A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused by stroke is proposed in this paper. Its hardware structure is introduced and the control methods are ana- lyzed. To impleme...A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused by stroke is proposed in this paper. Its hardware structure is introduced and the control methods are ana- lyzed. To implement intelligent and interactive rehabilitation exercises, motion intention of patients＇ up- per limb is introduced into control methods of rehabilitation exercises. In passive motions, according to the character of unilateral impaired, multi-channels surface electromyogram （sEMG） signals of patients＇ healthy arm muscles are acquired and analyzed to recognize the upper limb motions, then drive the robot and assist paralysis ann＇s rehabilitation exercises. In active-resistant motions, because patients are re- covered with some muscle forces and active motion ability after a rehabilitation period, the terminal force loaded on the robot by an impaired arm are estimated with multi-channel joint torque sensors, according to which, the terminal velocity of the robot is controlled to drive the joint motions with a damp controller.展开更多
The m ajor advantages of EBS-based key rrkanagerrent scheme are its enhanced network survivability, high dynamic performance, and better support for network expansion. But it suffers from the collusion problem, which ...The m ajor advantages of EBS-based key rrkanagerrent scheme are its enhanced network survivability, high dynamic performance, and better support for network expansion. But it suffers from the collusion problem, which means it is prone to the cooperative attack of evicted members. A novel EBS-based collusion resistant group management scheme utilizing the construction of Ciphertext-Policy Attribute-Based Encryption （CP-ABE） is proposed. The new scheme satisfies the desired security properties, such as forward secrecy, backward secrecy and collusion secrecy. Compared with existing EBS-based key rmnagement scheme, the new scheme can resolve EBS collusion problem completely. Even all evicted members work together, and share their individual piece of information, they could not access to the new group key. In addition, our scheme is more efficient in terms of conmnication and computation overhead when the group size is large. It can be well controlled even in the case of large-scale application scenarios.展开更多
基金supported by the High Technology Research and Development Programme of China(No.2004AA421030)
文摘A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused by stroke is proposed in this paper. Its hardware structure is introduced and the control methods are ana- lyzed. To implement intelligent and interactive rehabilitation exercises, motion intention of patients＇ up- per limb is introduced into control methods of rehabilitation exercises. In passive motions, according to the character of unilateral impaired, multi-channels surface electromyogram （sEMG） signals of patients＇ healthy arm muscles are acquired and analyzed to recognize the upper limb motions, then drive the robot and assist paralysis ann＇s rehabilitation exercises. In active-resistant motions, because patients are re- covered with some muscle forces and active motion ability after a rehabilitation period, the terminal force loaded on the robot by an impaired arm are estimated with multi-channel joint torque sensors, according to which, the terminal velocity of the robot is controlled to drive the joint motions with a damp controller.
基金Acknowledgements The authors would like to thank the reviewers for their detailed reviews and constructive comments, which have helped improve the quality of this paper. This work was supported by the National Natural Science Foundation of China under Crant No. 60873231, the Natural Science Foundation of Jiangsu Province under Grant No. BK2009426, Major State Basic Research Development Program of China under Cwant No.2011CB302903 and Key University Science Research Project of Jiangsu Province under Crant No. 11KJA520002.
文摘The m ajor advantages of EBS-based key rrkanagerrent scheme are its enhanced network survivability, high dynamic performance, and better support for network expansion. But it suffers from the collusion problem, which means it is prone to the cooperative attack of evicted members. A novel EBS-based collusion resistant group management scheme utilizing the construction of Ciphertext-Policy Attribute-Based Encryption （CP-ABE） is proposed. The new scheme satisfies the desired security properties, such as forward secrecy, backward secrecy and collusion secrecy. Compared with existing EBS-based key rmnagement scheme, the new scheme can resolve EBS collusion problem completely. Even all evicted members work together, and share their individual piece of information, they could not access to the new group key. In addition, our scheme is more efficient in terms of conmnication and computation overhead when the group size is large. It can be well controlled even in the case of large-scale application scenarios.
