Life care for disabled or semi-disabled elderly has become an increasingly common problem in society. In this paper, a novel wheelchair-stretcher assistive robot, which can meet the physiological needs of patients, is investigated and designed. The following tasks are conducted: (1) mecanum wheel adopted as executive device walking mechanism, its kinematics analyzed detail. (2) A five-link mechanism with single degree freedom proposed to realize folding motion robot. Through minimum...

Person transfer is a major problem for nursing in home and clinical, this becoming more prominent with the development of aging society change population structure. In article, novel person assist system named E-Pat (Easy-Patient Transfer), which can meet needs patient between beds, has been designed analyzed. The importance originality study are that it explores theoretical design method device to enhance comfortably when transferred, put into practice. main tasks completed article include:...

The 127-element adaptive optical system, which consists of a tracking loop with tip-tilt mirror, system and processor, wavefront correction deformable Hartmann-Shack sensor, had been developed integrated into the 1.8m astronomical telescope in September 2009. First observations on high resolution imaging for stars done from 23 2009 first light to March 2010. In this paper, is described briefly star observation results run are reported. show angular can attain or approach diffraction limit at...

Muscle weakness is the primary impairment causing mobility difficulty among stroke survivors. Millions of people are unable to live normally because every year. Strength training an effective method improve lower extremity ability but limited by shortage medical staff. Thus, this paper proposes a robot-assisted active (RAAT) adaptive admittance control scheme with virtual reality interaction (AACVRI). AACVRI consists stiffness variable controller, and (VR) interactions. In order provide...

Most existing finger rehabilitation robots are structurally complex and cannot be adapted to multiple work conditions, such as clinical home. In addition, there is a lack of attention active adduction/abduction (A/A) movement, which prevents stroke patients from opening the joint in time affects process. this paper, an end-effector robot (EFRR) with A/A motion that can applied variety applications proposed. First, natural movement curve analyzed, basis mechanism design. Based on working...

Hand rehabilitation is critical to the recovery of post-stroke patients. However, designing a modular mechanism hand improve human-machine compatibility and precision operation still challenge. This paper proposes new type exoskeleton robot with nine degrees freedom. With flexible rods, passive range motion for finger adduction/abduction extended under premise independent flexion/extension metacarpophalangeal proximal interphalangeal joint. Based on anatomy, relationship between offset joint...

Minimally invasive surgery has advantage of reducing the size body's trauma, post-operative pain and length hospital stay. This paper proposes a new type propulsion mechanism that can simulate specific operations human hands in vascular interventional procedures. We conducted detailed structural design analysis this so device perform function delivering catheter guide wire simultaneously or separately. The allows for easy disassembly meets requirements real-time monitoring delivery...

Most lower limb rehabilitation robots use fixed training trajectories and lack participation of physiotherapists. In addition, there is a attention on combining direct teaching function with robots, which enables physiotherapists to plan directly. this paper, an adaptive variable load that can be applied the sitting/lying robot-II (LLR-II) proposed. First, structural design electrical system LLR-II are introduced. The dynamic equation considering joint flexibility derived analyzed. Then,...

Praseodymium (Pr) lasers have achieved outstanding pico- and sub-picosecond pulsations covering the near-infrared (NIR) visible spectral range in recent years. However, it has been a stagnant task for more than two decades to leapfrog into sub-100 femtosecond (fs) regime as Pr gain bandwidths are too narrow their major transition lines. Although wide tunability at NIR bands Pr:YLF crystals explored, tails these transitions suffer severely from weak gains mode locking, combined with intricate...

Patient transfer has always been a difficult problem in the hospital. For medical staff, there are problems including high risk of infection, heavy physical labor and low efficiency transfer; for patients, poor comfort secondary injury. In this paper, novel bilateral patient robot is investigated designed. The following tasks conducted: (1) Based on process transfer, model, which consists two degrees freedom, proposed, working principle obtained analyzed detail. (2) Force analysis conducted....

Patient transfer has always been a difficult problem, usually requiring multiple caregivers to work together, which is time consuming and can easily cause secondary injuries the patient. In addition, with crisis of COVID-19, issue patient even more critical, as are at high risk infection, causing significant damage healthcare resources. this paper, assist system named E-pat-plus (Easy Transfer plus) proposed; it in transferring patients, reduce direct contact between them, avoid injuries....

The morbidity of cerebral apoplexy is as high 75%, there are 5-6 million patients with but no corresponding amount rehabilitation therapists. They need training robot urgently. A novel terminal-guided for finger was proposed. has 12 degrees freedom, which can train the twelve joints four fingers except thumb. kinematics index system, composed and device, solved. An algorithms put forward what determining largest internal circle in space. Kinematics simulation two kinds trajectory suitable...

The connector of 10kv power cable mainly includes two kinds cold shrinking and heat shrinking. requirements for the manufacturing process shrink joint are low, but price is high, cheap high. In Tianjin Electric Power Company, both joints widely used. Due to harsh operating environment, water ingress a major problem connectors. To compare performance these under conditions, their partial discharge breakdown characteristics were compared. Cold-shrink heat-shrink with water-intake defects...

摘要： 针对现有手部康复机器人精细化操作不足与人机相容性较差的问题,从脑卒中临床康复需求出发,基于人体解剖学理论,提出一种新型欠驱动食指外骨骼康复机器人。采用2-UPS并联机构与鲍登线的新型组合设计,实现了掌指关节二自由度主动康复运动,提高了机器人精细化操作能力;在设计过程中将指骨作为人机闭式运动链的组成部分,并探讨了食指屈曲/伸展与内收/外展运动的耦合关系,完善了患者康复训练中的约束条件,使机器人运动与人体自然运动更加协调,提高了机器人的人机相容性;求解了机构的运动学反解,分析了机构的工作空间并完成了仿真验证;搭建实验样机并开展了机构性能测试,基于对15个被试开展的人机工程学与康复运动舒适性的调查问卷结果,采用层次分析法对设备进行了评价,结果表明该机构可以满足使用者的康复需求。

In this paper, a finger rehabilitation robot with flexion/extension function is developed. This device consists of four-finger mechanism and thumb mechanism. The modular designed, the metacarpophalangeal joint proximal interphalangeal has an active degree freedom (DoF). hardware system software were built, preliminary experiments carried out, including passive movement single multi-finger movement. results show range motion can meet requirements rehabilitation, it able to carry out training...

Abstract This paper introduces the design of remote control for a novel patient transfer apparatus. First, overall system is put forward based on working principle, and requirements Second, voltage regulator circuit MC34063 designed to fit OLED displayer, parameters such as filter capacitor have been determined. Next, wireless communication unit adopted CC1110 instruction code introduced. Then, interaction interface finished facilitate implementation adjustment functions. finally, simulation...

Abstract This paper proposes a prototype of novel end-traction finger rehabilitation robot with flexion/extension and adduction/abduction functions. The degree freedom (DoF) joint torque single-finger module has been analysed, the calculation selection motor driving force are completed. Finally, design details mechanism hardware system illustrated. device minimized mechanical size to some extent by using only one for single finger, which also reduces cost increases possibility industrial...