With the aging of population, fast-paced life and the frequently happened traffic accident, natural disasters and industrial accident in recent years, probability of people suffering external damage is increasing. The tibial fracture is one of the most common fracture cases. To help tibial fracture rehabilitation, an intelligent brace is designed which consists of a weight-bearing lower extremity brace and smart insoles. Besides, a method to measure the fracture healing progress is studied.
Since 2000，because of the ageing of population and the increasing of the casualties caused by traffic accidents and natural disasters , research on helping the aged and the injured to regain their walking ability is urgently required. Medical theory and clinical evidence that people suffer from aging and lower-limb impairments need early operation treatment and drug treatment. And correct, scientific training played a very important role for the recovery and improvement of limb movement. The knee joint orthosis is a robotic device which combines the robot technology and automation technology with the clinical rehabilitation medicine to assist or substitute therapists to complete the joint rehabilitation training.
Stroke is a severe neurological disease caused by occlusion or rupture of blood vessel in brain. It is characterized by the high disease rate, death rate, disability rate and recurrence rate, leading to the hemiplegia and motor dysfunction of patients. In the traditional clinical treatment of hemiplegia, physical therapists have to provide one-on-one treatments to the patients in manual way. The traditional treatments are labour-intensive and high-cost. Besides, the therapeutic efficacy is directly affected by the treatment method, individual experience, subjective judgment, and physical fatigue of physical therapist. Rehabilitation training robot is an important branch of medical robot system integrating many research fields. It can assist or even replace physical therapists to provide patients with sustainable, effective, and multimodal rehabilitation training, and relieve the problem of lacking rehabilitation manpower resources. In addition, rehabilitation training robot helps to strengthen the active training consciousness of patients and, moreover, provide objective evidences to evaluate recovery progress and improve treatment programs and speed up the recovery of motor function. Based on the research background, this research develops a gravity balanced upper limb rehabilitation exoskeleton with tendon-sheath actuator to research the key issues about upper extremity hemiplegia treatment.
Plenty of natural and man-made disasters happen every year around the world, which cause a lot of damage to property and casualties. Except for taking preventive measures to these disasters, saving more survivors after the disasters becomes really critical. With the development of robotic technology, some of the robots are already capable of helping the rescue crew and improve the efficiency of rescue missions. Under this circumstance, we proposed a pneumatic soft robot for disaster relief using the latest soft robot technology.
Nowadays, the request of the quality and efficiency of plastic and metal cutting are more and more high, which puts forward higher requirements for the hot cutting process. This project aims at the plastic laser cutting methods are costly, and the small cutting format, the heating head of MCH heating tube and molybdenum rods were fabricated for plastics cutting, which can get better cutting effect with extremely low cost. The project also studys the metal laminar flow of DC arc plasma flame cutting,which can cut the thick metal at a higher speed. And both of the above can be combined with the robot to achieve flexible cutting.
With higher strength, higher specific modulus, smaller size and other characteristics, Carbon fiber has got rapid development in the field of polymer materials in recent years. How to get stable and reliable production of carbon fiber winding has become hot and difficult problems. While industrial grade carbon fiber winding mechanism is relatively mature, study of carbon fiber winding mechanism with low-cost and non-industrial stage is still in the initial stage. The technology of filament winding for rod-shaped carbon fiber parts is studied, which is mainly suitable for sample trial in the laboratory or research institution.
In order to improve the efficacy of production and the standard, there is an increasing demand for spraying. The work is done manually at present. The mobile manipulator expands the scope of work and can do the spraying work efficiently. The robot consists of omnidirectional mobile platform and MOTOMAN robot. With visual feedback system, it can achieve the goal of tracking and spraying the components which have complex shapes in industrial environment.
Hydraulic artificial muscle is a drive unit. The liquid is pumped into the rubber tube, causing the rubber tube expands radially, the axial contraction and produces axial tension which is used to drive an external agency. Artificial muscle is a new type of actuator which has good flexibility, smaller ratio of force to volume, smaller ratio of power to weight, and has broad application prospects. Soft joints artificial muscle refers to the entire muscle contains only rubber tubing and fabric materials,and at the ends of the outer braid wrapped a layer of dense filaments as an external connection portion, replace the metal connectors. Therefore, soft joints artificial muscles as better drive unit used in all soft rehabilitation equipment and related fields.
Cable as an important force of cable-stayed bridge component requires periodic inspection, but traditional cable detection scheme of low efficiency and high risk. Therefore, the automatic cable detection robots related research has significant scientific significance and immense social and economic benefits. This project is mainly for cable stayed bridge inspection robot, developed the robot with enough climbing ability, load capacity, climbing ability, and supporting testing modules and robot can effectively detect the cable of the main diseases.
Nowadays, the phenomenon of excessive operation treatment for the distal radius fractures has become increasingly serious clinically, and the traditional non-operation treatment skill proves effective in treatment which has been more and more widely used. However, non-operation treatment needs many doctors operating together at the same time, and reduction of fracture is easy to lose. This research mainly introduce an assisting robot for non-operation treatment of distal radius fracture, which is simple、convenient and capable for only one person to operate . It can assist the doctor to complete the non-operation treatment of distal radius fracture. Meanwhile it can ensure the reduction of fracture accurate and reliable. At the same time, it can measure the related biomechanical parameters during the non-operation treatment precisely in order to study the biomechanical in this area.
Millions of people lose their lower limbs because of diseases, injuries and traffic accidents. Their demand of walking again is extremely urgent with the help of prostheses. So prostheses with more intelligent functions are needed. Recently, the common prosthesis products are passive or semi-active. Passive prostheses are controlled by the residual limbs of amputees and it is uncomfortable and inconvenient. Semi-active prostheses are not available under high torque needs loads and always misunderstand the purpose of the wearers. For achieving the coordinated control of people, the prosthesis and the environment, we need the active intelligent prostheses.
Tendon-sheath actuated mechanism is an important direction in the field of robotic design. Due to its small size, simple structure and light weight, the tendon- sheath system is often adopted in many applications with spatial restrictions, such as rescue robot and surgical robot. However, the control of these systems could be challenging. On one hand, there exist a lot of nonlinear factors including the compliance and friction between the tendon and sheath; on the other hand, due to spatial restrictions and disinfection requirements, it lacks corresponding sensory feedback. These problems hinder the tendon-sheath systems from being adopted in applications requiring delicate and precise control. To solve the problems, this paper studies the modeling and compensation control method. In addition, due to the particularity of operation object, compliance control strategy is investigated.
In recent years, researches on exoskeleton driven by pneumatic muscle have become a hot issue. Compared to traditional motor-driven exoskeleton, pneumatic muscle-driven exoskeleton has advantages such as lighten weight, higher power, better man-machine coupling and lower cost. This project studies a flexible wearable exoskeleton power system using pneumatic artificial muscles. In order to help human walking, It does the following works: mechanical research, control system research, modeling, simulation and experimental study. The research has a fundamental and exploratory significance for human power assisting in the field of health care, military activities, disaster relief, and labor work.
As the aging population of our country is increasing, cerebrovascular disease incidence is rising. How to help hemiplegia patients do gait rehabilitation training in order to obtain limb rehabilitation is a very important and significant research subject. This project developed a wheelchair with walking aid rehabilitation training for hemiplegia patients who need proper gait rehabilitation training in the early postoperative. The machine not only has the function of electric wheelchair, but also can help hemiplegia patients do gait rehabilitation training and sit to stand training, so that they can achieve limb rehabilitation.
For inspecting welding seams of large-scale equipment such as storage tanks and spherical tanks, automated mobile robotic inspecting system is more effective compared with manual operations. A wall-climbing and inspection robot needs not only stable climbing ability, but also high positioning accuracy. In this program, a flat-panel X-ray inspection based wall-climbing robotic system is developed for intelligent detecting of welding seams. The robot system consists of two Mecanum wheels based measuring cars climbing on both side of the tank wall, each of which is equipped with either a digital flat-panel or an X-ray emitter. On each car, a permanent magnet adsorption mechanism is employed to let it absorbed and climbing on the tank still wall, and a visual path tracking module is used for tracking the welding lines to be detected. To let the flat-panel X-ray work properly, two laser tracking system are applied to ensure each of two cars on the two sides of the tank wall move synchronous exactly with a limited tolerance.
The number of people with mobility disorder caused by stroke, spinal cord injury (SCI) or other related diseases is increasing. Since SCI happens predominantly in young people, the financial burden imposed to both family and society is huge and long-term. Patients suffering from complete SCI lose motor and sensory functions in their lower limbs, and they need actuators to help them regain the ability to stand up and walk. In addition, these patients are at increasing risk on secondary injuries, including osteoporosis, muscle atrophy, obesity, coronary heart disease, diabetes, insulin resistance, and pressure sores . Therefore, it is necessary to develop assistive devices utilizing state-of-the-art technologies to help these disabled people regain the ability to stand up and walk.
RV reducer has been widely concerned and studied by many countries all over the world because of its unique advantages, and it is widely used in many fields, such as aerospace, robotics, and many other scientific and technological fields.The crankshaft and the cycloid gear are the key parts of RV reducer. The geometric precision directly affects the performance of the reducer. It is very important for the detection of the crankshaft and the cycloid gear.This project use C++ Builder programming control laser tracker, in order to realize automatic measurement; then, combined with the characteristics of the crankshaft and the cycloid gear, designing the measurement mechanism based on laser tracker; and two kind of algorithms of detection were designed according to the characteristics of the crankshaft and the cycloid gear. The detection method of the two teeth difference cycloid gear is to fill the blank of the domestic multi tooth difference cycloid gear measurement.
With the development of modern industry, building, and modern traffic "high-energy injury" is becoming increasingly common. Minimally invasive surgery is becoming more and more acceptable because of quicker recovery and less pain. However, minimally invasive surgery requires using of X-ray imaging equipment frequently. It is well known that radiation damage is so harmful to health. Besides, minimally invasive surgery needs a long time to master and a standardized surgical procedure has not formed yet up to now. It strangles the wide-spread of minimally invasive surgery. An assistant robot for fracture reduction is urgently needed in a fracture operation. A practical robot for femoral fracture reduction is developed and the robot can be divided into two parts: the independent traction rotary reduction part and the fracture segment reduction part based on soft airbags.
This project aims to developing a hemodialysis machine for the domestic market. Hemodialysis is one of the renal replacement therapies for patients with end-stage renal disease . Along with the increase in the number of patients with acute and chronic renal failure, as well as national efforts and policy support for hemodialysis , there will be a rapid development in the market of dialysis machine.So developing a dialysis machine which is suitable for domestic staff is very important and has broad market prospects.The developed dialysis machines will have a friendly intuitive interface, provide safety and stable dialysis functions, accurate real-time data and access of dialysis information.This machine can guarantee the safety of dialysis and simplify the operation of related person.
Isokinetic ergometer is a specialized apparatus that provides variable resistance to a movement, so that no matter how much effort is exerted, the movement takes place at a constant speed. Such apparatus is used to test and improve muscular strength and endurance, especially after injury. A new isokinetic ergometer has been designed which can measure both negative as well as positive work and the opposed resistance of muscle viscosity to the passive drag. The position in space may be changed so as to carry out tests in different positions (seated, prone, etc.) and work may be performed with the upper limbs, lower limbs or with all four limbs simultaneously. Moreover, the ergometer has proved to be most suitable also for the planning and monitoring of the athlete's post-traumatic rehabilitation.