IntroductionIsokinetic exercise can improve joint muscle strength and stability, making it suitable for early rehabilitation of stroke patients. However, traditional isokinetic equipment is bulky and costly, and cannot effectively avoid external environmental interference.MethodsThis paper designed a lightweight upper limb joint isokinetic rehabilitation training equipment, with a control system that includes a speed planning strategy and speed control with disturbance rejection. Based on the established human-machine kinematic closed-loop model between the equipment and the user, a dynamic evaluation method of torque at the joint level was proposed.ResultsTo validate the effectiveness of the equipment, experiments were conducted by manually applying random disturbances to the equipment operated at an isokinetic speed. The results showed that the root mean square error between the observed torque curve of the second-order linear extended state observer used in this paper and the actual disturbance curve was 0.52, and the maximum speed tracking error of the speed control algorithm was 1.27%. In fast and slow sinusoidal speed curve tracking experiments, the root mean square errors of the speed tracking results for this algorithm were 9.65 and 5.27, respectively, while the tracking errors for the PID speed control algorithm under the same environment were 19.94 and 12.11.DiscussionThe research results indicate that compared with traditional PID control method, the proposed control strategy demonstrates superior performance in achieving isokinetic control and suppressing external disturbances, thereby exhibiting significant potential in promoting upper limb rehabilitation among patients.

(1) Background: The nursing of the elderly has received more and more attention, especially the nursing of urination and defecation for the elderly. (2) Purpose: Design an excretion nursing equipment that can accurately identify and deal with urine and stool. (3) Methods: In this paper, based on the analysis of the requirements of excretion nursing equipment, a split mechanical design method and a modular control method are used to design the equipment. The Dempster–Shafer (D-S) evidence theory is used in the identification of urine and stool. (4) Results: The excretion nursing equipment designed in this paper works well according to functional test, and the success rate of stool and urine identification method using D-S evidence theory is 20% higher than that of traditional methods, reaching 90%. (5) Conclusions: The urine and stool recognition and detection algorithm based on the D-S evidence theory used in this paper can improve the recognition accuracy of traditional detection methods, and the designed excretion nursing equipment can realize the function of excretion care for patients.

Isokinetic muscle strength training is a type of rehabilitation therapy that can effectively improve the motor dysfunction of limbs and enhance joint muscle strength. In active isokinetic training, how to plan the speed reasonably and improve the performance of speed control to fit individualized needs is the core problem of isokinetic muscle strength training equipment control. In this study, a control strategy for isokinetic muscle strength training equipment is proposed, which identifies the user's motion intention and performs speed planning according to the user's motion participation so that the equipment produces a dynamic damping effect. This ensures active interaction between the user and the equipment and meets the force-speed requirements of elbow joint muscle training. To handle the uncertain disturbance in the training process, a linear extended state observer is used to estimate the disturbance term, and a tracking differentiator and nonlinear error feedback control are used to improve the speed tracking performance. The experimental results show that the proposed control scheme realizes effective speed control in isokinetic muscle strength training. Note to Practitioners-The bottleneck of isokinetic muscle strength training equipment control system lies in how to plan the speed according to the patient's movement intention reasonably, and how to improve the performance of speed control in the process of rehabilitation training. This paper designs a speed auto disturbance rejection control strategy for isokinetic muscle strength training system with external interference and model uncertainty in practical application. The experimental results show that the performance of the controller is better than the traditional PI controller, and it can realize isokinetic muscle training. This study provides a method for practitioners interested in developing control systems for isokinetic rehabilitation training equipment.

The bionic design of muscles is a research hotspot at present. Many researchers have designed bionic elastic actuators based on the Hill muscle model, and most of them include an active contraction element, passive contraction element and series elastic element, but they need more parametric design of mechanical structure and control under the guidance of Hill muscle model. In this research, a nonlinear series elastic cable actuating mechanism is designed in which the parameters of the elastic mechanism are optimized based on the Hill muscle model to fit the nonlinear passive elasticity of a muscle. Through the force–position relationship determined by the Hill muscle model, the output force and position of a nonlinear series elastic cable actuator are controlled to simulate the active contraction performance of a muscle. The experiments show that the proposed design and control method can make the nonlinear cable actuator have good muscle-like output force–displacement characteristics.

随着人口老龄化趋势日渐加深,老年人的护理问题受到越来越多的关注,其中老年人大小便护理问题显得尤为重要.为了缓解护工处理老年人大小便时出现的工作环境脏、臭、工作强度高、压力大,以及工作容易侵犯到老年人隐私等问题,本文设计了一款能够独立使用,具有对大小便自动检测和处理功能的二便护理机器人.经过实验测试,证明所设计的二便护理机器人能够帮助老年人实现大小便自理的效果.

随着人口老龄化加剧,多功能护理床需求呈现迅速上升趋势.我们在系统调研多功能护理床的基础上,对护理床功能分类、关键技术分析和未来发展趋势进行了总结与展望.根据多功能护理床的功能类型将其分为基础功能型、二便护理型和自主移动型,并对各种类型进行技术对比.重点阐述了多功能护理床自动对接功能中红外超声波、激光雷达和视觉传感器三种传感器的工作原理及存在的问题,指出了多功能护理床智能技术发展应做到多种技术融合使用,提高产品的综合性能和可靠性.

Aiming at the mobility needs of semi-disabled patients, an intelligent nursing wheelchair was designed to realize the autonomous movement of the wheelchair. First, the Cartographer algorithm based on graph optimization was introduced to wheelchairs to locate them in unknown environments. Secondly, multiple sensor information is fused to improve the positioning accuracy. Finally, machine vision, SLAM, path planning and other technologies are applied to the wheelchair to improve its intelligence and interactivity. Finally, an intelligent nursing wheelchair prototype is built, and the autonomous mobility system of the wheelchair is proved to have good robustness through experiments.

随着人口老龄化趋势的加剧,老年人生活中的二便自理问题受到越来越多的关注.该研究为了解决人工护理二便出现的脏、难、臭问题.调查并研究了当前二便护理机器人的现状.同时设计出一款可以实现自动检测,收集和处理大小便的二便护理机器人.该机器人可以通过Android设备控制,减轻护理人员的护理负担.