The ankle is a crucial joint that supports the human body weight. An sprain will adversely affect patient's daily life, so it of great significance to ensure its strength. To help patients with dysfunction carry out effective rehabilitation training, bone structure and motion mechanism were analyzed in this paper. Referring configuration lower-mobility parallel mechanism, 3-RRS (R S denote revolute spherical respectively) robot (PARR) was proposed. can realize both single compound training....

Abstract Safety is a crucial performance indicator for rehabilitation medical equipment; This paper proposes safety evaluation method parallel cable-driven upper limb robot (PCUR), wherein the of training monitored in real-time through establishment factor. The stability factor determined by position moving platform's (MP) center point, cable force, and system stiffness, while speed defined movement patient's limb. calculated as product A simulation analysis PCUR conducted validity proposed...

Abstract Cable-guiding mechanisms (CGMs) and the stiffness characteristics directly influence dynamic features of cable-driven upper limb rehabilitation robot (PCUR), which will affect PCUR’s performance. This paper introduces a novel CGM design. Given precision movement stability considerations mechanism, an analytical model is developed. Using this model, we analyze error derive velocity acceleration mappings from moving platform to cables. Continuity cable trajectory tension rigorously...

Aiming at solving the problems of existing lower limb rehabilitation robots on aspects configuration limitations, human–machine compatibility, gravity compensation, and multimodal rehabilitation, a movable cable-driven robot (MCLR) is proposed in this paper, which can realize gait training walking passive mode, initiative assistive mode. First, structure working principle MCLR introduced. The traction type further optimized. Second, key control force servo system are analyzed detail. In...

Ni-MOF, as a metal–organic framework, has the advantages of morphological diversity and adjustable composition, which make its derivatives attractive for electromagnetic wave absorption. However, it is challenging Ni-MOF to obtain strong absorption at low filling rates. Herein, ternary Ni@C/PPy composites based on were synthesized by cooperatively coupling magnetic Ni@C nanoparticles with conductive polymer PPy matrix through facile self-assembly method. Among them, are formed after...

In order to meet the higher requirements of energy-absorbing structures in lightweight automobile design, mechanical design and impact energy absorption porous TPMS are studied. Eight kinds structure elements, Gyroid, Diamond, I-WP, Neovius, Primitive, Fischer-Koch S, F-RD, PMY, designed based on Matlab, samples composed eight elements printed molded using SLM. The deformation mechanism, response, characteristics different investigated. Gyroid Primitive selected fill internal boxes....

This paper presents a cable driven astronaut rehabilitative training (ART) robot, which can provide astronauts with multiple physical exercises including bench press, running, and deep squat to alleviate resist the adverse effects induced by space adaptation syndrome. First, modular reconfiguration of ART is proposed simulate load characteristics gravity environment. Second, in order improve accuracy ART, force control strategy presented. The controller consists two parts: high-level...

A power-split hybrid electric vehicle with a dual-planetary gearset is researched in this paper. Based on the lever analogy method of planetary gearsets, device theoretically modeled, and driveline simulation model built by using modeling toolboxes MATLAB. Six operation modes are discussed detail, kinematic constraint behavior power sources analyzed. To verify rationality modeling, rule-based control strategy (RB) an adaptive equivalent consumption minimization (A-ECMS) designed based finite...

When addressing the technical challenges of achieving precise force tracking during local polishing process robots, controlling contact state between robot and workpiece surface is essential. To this end, a motion-planning strategy based on dynamic systems designed to generate trajectory routes polishing. The simulation modulation system achieved through employment support vector regression (SVR) algorithm with Gaussian kernel, facilitating learning process. feasibility stability planning...

This paper studies the stiffness of parallel cable-driven upper limb rehabilitation robot (PCUR). Firstly, it was derived that static expression PCUR composed platform pose

Manned spaceflight has already become an important approach to space science exploration, while long-term exposure the microgravity environment will lead severe health problems for astronauts, including bone loss, muscle atrophy, and cardiovascular function decline. In order mitigate or eliminate those negative influences, this paper presents a cable-driven exercise equipment that can be applied in render multi-functional on-orbit physical modes astronauts. First, structure of cable module...

A novel Astronaut Rehabilitative Training Robot (ART) based on a cable-driven mechanism is represented in this paper. ART, typical passive force servo system, can help astronauts to bench press microgravity environment. The purpose of paper design controllers eliminate the surplus caused by an astronaut's active movements. Based dynamics modelling unit, hybrid controller improved credit assignment CMAC (ICMAC) presented. planning method for cable tension proposed so that dynamic load...

To solve the technical problems associated with research on lower limb rehabilitation robot in terms of configuration design, human-machine compatibility, lightweight, and multimodel rehabilitation.

In order to help patients with lower-limb dysfunction, a movable cable-driven rehabilitation robot was designed restore their motor function and improve quality of life. Through controlling the position / posture force lower limb, can achieve comprehensive trainings limbs. The assist in different stages carry out training passive, assistant active mode. kinematics modeling, statics modeling workspace analysis were worked out, configurations analyzed optimized based on these. Continuous cable...

An astronaut rehabilitative training robot based on the parallel wire driven mechanism is presented to help astronauts do bench press in microgravity environment.To solve problems that internal and external disturbances are large,an active disturbance rejection force controller of dynamics analysis a single unit.To verify performance controller,simulation experiments conducted by comparing with PID controller.The results show this has good dynamic static performances,strong anti-interference...

Abstract The engagement theory for dog Clutch was analyzed and the dynamic model of its process established. uncertain result shift success or failure described from meshing probability clutch used in AMT electric vehicle Afterwards, factors affecting were by Matlab/Simulink simulation optimal speed differences different gears are defined. Finally, validity accuracy theoretical analysis ware verified experiments. results can be designing strategy as well improving quality mechanism which AMT.

Keeping astronauts physically healthy in the harsh space environment is a key to successful execution of mission. Long-term missions weightless environment, however, can result adaptation syndrome, which seriously affects astronauts' health. To alleviate adverse effects, this paper proposes wire driven astronaut rehabilitative training robot that simulates characteristics gravity and load force on astronauts. The realize multiple physical exercises including running, bench press, deep squat....