risk factors associated with IS, we investigated the combined effect of the methylation of five genes related to the metabolism of homocysteine on developing IS. METHODS: Quantitative methylation-specific PCR was used to measure the levels of promoter methylation in hypertensive and stroke patients. The cutoff value calculated by the maximum Youden index was used to classify the levels of gene methylation as hypomethylation and hypermethylation. Logistic regression was used to explore the relationship between gene methylation and IS. RESULTS: The methylation levels of the genes encoding methylenetetrahydrofolate dehydrogenase 1 [MTHFD1], cystathionine ß-synthase [CBS], and dihydrofolate reductase [DHFR] in hypertensive patients were higher than those in stroke patients (all p < 0.01). MTHFD1 hypermethylation, CBS hypermethylation, and DHFR hypermethylation were protective factors for stroke after adjustment for confounding factors. Compared with individuals carrying none of the biomarkers, the ORs [95% CIs] for stroke of those with 1 and 2 elevated biomarkers were 4.068 [1.670-9.913] and 15.345 [6.198-37.994] after adjustment for confounding factors. The participants with a larger number of biomarkers had an increased risk of stroke (p for trend <0.001). For the combination biomarkers, the area under the curve of the receiver operating characteristic was 0.716. CONCLUSION: A significant linear relationship between the number of elevated biomarkers and the risk of stroke has been observed, suggesting that elevations of these biomarkers could be used for potentially predicting the disease.

Design of Muscle Reflex Control for Upright Standing Push-Recovery Based on a Series Elastic Robot Ankle Joint.

In physical human-robot interaction environment, ankle joint muscle reflex control remains significant and promising in human bipedal stance. The reflex control mechanism contains rich information of human joint dynamic behavior, which is valuable in the application of real-time decoding motion intention. Thus, investigating the human muscle reflex mechanism is not only meaningful in human physiology study but also useful for the robotic system design in the field of human-robot physical interaction. In this paper, a specialized ankle joint muscle reflex control algorithm for human upright standing push-recovery is proposed. The proposed control algorithm is composed of a proportional-derivative (PD)-like controller and a positive force controller, which are employed to mimic the human muscle stretch reflex and muscle tendon force reflex, respectively. Reflex gains are regulated by muscle activation levels of contralateral ankle muscles. The proposed method was implemented on a self-designed series elastic robot ankle joint (SERAJ), where the series elastic actuator (SEA) has the potential to mimic human muscle-tendon unit (MTU). During the push-recovery experimental study, the surface electromyography (sEMG), ankle torque, body sway angle, and velocity of each subject were recorded in the case where the SERAJ was unilaterally kneed on each subject. The experimental results indicate that the proposed muscle reflex control method can easily realize upright standing push-recovery behavior, which is analogous to the original human behavior.

A town level comprehensive intervention study to reduce salt intake in China: protocol for a cluster randomised controlled trial.

INTRODUCTION: Salt intake in China (≈12 g/day) is more than twice the upper limit recommended by the WHO (5 g/day). To reduce salt intake, Action on Salt China (ASC) was launched in 2017. As one of four randomised controlled trials (RCTs) in the ASC programme, a comprehensive intervention study was designed to test whether all the components of the interventions adopted by other RCTs are acceptable, scalable and effective when provided to a region in the real world. METHODS AND ANALYSIS: Using a cluster RCT design, 2688 participants were selected from 48 towns (clusters) in 12 counties in 6 provinces and assigned to the intervention group or the control group. Randomisation was performed after the baseline survey was completed. Information on salt-related knowledge, attitude and practice (KAP), blood pressure and 24-hour urinary sodium were collected. The intervention includes government engagement, health education and other intervention components targeting restaurants, home cooks and primary school students and their families that have been used in other RCTs. The control group will not receive the intervention. The project will be followed up for 2 years, with the intervention being carried out for the first year only. The primary outcome is salt intake measured by 24-hour urinary sodium excretion after 1 year. The secondary outcomes are the long-lasting effectiveness on salt intake and blood pressure measured by the same method, as well as salt-related KAP and blood pressure at the 1-year and 2-year follow-ups. Process evaluation and health economics analysis will be conducted as well. ETHICS AND DISSEMINATION: The study was reviewed and approved by the Institutional Review Board of the National Center for Chronic and Noncommunicable Disease Control and Prevention, the Chinese Center for Disease Control and Prevention, and Queen Mary Research Ethics Committee. Results will be disseminated through presentations, publications and social media. TRIAL REGISTRATION NUMBER: ChiCTR1800018119.

Unintentional Injury Mortality Among Children Under Five Years - China, 2006-2017.

What is already known about this topic? Unintentional injuries among children aged under five years is still a serious public health problem in China. Epidemiological characteristics of under-five unintentional injury are reported in single provinces and cities for China but not nationally based on the Disease Surveillance Points (DSPs) dataset. What is added by this report? Unintentional injury mortality rates for under-five decreased substantially between 2006 and 2017 in China, with the decrease occurring primarily for males and rural children. Children living in rural areas and males had higher unintentional injury mortality rates than children in urban areas and females. The major fatal types of under-five unintentional injury were drowning and road injury. What are the implications for public health practice? Further interventions need to be taken in accordance with the main types of unintentional injuries, especially effective prevention strategies used in other countries or recommended by the World Health Organization (WHO). Even with equal access to injury prevention and control services for different sexes, policy efforts should focus on higher-risk populations, especially children aged under five years who are males or reside in rural areas.