Objective:To investigate the influence of tilted plane maximal range training on the original horizontal plane training in upper limb robot aided rehabilitation in shoulder and elbow coordination training mode,and the influence of more intensive training on shoulder joint,and to solve the shortage of less training on shoulder joint in upper limb robot rehabilitation.Method:Twelve normal male people were recruited in the research.The training of tilting the robot plane by 0°,15°,30°,50°,-10° based on maximal range training were performed in active shoulder and elbow coordination training mode on upper extremity compound movement(UECM) robot rehabilitation platform.Kinematic data and surface electromyography(sEMG) signals on upper extremity were recorded and analyzed through motion analysis video capture system and Noraxon sEMG recording system.Result:The front and middle parts of deltoid were strengthened when the tilted angle was positive,while biceps brachii was strengthened in negative angle.The ranges of motion in shoulder joint and elbow joint were enlarged.Conclusion:Titled plane training could strengthen the shoulder joint with training in upper limb robot aided rehabilitation in shoulder and elbow coordination training mode.Appropriate certain tilted plane could strengthen certain muscle group.

It introduced a new kind of magnet-absorbing climbing robot for turbine blade on site efficiently maintaining. Based on the experiment it got the following conclusions: Normal milling can not be applied to turbine blasé on site maintaining for its too strong forces and wallop. But the further research of the possibility for applying high speed milling can go on; Normal grinding can be applied to turbine blasé on site maintaining, and so does creep feed grinding because of its high efficiency and forces meeting the robotic design loading ability

This paper introduces a magnet-absorbing wall-climbing robot for efficiently maintaining turbine blades on site. The robot uses creep feed grinding to machine weld lines. An experimental platform was built with a sample robot manipulator system and a force measurement system. The formula of the grinding force was derived through analyzing the gathered data. The formula has an estimated error below 20%, which means it is comparatively precise and can supply data for future research on optimization of the manipulator design and the robot's control system.