This paper describes the analysis and design of an assistive device for elderly people under development at the EgyptJapan University of Science and Technology（E-JUST） named E-JUST assistive device（EJAD）.Several e...This paper describes the analysis and design of an assistive device for elderly people under development at the EgyptJapan University of Science and Technology（E-JUST） named E-JUST assistive device（EJAD）.Several experiments were carried out using a motion capture system（VICON） and inertial sensors to identify the human posture during the sit-to-stand motion.The EJAD uses only two inertial measurement units（IMUs） fused through an adaptive neuro-fuzzy inference systems（ANFIS） algorithm to imitate the real motion of the caregiver.The EJAD consists of two main parts,a robot arm and an active walker.The robot arm is a 2-degree-of-freedom（2-DOF） planar manipulator.In addition,a back support with a passive joint is used to support the patient s back.The IMUs on the leg and trunk of the patient are used to compensate for and adapt to the EJAD system motion depending on the obtained patient posture.The ANFIS algorithm is used to train the fuzzy system that converts the IMUs signals to the right posture of the patient.A control scheme is proposed to control the system motion based on practical measurements taken from the experiments.A computer simulation showed a relatively good performance of the EJAD in assisting the patient.展开更多
The Sit-to-Stand （STS） is an activity most people perform numerous times daily. Standing up deals with the transition from two stabilized postures, namely seated to standing, with movement of all body segments excep...The Sit-to-Stand （STS） is an activity most people perform numerous times daily. Standing up deals with the transition from two stabilized postures, namely seated to standing, with movement of all body segments except the feet. During the STS the body＇s Center of Gravity （COG） is moved upward from a sitting position to a standing position without losing balance and requiring a good coordination of many muscles. Three main phases of the STS movement can be recognized. One begins to stand up by inclining the upper body forward, which moves body mass toward the feet in order to maintain balance after lift-off. Prior to leaving the chair, hip and knee extensor muscles are activated to provide antigravity support for these joints, this action is commonly referred to as ＂weight shift＂. Finally; after leaving the chair, the leg and trunk joints are straightened to achieve upright stance. The STS task can be considered of major importance for impaired and elderly people to achieve minimal mo- bility and independence. In this paper we detail a procedure for the design of assisting devices to be used for the STS. In par- ticular, an experimental procedure is described firstly to track and record point trajectories and the orientation of the trunk during the STS. This analysis is then used to get information for the design of assisting devices. A proposal and simulation results are presented for a novel mechatronic system. In particular, for the case under study experimental tests are used to drive the actua- tion system for the reported simulation. A functional mechatronic scheme is then proposed to control the device during its operation.展开更多
目的:不同年龄的膝骨关节炎患者采取何种坐起策略尚未达成共识。为此,文章通过Meta分析系统评估不同年龄的膝骨关节炎患者与健康人坐起的生物力学特征,分析不同年龄患者的坐起运动模式,为改善患者坐起功能提供参考。方法:截至2023年3月,...目的:不同年龄的膝骨关节炎患者采取何种坐起策略尚未达成共识。为此,文章通过Meta分析系统评估不同年龄的膝骨关节炎患者与健康人坐起的生物力学特征,分析不同年龄患者的坐起运动模式,为改善患者坐起功能提供参考。方法:截至2023年3月,在PubMed、Web of Science和中国知网等数据库进行文献检索,纳入膝骨关节炎患者和健康人群坐起的生物力学特征的观察性研究,要求研究对象为膝关节影像学Kellgren-Lawrence严重程度分级≥Ⅰ级的50岁以上的膝骨关节炎患者,且定期出现膝关节疼痛,并根据纳入排除标准对受试者进行年龄(50-60岁vs.60岁以上)及严重程度(轻中度患者vs.重度患者)亚组分析。运用Down and black改良量表进行文献质量评价,采用Stata 16.0软件进行亚组分析确定不同年龄与严重程度的膝骨关节炎患者坐起的生物力学特征。结果:共14项随机对照试验(824例受试者)纳入Meta分析,所有纳入文献质量平均得分为76.2分,评分范围为66.7-86.7分,均达到中、高质量,具有一定代表性。Meta分析结果发现:①相比健康人,膝骨关节炎患者坐起总时长(SMD=0.92,95%CI:0.76-1.09,P<0.001)、伸展阶段时长(SMD=0.46,95%CI:0.18-0.74,P=0.001)更久;相比膝骨关节炎轻中度患者,重度患者总时长增加更明显(P<0.001),且60岁以上患者比50-60岁患者伸展阶段时长增加更明显(P=0.001)。②相比健康人,膝骨关节炎患者坐起躯干屈曲活动度(SMD=0.64,95%CI:0.37-0.91,P<0.001)更大;膝关节屈曲活动度(SMD=-0.47,95%CI:-0.70至-0.24,P<0.001)和踝关节背屈活动度(SMD=-0.32,95%CI:-0.56至-0.08,P=0.01)更小,且60岁以上患者的膝关节屈曲活动度比50-60岁患者下降更明显(P<0.001)。③膝骨关节炎患者髋关节屈曲力矩峰值(SMD=-0.57,95%CI:-0.83至-0.31,P<0.001)、膝关节伸展力矩峰值(SMD=-0.83,95%CI:-1.08至-0.59,P<0.001)更小。结论:①60岁以上膝骨关节炎患者比50-60岁患者坐�展开更多
The purpose of this study was to examine the hypothesis that the minimum angle-jerk with via-point model could account for the temporal consistency of kinematics in sit-to-stand (STS) and back-to-sit (BTS) movements. ...The purpose of this study was to examine the hypothesis that the minimum angle-jerk with via-point model could account for the temporal consistency of kinematics in sit-to-stand (STS) and back-to-sit (BTS) movements. The positions of bony landmarks on the subjects during the tasks were recorded using a Vicon motion analysis system to yield the angular displacement and position of the center of mass (COM) of a three-link rigid body model in the sagittal plane. Minimum angle-jerk and minimum jerk trajectories with a via-point were computed for joint angle and COM, respectively. Five to six candidate points were selected as the via-point from the measured trajectory based on the separate kinematic events. The results show the optimal angular trajectories using the via-points (via-angles) before the seat-off for STS, and at around the seat-contact for BTS resembles the measured angular trajectories well, indicating that the posture at the via-point was temporally optimal to produce the minimum angle-jerk trajectory for both movements. It is hypothesized that the multi-joint angular patterns during STS and BTS movements were organized to pass through the via-point, namely the via-posture along the minimum angle-jerk trajectory.展开更多
Standing up refers to the transition from the seating to the standing postures to perform a movement that involves several body segments and requires both voluntary action and equilibrium control during an important d...Standing up refers to the transition from the seating to the standing postures to perform a movement that involves several body segments and requires both voluntary action and equilibrium control during an important displacement of the body Centre of Gravity （COG）. This task can be considered very important for people with reduced mobility to achieve minimal independence in Activity of Daily Living （ADL）. In this paper, we propose solutions for the homecare of persons with reduced mobility, describing a functional design to customize assisting devices for the Sit-to-Stand （STS）. In particular, the support mechanism that generates the requested motion and sustains the body of a person can be synthesized ad-hoc according to the experimental data of the subject. Experimental tests carried out during the Sit-To-Stand are used to track and record point trajectories and the orientation of the trunk of an individual, and they are used to design a 1-DOF mechanism able to reproduce the assigned rigid-body motion. A four-bar linkage has been synthesized according to the desired features. Simulation results are reported to illustrate the engineering soundness of the proposed mechatronic solution.展开更多
Every year more than 5 million people worldwide become hemiplegic as a direct consequence of stroke. This neurological deficiency, often leads to a partial or a total loss of standing up abilities and/or ambulation sk...Every year more than 5 million people worldwide become hemiplegic as a direct consequence of stroke. This neurological deficiency, often leads to a partial or a total loss of standing up abilities and/or ambulation skills. In order to propose new supporting solutions lying between the wheelchair and the walker, this paper presents a technological strategy for designing an assistive device for a biomechanical study of the Sit-To-Stand movement （STS）. The control algorithms are implemented in TwinCAT runtime environment. The communi- cation between the component and the control computer is ensured via the EtherCAT fieldbus. The aim of this architecture lies in the fact that it allows a quick development of a research prototype with the same safety issues found on an industrial machine. An experimental test of the STS strategy is presented and discussed in order to evaluate the strategy.展开更多
基金supported in part by a scholarship provided by the Mission DepartmentMinistry of Higher Education of the Government of Egypt
文摘This paper describes the analysis and design of an assistive device for elderly people under development at the EgyptJapan University of Science and Technology（E-JUST） named E-JUST assistive device（EJAD）.Several experiments were carried out using a motion capture system（VICON） and inertial sensors to identify the human posture during the sit-to-stand motion.The EJAD uses only two inertial measurement units（IMUs） fused through an adaptive neuro-fuzzy inference systems（ANFIS） algorithm to imitate the real motion of the caregiver.The EJAD consists of two main parts,a robot arm and an active walker.The robot arm is a 2-degree-of-freedom（2-DOF） planar manipulator.In addition,a back support with a passive joint is used to support the patient s back.The IMUs on the leg and trunk of the patient are used to compensate for and adapt to the EJAD system motion depending on the obtained patient posture.The ANFIS algorithm is used to train the fuzzy system that converts the IMUs signals to the right posture of the patient.A control scheme is proposed to control the system motion based on practical measurements taken from the experiments.A computer simulation showed a relatively good performance of the EJAD in assisting the patient.
文摘The Sit-to-Stand （STS） is an activity most people perform numerous times daily. Standing up deals with the transition from two stabilized postures, namely seated to standing, with movement of all body segments except the feet. During the STS the body＇s Center of Gravity （COG） is moved upward from a sitting position to a standing position without losing balance and requiring a good coordination of many muscles. Three main phases of the STS movement can be recognized. One begins to stand up by inclining the upper body forward, which moves body mass toward the feet in order to maintain balance after lift-off. Prior to leaving the chair, hip and knee extensor muscles are activated to provide antigravity support for these joints, this action is commonly referred to as ＂weight shift＂. Finally; after leaving the chair, the leg and trunk joints are straightened to achieve upright stance. The STS task can be considered of major importance for impaired and elderly people to achieve minimal mo- bility and independence. In this paper we detail a procedure for the design of assisting devices to be used for the STS. In par- ticular, an experimental procedure is described firstly to track and record point trajectories and the orientation of the trunk during the STS. This analysis is then used to get information for the design of assisting devices. A proposal and simulation results are presented for a novel mechatronic system. In particular, for the case under study experimental tests are used to drive the actua- tion system for the reported simulation. A functional mechatronic scheme is then proposed to control the device during its operation.
文摘目的:不同年龄的膝骨关节炎患者采取何种坐起策略尚未达成共识。为此,文章通过Meta分析系统评估不同年龄的膝骨关节炎患者与健康人坐起的生物力学特征,分析不同年龄患者的坐起运动模式,为改善患者坐起功能提供参考。方法:截至2023年3月,在PubMed、Web of Science和中国知网等数据库进行文献检索,纳入膝骨关节炎患者和健康人群坐起的生物力学特征的观察性研究,要求研究对象为膝关节影像学Kellgren-Lawrence严重程度分级≥Ⅰ级的50岁以上的膝骨关节炎患者,且定期出现膝关节疼痛,并根据纳入排除标准对受试者进行年龄(50-60岁vs.60岁以上)及严重程度(轻中度患者vs.重度患者)亚组分析。运用Down and black改良量表进行文献质量评价,采用Stata 16.0软件进行亚组分析确定不同年龄与严重程度的膝骨关节炎患者坐起的生物力学特征。结果:共14项随机对照试验(824例受试者)纳入Meta分析,所有纳入文献质量平均得分为76.2分,评分范围为66.7-86.7分,均达到中、高质量,具有一定代表性。Meta分析结果发现:①相比健康人,膝骨关节炎患者坐起总时长(SMD=0.92,95%CI:0.76-1.09,P<0.001)、伸展阶段时长(SMD=0.46,95%CI:0.18-0.74,P=0.001)更久;相比膝骨关节炎轻中度患者,重度患者总时长增加更明显(P<0.001),且60岁以上患者比50-60岁患者伸展阶段时长增加更明显(P=0.001)。②相比健康人,膝骨关节炎患者坐起躯干屈曲活动度(SMD=0.64,95%CI:0.37-0.91,P<0.001)更大;膝关节屈曲活动度(SMD=-0.47,95%CI:-0.70至-0.24,P<0.001)和踝关节背屈活动度(SMD=-0.32,95%CI:-0.56至-0.08,P=0.01)更小,且60岁以上患者的膝关节屈曲活动度比50-60岁患者下降更明显(P<0.001)。③膝骨关节炎患者髋关节屈曲力矩峰值(SMD=-0.57,95%CI:-0.83至-0.31,P<0.001)、膝关节伸展力矩峰值(SMD=-0.83,95%CI:-1.08至-0.59,P<0.001)更小。结论:①60岁以上膝骨关节炎患者比50-60岁患者坐�
文摘The purpose of this study was to examine the hypothesis that the minimum angle-jerk with via-point model could account for the temporal consistency of kinematics in sit-to-stand (STS) and back-to-sit (BTS) movements. The positions of bony landmarks on the subjects during the tasks were recorded using a Vicon motion analysis system to yield the angular displacement and position of the center of mass (COM) of a three-link rigid body model in the sagittal plane. Minimum angle-jerk and minimum jerk trajectories with a via-point were computed for joint angle and COM, respectively. Five to six candidate points were selected as the via-point from the measured trajectory based on the separate kinematic events. The results show the optimal angular trajectories using the via-points (via-angles) before the seat-off for STS, and at around the seat-contact for BTS resembles the measured angular trajectories well, indicating that the posture at the via-point was temporally optimal to produce the minimum angle-jerk trajectory for both movements. It is hypothesized that the multi-joint angular patterns during STS and BTS movements were organized to pass through the via-point, namely the via-posture along the minimum angle-jerk trajectory.
文摘Standing up refers to the transition from the seating to the standing postures to perform a movement that involves several body segments and requires both voluntary action and equilibrium control during an important displacement of the body Centre of Gravity （COG）. This task can be considered very important for people with reduced mobility to achieve minimal independence in Activity of Daily Living （ADL）. In this paper, we propose solutions for the homecare of persons with reduced mobility, describing a functional design to customize assisting devices for the Sit-to-Stand （STS）. In particular, the support mechanism that generates the requested motion and sustains the body of a person can be synthesized ad-hoc according to the experimental data of the subject. Experimental tests carried out during the Sit-To-Stand are used to track and record point trajectories and the orientation of the trunk of an individual, and they are used to design a 1-DOF mechanism able to reproduce the assigned rigid-body motion. A four-bar linkage has been synthesized according to the desired features. Simulation results are reported to illustrate the engineering soundness of the proposed mechatronic solution.
文摘Every year more than 5 million people worldwide become hemiplegic as a direct consequence of stroke. This neurological deficiency, often leads to a partial or a total loss of standing up abilities and/or ambulation skills. In order to propose new supporting solutions lying between the wheelchair and the walker, this paper presents a technological strategy for designing an assistive device for a biomechanical study of the Sit-To-Stand movement （STS）. The control algorithms are implemented in TwinCAT runtime environment. The communi- cation between the component and the control computer is ensured via the EtherCAT fieldbus. The aim of this architecture lies in the fact that it allows a quick development of a research prototype with the same safety issues found on an industrial machine. An experimental test of the STS strategy is presented and discussed in order to evaluate the strategy.
