Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplin...Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplinary areas. In this review, the typical products and prototypes of lower limb exoskeleton rehabilitation robots are introduced and stateof-the-art techniques are analyzed and summarized. Because the goal of rehabilitation training is to recover patients’ sporting ability to the normal level, studying the human gait is the foundation of lower limb exoskeleton rehabilitation robot research. Therefore, this review critically evaluates research progress in human gait analysis and systematically summarizes developments in the mechanical design and control of lower limb rehabilitation exoskeleton robots. From the performance of typical prototypes, it can be deduced that these robots can be connected to human limbs as wearable forms;further, it is possible to control robot movement at each joint to simulate normal gait and drive the patient’s limb to realize robot-assisted rehabilitation training. Therefore human–robot integration is one of the most important research directions, and in this context, rigid-flexible-soft hybrid structure design, customized personalized gait generation, and multimodal information fusion are three key technologies.展开更多
Reconfigurable mechanisms can deliberately reconfigure themselves by rearranging the connectivity of components to meet the different requirements of tasks.Metamorphic and origami-derived mechanisms are two kinds of t...Reconfigurable mechanisms can deliberately reconfigure themselves by rearranging the connectivity of components to meet the different requirements of tasks.Metamorphic and origami-derived mechanisms are two kinds of typical reconfigurable mechanisms,which have attracted increasing attention in the field of mechanisms since they were proposed.Improving the in dependent design level,innovation,and international competitive powers of reconfigurable mechanical products is important.Summarizing related significant innovation research and application achievements periodically will shed light on research directions and promote academic exchanges.This paper presents an overview of recent developments in innovation design of reconfigurable mechanisms in China,including metamorphic and origami mechanisms and their typical applications.The future development trends are analyzed and forecasted.展开更多
Automated fibre placement(AFP) systems have successfully intensified the demand for high-quality composite component manufacturing in both the military and civilian fields. One of the main elements of these systems is...Automated fibre placement(AFP) systems have successfully intensified the demand for high-quality composite component manufacturing in both the military and civilian fields. One of the main elements of these systems is the AFP mechanism for accomplishing individual fibre delivery,clamp/cut/restart(CCR) and the consolidation process, and it consists of several functional submechanisms presenting strong coupling relationships and motion sequences. This review aims to summarize the development of AFP mechanisms and the associated research achievements and provide insight into the research challenges in promoting innovative design in such mechanisms. The systematic development of AFP systems is reviewed in detail, and subsequently, engineering tendency and the general principle of AFP mechanisms are introduced. Focusing on the mechanism design of AFP sub-mechanisms, including the creel assembly CCR and compaction mechanisms,the mechanical schemes as well as the AFP process parameter control are discussed. To improve system reliability and fully optimise AFP mechanisms, the essential theoretical foundation for AFP mechanisms are provided. It is believed that this attempt will help to change the design and optimisation of similar complete mechanisms. Based on the reviewed research, overall remarks and perspectives are presented to serve as a guide for exploring the possibility of novel easy-to-use and cost-effective integrated AFP applications.展开更多
As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem o...As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem of insufficient medical resources. One of the main elements of such a human–robot coupling system is a control system to ensure human–robot coordination. This review aims to summarise the development of human–robot coordination control and the associated research achievements and provide insight into the research challenges in promoting innovative design in such control systems. The patients’ functional disorders and clinical rehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robot coordination of lower limb rehabilitation robots. Then, human–robot coordination is discussed in terms of three aspects: modelling, perception and control. Based on the reviewed research, the demand for robotic rehabilitation, modelling for human–robot coupling systems with new structures and assessment methods with different etiologies based on multi-mode sensors are discussed in detail, suggesting development directions of human–robot coordination and providing a reference for relevant research.展开更多
Spontaneously polarized crystals with intrinsic electric dipole moment have attracted immense interest as excellent functional materials for extensive applications.It is of great significance to engineer sustainable s...Spontaneously polarized crystals with intrinsic electric dipole moment have attracted immense interest as excellent functional materials for extensive applications.It is of great significance to engineer sustainable spontaneously polarized materials with fascinating characteristics and performance for activating air and water.Herein,a novel strategy based on the synergy of mechanical activation(MA)and biomimetic mineralization(BM)was created to construct spontaneously polarized ceramic.MA induced the structural damage of clay and promoted the dissolution of ions and the release of free proteins,contributing to the formation of silicate precursor in BM process.After high temperature firing,the silicate precursor in clay was converted to form KCa_(3)AlCa_(3)Si_(4)O_(16)(hexagonal crystal system,L^(6)symmetry type,and P63 space group)in the resulting spontaneously polarized ceramic.The non-centrosymmetric structure of KCa_(3)AlCa_(3)Si4O_(16)and the high intrinsic electric dipole moments contributed by K(1)polyhedrons resulted in high spontaneous polarization(0.2322μC/cm^(2))and far-infrared emissivity(0.951)of spontaneously polarized ceramic.In air,spontaneously polarized ceramic can activate H_(2)O and O_(2)molecules to form negative air ions owing to surface electric field.In water,spontaneously polarized ceramic can disaggregate large water clusters to form small water clusters ascribed to surface electric field and far-infrared emission;water pH can be regulated from weak acidity to approximate neutrality via the capture of electrons by H+ions to produce releasable hydrogen gas.This work provides great promise for rational design and synthesis of spontaneously polarized materials for functional applications.展开更多
基金Supported by National Key R&D Program of China(Grant No.2016YFE0105000)National Natural Science Foundation of China(Grant No.91848104)
文摘Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplinary areas. In this review, the typical products and prototypes of lower limb exoskeleton rehabilitation robots are introduced and stateof-the-art techniques are analyzed and summarized. Because the goal of rehabilitation training is to recover patients’ sporting ability to the normal level, studying the human gait is the foundation of lower limb exoskeleton rehabilitation robot research. Therefore, this review critically evaluates research progress in human gait analysis and systematically summarizes developments in the mechanical design and control of lower limb rehabilitation exoskeleton robots. From the performance of typical prototypes, it can be deduced that these robots can be connected to human limbs as wearable forms;further, it is possible to control robot movement at each joint to simulate normal gait and drive the patient’s limb to realize robot-assisted rehabilitation training. Therefore human–robot integration is one of the most important research directions, and in this context, rigid-flexible-soft hybrid structure design, customized personalized gait generation, and multimodal information fusion are three key technologies.
基金the National Natural Science Foundation of China(Grant Nos.51635002,51575018,and 51605011)the National Key Research and Development Program of China(Grant No.2016YFE0105000).
文摘Reconfigurable mechanisms can deliberately reconfigure themselves by rearranging the connectivity of components to meet the different requirements of tasks.Metamorphic and origami-derived mechanisms are two kinds of typical reconfigurable mechanisms,which have attracted increasing attention in the field of mechanisms since they were proposed.Improving the in dependent design level,innovation,and international competitive powers of reconfigurable mechanical products is important.Summarizing related significant innovation research and application achievements periodically will shed light on research directions and promote academic exchanges.This paper presents an overview of recent developments in innovation design of reconfigurable mechanisms in China,including metamorphic and origami mechanisms and their typical applications.The future development trends are analyzed and forecasted.
基金the support from the National Natural Science Foundation of China(grant No.51575018)。
文摘Automated fibre placement(AFP) systems have successfully intensified the demand for high-quality composite component manufacturing in both the military and civilian fields. One of the main elements of these systems is the AFP mechanism for accomplishing individual fibre delivery,clamp/cut/restart(CCR) and the consolidation process, and it consists of several functional submechanisms presenting strong coupling relationships and motion sequences. This review aims to summarize the development of AFP mechanisms and the associated research achievements and provide insight into the research challenges in promoting innovative design in such mechanisms. The systematic development of AFP systems is reviewed in detail, and subsequently, engineering tendency and the general principle of AFP mechanisms are introduced. Focusing on the mechanism design of AFP sub-mechanisms, including the creel assembly CCR and compaction mechanisms,the mechanical schemes as well as the AFP process parameter control are discussed. To improve system reliability and fully optimise AFP mechanisms, the essential theoretical foundation for AFP mechanisms are provided. It is believed that this attempt will help to change the design and optimisation of similar complete mechanisms. Based on the reviewed research, overall remarks and perspectives are presented to serve as a guide for exploring the possibility of novel easy-to-use and cost-effective integrated AFP applications.
基金the National Natural Science Foundation of China(Grant Nos.91848104,91748201,and 52105004)。
文摘As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem of insufficient medical resources. One of the main elements of such a human–robot coupling system is a control system to ensure human–robot coordination. This review aims to summarise the development of human–robot coordination control and the associated research achievements and provide insight into the research challenges in promoting innovative design in such control systems. The patients’ functional disorders and clinical rehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robot coordination of lower limb rehabilitation robots. Then, human–robot coordination is discussed in terms of three aspects: modelling, perception and control. Based on the reviewed research, the demand for robotic rehabilitation, modelling for human–robot coupling systems with new structures and assessment methods with different etiologies based on multi-mode sensors are discussed in detail, suggesting development directions of human–robot coordination and providing a reference for relevant research.
基金the National Natural Science Foundation of China(nos.22008041 and 22178074)the Natural Science Foundation of Guangxi Province,China(nos.2019GXNSFDA245020 and 2020GXNSFGA297001).
文摘Spontaneously polarized crystals with intrinsic electric dipole moment have attracted immense interest as excellent functional materials for extensive applications.It is of great significance to engineer sustainable spontaneously polarized materials with fascinating characteristics and performance for activating air and water.Herein,a novel strategy based on the synergy of mechanical activation(MA)and biomimetic mineralization(BM)was created to construct spontaneously polarized ceramic.MA induced the structural damage of clay and promoted the dissolution of ions and the release of free proteins,contributing to the formation of silicate precursor in BM process.After high temperature firing,the silicate precursor in clay was converted to form KCa_(3)AlCa_(3)Si_(4)O_(16)(hexagonal crystal system,L^(6)symmetry type,and P63 space group)in the resulting spontaneously polarized ceramic.The non-centrosymmetric structure of KCa_(3)AlCa_(3)Si4O_(16)and the high intrinsic electric dipole moments contributed by K(1)polyhedrons resulted in high spontaneous polarization(0.2322μC/cm^(2))and far-infrared emissivity(0.951)of spontaneously polarized ceramic.In air,spontaneously polarized ceramic can activate H_(2)O and O_(2)molecules to form negative air ions owing to surface electric field.In water,spontaneously polarized ceramic can disaggregate large water clusters to form small water clusters ascribed to surface electric field and far-infrared emission;water pH can be regulated from weak acidity to approximate neutrality via the capture of electrons by H+ions to produce releasable hydrogen gas.This work provides great promise for rational design and synthesis of spontaneously polarized materials for functional applications.
