We study the balance problem caused by forward leaning of the wearer's upper body during rehabilitation training with a lower limb rehabilitation exoskeleton. The instantaneous capture point is obtained by modelin...We study the balance problem caused by forward leaning of the wearer's upper body during rehabilitation training with a lower limb rehabilitation exoskeleton. The instantaneous capture point is obtained by modeling the human-exoskeleton system and using the capture point theory. By comparing the stability region with instantaneous capture points of different gait phases, the balancing characteristics of different gait phases and changes to the equilibrium state in the gait process are analyzed. Based on a model of the human-exoskeleton system and the condition of balance of different phases, a trajectory correction strategy is pro-posed for the instability of the human-exoskeleton system caused by forward leaning of the wearer's upper body. Finally, the reliability of the trajectory correction strategy is verified by carrying out experiments on the Zhejiang University Lower Extremity Exoskeleton. The proposed trajectory correction strategy can respond to forward leaning of the upper body in a timely manner. Additionally, in the process of the center of gravity transferred from a double-support phase to a single-support phase, the ratio of gait cycle to zero moment point transfer is reduced correspondingly, and the gait stability is improved.展开更多
BACKGROUND Heart failure is a health burden responsible for high morbidity and mortality worldwide, and dilated cardiomyopathy(DCM) is one of the most common causes of heart failure. DCM is a disease of the heart musc...BACKGROUND Heart failure is a health burden responsible for high morbidity and mortality worldwide, and dilated cardiomyopathy(DCM) is one of the most common causes of heart failure. DCM is a disease of the heart muscle and is characterized by enlargement and dilation of at least one ventricle alongside impaired contractility with left ventricular ejection fraction < 40%. It is also associated with abnormalities in cytoskeletal proteins, mitochondrial ATP transporter, microvasculature, and fibrosis. However, the pathogenesis and potential biomarkers of DCM remain to be investigated.AIM To investigate the candidate genes and pathways involved in DCM patients.METHODS Two expression datasets(GSE3585 and GSE5406) were downloaded from the Gene Expression Omnibus database. The differentially expressed genes(DEGs) between the DCM patients and healthy individuals were identified using the R package “linear models for microarray data.” The pathways with common DEGs were analyzed via Gene Ontology(GO), Kyoto Encyclopedia of Genes and Genomes(KEGG), and gene set enrichment analyses. Moreover, a protein-protein interaction network(PPI) was constructed to identify the hub genes and modules. The MicroRNA Database was applied to predict the microRNAs(miRNAs) targeting the hub genes. Additionally, immune cell infiltration in DCM was analyzed using CIBERSORT.RESULTS In total, 97 DEGs(47 upregulated and 50 downregulated) were identified. GO analysis showed that the DEGs were mainly enriched in “response to growth factor,” “extracellular matrix,” and “extracellular matrix structural constituent.” KEGG pathway analysis indicated that the DEGs were mainly enriched in “protein digestion and absorption” and “interleukin 17(IL-17) signaling pathway.” The PPI network suggested that collagen type Ⅲ alpha 1 chain(COL3A1) and COL1A2 contribute to the pathogenesis of DCM. Additionally, visualization of the interactions between miRNAs and the hub genes revealed that hsa-miR-5682 and hsa-miR-4500 interacted with both 展开更多
基金Project supported by the National Natural Science Foundation of China(No.51805469)。
文摘We study the balance problem caused by forward leaning of the wearer's upper body during rehabilitation training with a lower limb rehabilitation exoskeleton. The instantaneous capture point is obtained by modeling the human-exoskeleton system and using the capture point theory. By comparing the stability region with instantaneous capture points of different gait phases, the balancing characteristics of different gait phases and changes to the equilibrium state in the gait process are analyzed. Based on a model of the human-exoskeleton system and the condition of balance of different phases, a trajectory correction strategy is pro-posed for the instability of the human-exoskeleton system caused by forward leaning of the wearer's upper body. Finally, the reliability of the trajectory correction strategy is verified by carrying out experiments on the Zhejiang University Lower Extremity Exoskeleton. The proposed trajectory correction strategy can respond to forward leaning of the upper body in a timely manner. Additionally, in the process of the center of gravity transferred from a double-support phase to a single-support phase, the ratio of gait cycle to zero moment point transfer is reduced correspondingly, and the gait stability is improved.
基金Supported by National Nature Science Foundation of China,No.81960051,No.8217021743,and No.82160060Project of High–Level Innovative Talents of Guizhou Province,No.[2016]4034Construction Funding from Characteristic Key Laboratory of Guizhou Province,No.[2021]313.
文摘BACKGROUND Heart failure is a health burden responsible for high morbidity and mortality worldwide, and dilated cardiomyopathy(DCM) is one of the most common causes of heart failure. DCM is a disease of the heart muscle and is characterized by enlargement and dilation of at least one ventricle alongside impaired contractility with left ventricular ejection fraction < 40%. It is also associated with abnormalities in cytoskeletal proteins, mitochondrial ATP transporter, microvasculature, and fibrosis. However, the pathogenesis and potential biomarkers of DCM remain to be investigated.AIM To investigate the candidate genes and pathways involved in DCM patients.METHODS Two expression datasets(GSE3585 and GSE5406) were downloaded from the Gene Expression Omnibus database. The differentially expressed genes(DEGs) between the DCM patients and healthy individuals were identified using the R package “linear models for microarray data.” The pathways with common DEGs were analyzed via Gene Ontology(GO), Kyoto Encyclopedia of Genes and Genomes(KEGG), and gene set enrichment analyses. Moreover, a protein-protein interaction network(PPI) was constructed to identify the hub genes and modules. The MicroRNA Database was applied to predict the microRNAs(miRNAs) targeting the hub genes. Additionally, immune cell infiltration in DCM was analyzed using CIBERSORT.RESULTS In total, 97 DEGs(47 upregulated and 50 downregulated) were identified. GO analysis showed that the DEGs were mainly enriched in “response to growth factor,” “extracellular matrix,” and “extracellular matrix structural constituent.” KEGG pathway analysis indicated that the DEGs were mainly enriched in “protein digestion and absorption” and “interleukin 17(IL-17) signaling pathway.” The PPI network suggested that collagen type Ⅲ alpha 1 chain(COL3A1) and COL1A2 contribute to the pathogenesis of DCM. Additionally, visualization of the interactions between miRNAs and the hub genes revealed that hsa-miR-5682 and hsa-miR-4500 interacted with both
