Three-Dimensional Biomechanical Modeling for Sitting Contact Stress Analysis.

This paper proposes a three-dimensional biomechanical model of the upper body and analyzes the interaction between the upper body and aircraft seat backrest for different sitting postures and backrest recline angles. The reclined sitting postures of the upper body are defined based on the available spine biomechanical data and the multibody inverse kinematics method. The contact loadings on each contacted spine segment are calculated based on the Newton-Euler dynamic formulation. The backrest contact pressure distribution is simulated using the contact stress theory based on the calculated forces on the backrest. The resultant force and pressure distribution show how the backrest inclination and lateral bending of the trunk affect the backrest loading and contact condition. The simulation results are compared to the experimental measurement for validation, and a good correspondence is found. The parameters, including the average and maximum pressure, and pressure standard deviation based on the pressure distribution, are also compared, and the maximum simulation error is 11.5% on the average pressure. Limitations of the model are discussed. The model proposed in this paper can analyze more posture cases than previous studies that focused on the two-dimensional scenarios. The loading and pressure prediction model can be applied for backrest design evaluation and facilitate seat design optimization.

Study of Obstacle-Crossing and Pitch Control Characteristic of a Novel Jumping Robot.

In this study, we demonstrated a novel jumping robot that has the ability of accurate obstacle-crossing jumping and aerial pitch control. The novel robot can quickly leap high into the air with a powerful water jet thruster. The robot was designed to overcome multiple general obstacles via accurate jumping. Then a modified whale optimization algorithm (MWOA) was proposed to determine an optimized jumping trajectory according to the form of obstacles. By comparing with classical intelligent optimization algorithms, the MWOA revealed superiority in convergence rate and precision. Besides, the dynamics model of aerial pitch control was built and its effect was verified by the pitch control experiment. Lastly, the robot's obstacle-crossing experiments were performed and the results validated the robot's good ability of obstacle-crossing and aerial body righting. We believe the optimization of trajectory and the pitch control are of great help for the jumping robot's complex jumping and obstacle-crossing performance.

Analysis and modeling of human seat interaction with a focus on the upper body and backrest using biomechanics and contact mechanics.

BACKGROUND: This paper outlines a method to study the interaction between the human body and the aircraft seat concerning the seat comfort. METHOD: Firstly, the human body is modeled based on biomechanics and divided into a number of body segments connected by joints according to human anatomy. The angles between the body segments are obtained by curve fitting of the existing biomechanical research data. The contact forces between the human body and the seat are modeled using pairs of bi-lateral point forces. These forces are calculated and located through the analysis of the center of gravity of each body segment and average muscular structure of the human body. The geometry of the human and the seat is obtained from a 3D scan model or a CAD model. Secondly, the pressure distribution between the human body and the seat is modeled and calculated using the contact stress theory. The results of the two parts are combined to analyze the comfortability in relation to different postures, backrest recline angles and changing in shape and material. RESULTS: Simulations were performed and they are compared with experimental measurement and various FEM studies for validation. It is found that accuracy of this method is comparable with most FEM calculation. CONCLUSION: This method provides a new direction in cushion conform research. It is faster and convenient to use comparing to the FEM, and the result is reliable.

Man-machine interaction-based motion control of a robotic walker.

BACKGROUND: The aging population brings the problem of healthcare and dyskinesia. The lack of mobility extremely affects stroke patient's activities of daily living (ADL) and decreases their quality of life. To assist these mobility-limited people, a robotic walker is designed to facilitate gait rehabilitation training. OBJECTIVE: The aim of this paper is to present the implementation of a novel motion control method to assist disabled people based on their motion intention. METHODS: The kinematic framework of the robotic walker is outlined. We propose an intention recognition algorithm based on the interactive force signal. A novel motion control method combined with T-S fuzzy controller and PD controller is proposed. The motion controller can recognize the intention of the user through the interactive force, which allows the user to move or turn around as usual, instead of using their hands to control the walker. RESULTS: Preliminary experiments with healthy individuals and simulated patients are carried out to verify the effectiveness of the algorithm. The results show that the proposed motion control approach can recognize the user's intention, is easy to control and has a higher precision than the traditional proportional-integral-derivative controller. CONCLUSION: The results show that users could achieve the task with acceptable error, which indicates the potential of the proposed control method for gait training.

Tip-Over Stability Analysis of a Pelvic Support Walking Robot.

Discussed in this paper is the tip-over stability analysis of a pelvic support walking robot. To improve the activities of daily living (ADL) in hemiplegic patients, a pelvic support walking robot is proposed to help patients facilitating their rehabilitation. During the gait training with the robot, the abnormal man-machine interaction forces may lead to the tip-over of the robot, which is not beneficial to the rehabilitation process. A new method is proposed to predict the possibility of tipping over and evaluate the stability of the robot based on statics model, dynamics model, and zero-moment point (ZMP) theory. Through the interaction forces and moments analysis with static case, the safe point (ZMP) is studied, and the influence factors of force/moment are analyzed by dynamics case. An optimization algorithm based on the genetic algorithm (GA) is proposed to reduce the risk of tipping over. The simulation results show that the optimization algorithm can keep the robot from tipping over when the interaction forces exceed the safety threshold.

Pressure sensing of an aircraft passenger seat with lumbar control.

Musculoskeletal sitting discomfort, specifically caused by long-term sitting, is primarily triggered by physiological fatigue on the human body due to its own weight. Passive seat designs can produce inadequate surface pressure zones on the body resulting in high musculoskeletal stress leading to physical discomfort. However, as proposed in this work, this can be alleviated by decentralizing the occupant's weight with an automatic morphing lumbar seat design. The morphing seat design presented in this paper adjusts in real-time, the seat's surface curvature to decentralize the pressure distribution. The seat system consists of a custom-made pressure sensor mat embedded within the backrest cushion and two pneumatic actuators located in the lumbar area. The purpose of this seat design is to produce a change in the backrest surface curvature so that such change creates a pressure distribution closely resembling a reference distribution. Said reference distribution is derived in this work based on the concept of the Ideal Pressure Distribution. The effectiveness of the discomfort reduction due to the decentralization of the backrest load is evaluated using an objective discomfort metric known as Seat Pan Distribution percentage applied only to the backrest, peak pressure areas and contact area. Preliminary performance tests of the seat system demonstrate the successful decentralization of the passenger's pressure distribution. The evaluation of the discomfort reduction is observed via the lowering in the objective discomfort metric and peak pressure areas while simultaneously increasing the contact area between the passenger and seat.

Design and analysis of a novel fall prevention device for lower limbs rehabilitation robot.

BACKGROUND: Most stroke survivors are suffering from physical motor impairments and confronting with the risk of falls, and well trunk stability is essential for balance during daily functional activities. OBJECTIVES: Current fall prevention devices have various limits to the efficient recovery of balance function of the trunk. To provide hemiplegic patients after stroke with the retraining of trunk position sense and a safety environment, a novel fall prevention device is proposed. METHODS: Firstly, the structure of the device is introduced and this work is a first effort towards restoring trunk balance function through retraining of trunk position sense. Secondly, the kinematic and static model of the device are developed. Lastly, kinematic and static analysis are carried out to study the motion characteristics, and a contrast experiment was derived to show the effectiveness of robot. RESULTS: No obvious difference in balance ability between two groups prior treatment (P> 0.05). Fugl-Meyer assessment in all the cases were improved in different extent (P< 0.05). The robot group had significantly higher Fugl-Meyer scores after treatment than the control group (P< 0.05). CONCLUSIONS: The results show that the fall prevention device has good kinematic dexterity within the prescribed workspace and markedly improves balance function.

Force Analysis and Evaluation of a Pelvic Support Walking Robot with Joint Compliance.

The force analysis of a pelvic support walking robot with joint compliance is discussed in this paper. During gait training, pelvic motions of hemiplegic patients may be excessively large or out of control; however, restriction of pelvic motions is not likely to facilitate successful rehabilitation. A robot-assisted pelvic balance trainer (RAPBT) is proposed to help patients control the range of motion via force field, and force analysis is necessary for the control of the compliant joints. Thus, kinematic model and static model are developed to derive the Jacobian and the relation between the interaction forces and the pelvic movements, respectively. Since the joint compliance is realized through a nontorsional spring, a conventional (linear) Jacobian method and a piecewise linear method are derived to relate the interaction forces with the pelvis movements. Three preliminary experiments are carried out to evaluate the effectiveness of the proposed methods and the feasibility of the RAPBT. The experiment results indicate that the piecewise linear method is effective in the calculation of the interaction forces. Gait with pelvic brace strongly resembles free overground walking and partly decreases motion range via force field. The findings of this research demonstrate that the pelvic brace with joint compliance may provide effective interventions.

Iterative Learning Impedance for Lower Limb Rehabilitation Robot.

This paper discusses the problem of squatting training of stroke patients. The main idea is to correct the patient's training trajectory through an iterative learning control (ILC) method. To obtain better rehabilitation effect, a patient will typically be required to practice a reference posture for many times, while most of active training methods can hardly keep the patients training with correct posture. Instead of the conventional ILC strategy, an impedance-based iterative learning method is proposed to regulate the impedance value dynamically and smartly which will help patients correct their posture gradually and perform better. To facilitate impedance-based ILC, we propose two objectives. The first objective is to find the suitable values of impedance based on the ILC scheme. The second objective is to search the moderate learning convergence speed and robustness in the iterative domain. The simulation and experimental results demonstrate that the performance of trajectory tracking will be improved greatly via the proposed algorithm.

Measurement and reconstruction of the leaflet geometry for a pericardial artificial heart valve.

This paper describes the measurement and reconstruction of the leaflet geometry for a pericardial heart valve. Tasks involved include mapping the leaflet geometries by laser digitizing and reconstructing the 3D freeform leaflet surface based on a laser scanned profile. The challenge is to design a prosthetic valve that maximizes the benefits offered to the recipient as compared to the normally operating naturally-occurring valve. This research was prompted by the fact that artificial heart valve bioprostheses do not provide long life durability comparable to the natural heart valve, together with the anticipated benefits associated with defining the valve geometries, especially the leaflet geometries for the bioprosthetic and human valves, in order to create a replicate valve fabricated from synthetic materials. Our method applies the concept of reverse engineering in order to reconstruct the freeform surface geometry. A Brown & Shape coordinate measuring machine (CMM) equipped with a HyMARC laser-digitizing system was used to measure the leaflet profiles of a Baxter Carpentier-Edwards pericardial heart valve. The computer software, Polyworks was used to pre-process the raw data obtained from the scanning, which included merging images, eliminating duplicate points, and adding interpolated points. Three methods, creating a mesh model from cloud points, creating a freeform surface from cloud points, and generating a freeform surface by B-splines are presented in this paper to reconstruct the freeform leaflet surface. The mesh model created using Polyworks can be used for rapid prototyping and visualization. To fit a freeform surface to cloud points is straightforward but the rendering of a smooth surface is usually unpredictable. A surface fitted by a group of B-splines fitted to cloud points was found to be much smoother. This method offers the possibility of manually adjusting the surface curvature, locally. However, the process is complex and requires additional manipulation. Finally, this paper presents a reverse engineered design for the pericardial heart valve which contains three identical leaflets with reconstructed geometry.