WGS-based screening of the co-chaperone protein DjlA-induced curved DNA binding protein A (CbpA) from a new multidrug-resistant zoonotic mastitis-causing Klebsiella pneumoniae strain: a novel molecular target of selective flavonoids.

The research aimed to establish a multidrug-resistant Klebsiella pneumoniae-induced genetic model for mastitis considering the alternative mechanisms of the DjlA-mediated CbpA protein regulation. The Whole Genome Sequencing of the newly isolated K. pneumoniae strain was conducted to annotate the frequently occurring antibiotic resistance and virulence factors following PCR and MALDI-TOF mass-spectrophotometry. Co-chaperon DjlA was identified and extracted via restriction digestion on PAGE. Based on the molecular string property analysis of different DnaJ and DnaK type genes, CbpA was identified to be regulated most by the DjlA protein during mastitis. Based on the quantum tunnel-cluster profiles, CbpA was modeled as a novel target for diversified biosynthetic, and chemosynthetic compounds. Pharmacokinetic and pharmacodynamic analyses were conducted to determine the maximal point-specificity of selective flavonoids in complexing with the CbpA macromolecule at molecular docking. The molecular dynamic simulation (100 ns) of each of the flavonoid-protein complexes was studied regarding the parameters RMSD, RMSF, Rg, SASA, MMGBSA, and intramolecular hydrogen bonds; where all of them resulted significantly. To ratify all the molecular dynamic simulation outputs, the potential stability of the flavonoids in complexing with CbpA can be remarked as Quercetin > Biochanin A > Kaempherol > Myricetin, which were all significant in comparison to the control Galangin. Finally, a comprehensive drug-gene interaction pathway for each of the flavonoids was developed to determine the simultaneous and quantitative-synergistic effects of different operons belonging to the DnaJ-type proteins on the metabolism of the tested pharmacophores in CbpA. Considering all the in vitro and in silico parameters, DjlA-mediated CbpA can be a novel target for the tested flavonoids as the potential therapeutics of mastitis as futuristic drugs.

Robustness and Tracking Performance Evaluation of PID Motion Control of 7 DoF Anthropomorphic Exoskeleton Robot Assisted Upper Limb Rehabilitation.

Upper limb dysfunctions (ULD) are common following a stroke. Annually, more than 15 million people suffer a stroke worldwide. We have developed a 7 degrees of freedom (DoF) exoskeleton robot named the smart robotic exoskeleton (SREx) to provide upper limb rehabilitation therapy. The robot is designed for adults and has an extended range of motion compared to our previously designed ETS-MARSE robot. While providing rehabilitation therapy, the exoskeleton robot is always subject to random disturbance. Moreover, these types of robots manage various patients and different degrees of impairment, which are quite impossible to model and incorporate into the robot dynamics. We hypothesize that a model-independent controller, such as a PID controller, is most suitable for maneuvering a therapeutic exoskeleton robot to provide rehabilitation therapy. This research implemented a model-free proportional-integral-derivative (PID) controller to maneuver a complex 7 DoF anthropomorphic exoskeleton robot (i.e., SREx) to provide a wide variety of upper limb exercises to the different subjects. The robustness and trajectory tracking performance of the PID controller was evaluated with experiments. The results show that a PID controller can effectively control a highly nonlinear and complex exoskeleton-type robot.

Eye-gaze control of a wheelchair mounted 6DOF assistive robot for activities of daily living.

BACKGROUND: Building control architecture that balances the assistive manipulation systems with the benefits of direct human control is a crucial challenge of human-robot collaboration. It promises to help people with disabilities more efficiently control wheelchair and wheelchair-mounted robot arms to accomplish activities of daily living. METHODS: In this study, our research objective is to design an eye-tracking assistive robot control system capable of providing targeted engagement and motivating individuals with a disability to use the developed method for self-assistance activities of daily living. The graphical user interface is designed and integrated with the developed control architecture to achieve the goal. RESULTS: We evaluated the system by conducting a user study. Ten healthy participants performed five trials of three manipulation tasks using the graphical user interface and the developed control framework. The 100% success rate on task performance demonstrates the effectiveness of our system for individuals with motor impairments to control wheelchair and wheelchair-mounted assistive robotic manipulators. CONCLUSIONS: We demonstrated the usability of using this eye-gaze system to control a robotic arm mounted on a wheelchair in activities of daily living for people with disabilities. We found high levels of acceptance with higher ratings in the evaluation of the system with healthy participants.

Design and development of a sensored glove for home-based rehabilitation.

STUDY DESIGN: Descriptive. INTRODUCTION: Rehabilitation programs that focus on motor recovery of the upper limb require long-term commitment from the clinicians/therapists, require one-to-one caring, and are usually labor-intensive. PURPOSE OF THE STUDY: To contribute to this area, we have developed a sensored hand glove integrated with a computer game (Flappy Bird) to engage patients playing a game where the subject's single/multiple fingers are involved, representing fine motor skill occupational therapeutic exercises. METHODS: We described the sensored rehab glove, its hardware design, electrical and electronic design and instrumentation, software design, and pilot testing results. RESULTS: Experimental results supported that the developed rehab glove system can be effectively used to engage a patient playing a computer game (or a mobile phone game) that can record the data (ie, game score, finger flexion/extension angle, time spent in a therapeutic session, etc.) and put it in a format that could be easily read by a therapist or displayed to the therapists/patients in different graph formats. CONCLUSIONS: We introduced a sensored rehab glove for home-based therapy. The exercise training using the glove is repetitious, functional, and easy to follow and comply with.

Motor Imagery Performance through Embodied Digital Twins in a Virtual Reality-Enabled Brain-Computer Interface Environment.

This study introduces an innovative framework for neurological rehabilitation by integrating brain-computer interfaces (BCI) and virtual reality (VR) technologies with the customization of three-dimensional (3D) avatars. Traditional approaches to rehabilitation often fail to fully engage patients, primarily due to their inability to provide a deeply immersive and interactive experience. This research endeavors to fill this gap by utilizing motor imagery (MI) techniques, where participants visualize physical movements without actual execution. This method capitalizes on the brain's neural mechanisms, activating areas involved in movement execution when imagining movements, thereby facilitating the recovery process. The integration of VR's immersive capabilities with the precision of electroencephalography (EEG) to capture and interpret brain activity associated with imagined movements forms the core of this system. Digital Twins in the form of personalized 3D avatars are employed to significantly enhance the sense of immersion within the virtual environment. This heightened sense of embodiment is crucial for effective rehabilitation, aiming to bolster the connection between the patient and their virtual counterpart. By doing so, the system not only aims to improve motor imagery performance but also seeks to provide a more engaging and efficacious rehabilitation experience. Through the real-time application of BCI, the system allows for the direct translation of imagined movements into virtual actions performed by the 3D avatar, offering immediate feedback to the user. This feedback loop is essential for reinforcing the neural pathways involved in motor control and recovery. The ultimate goal of the developed system is to significantly enhance the effectiveness of motor imagery exercises by making them more interactive and responsive to the user's cognitive processes, thereby paving a new path in the field of neurological rehabilitation.

Draft genome sequencing of a multidrug-resistant Salmonella enterica subspecies enterica serovar Typhimurium strain isolated from chicken in Bangladesh.

Herein this study, we sequenced the genome of a multidrug-resistant Salmonella enterica serovar Typhimurium strain MBR-MFRK-23 isolated from the liver tissue of a diseased layer chicken. The 4,964,854-bp draft genome comprises 50 contigs with 50.5× coverage and 52.1% GC content and is typed as S. enterica sequence type 19.

Community mobility and participation assessment of manual wheelchair users: a review of current techniques and challenges.

According to the World Health Organization, hundreds of individuals commence wheelchair use daily, often due to an injury such as spinal cord injury or through a condition such as a stroke. However, manual wheelchair users typically experience reductions in individual community mobility and participation. In this review, articles from 2017 to 2023 were reviewed to identify means of measuring community mobility and participation of manual wheelchair users, factors that can impact these aspects, and current rehabilitation techniques for improving them. The selected articles document current best practices utilizing self-surveys, in-clinic assessments, and remote tracking through GPS and accelerometer data, which rehabilitation specialists can apply to track their patients' community mobility and participation accurately. Furthermore, rehabilitation methods such as wheelchair training programs, brain-computer interface triggered functional electric stimulation therapy, and community-based rehabilitation programs show potential to improve the community mobility and participation of manual wheelchair users. Recommendations were made to highlight potential avenues for future research.

Reconstruction of the sphenoid sinus erosion or dehiscence after treatment of unruptured intracavernous aneurysms with flow diverter stents.

BACKGROUND: Intracavernous carotid aneurysms (ICCAs) are rare, frequently asymptomatic, with a low rupture risk, which, however, can lead to life-threatening epistaxis. The aim of this study was to assess the effect of the treatment of asymptomatic ICCAs with flow diverters (FD) on sphenoid bone erosion or dehiscence in a selected cohort of patients. METHODS: We retrospectively reviewed all asymptomatic ICCAs with sphenoid bone erosion or dehiscence detected on cone beam CT (CBCT) and treated with FD between December 2018 and December 2022. Patients were followed-up with CBCT and bone reconstruction was blindly evaluated by two interventional neuroradiologists and classified as unchanged, partial, or complete. RESULTS: A total of 10 patients (women: 90%, mean age 58 years) treated with an FD for an asymptomatic ICCA with associated sphenoid bone erosion or dehiscence were included in this cohort. Sphenoid bone erosion was present in seven patients and dehiscence was observed in the remaining three. After treatment with FD, complete reconstruction of the sphenoid sinus wall occurred in seven cases, and partial reconstruction in two cases. Sphenoid bone erosion remained unchanged after treatment in only one patient. CONCLUSIONS: The decision to treat asymptomatic and unruptured ICCAs remains challenging due to their benign natural history and low hemorrhagic risk. The presence of sphenoid sinus erosion or dehiscence should not be overlooked since it could be considered as an indication for prophylactic treatment of life-threatening epistaxis. The mechanisms of bone erosion by the aneurysm and of reconstruction after treatment are still to be fully elucidated.

Humoral immune responses in different stages of wound healing in Black Bengal goats.

Objective: The current study was carried out to assess the humoral immune responses according to age at different stages of wound healing in Black Bengal goats (BBG). Materials and Methods: Apparently, healthy BBGs (n = 20) were collected and divided into five groups based on their age: Group A (control, 3 years), Group B (3 to 5 years), Group C (2 to <3 years), Group D (1 to <2 years), and Group E (<1 year). Except for control, all BBGs were allowed to have artificial surgical wounds, and follow-up data were collected from day 0 to 21. The humoral immune responses [immunoglobulins (Igs) and interleukin-6 (IL-6)] were determined by ELISA using commercial goat ELISA kits. Statistical Product and Service Solutions (Version 20) was used to analyze the data. Results: The normal range of immune cells in control BBGs was immunoglobulin G (IgG) (20.21 ± 0.13 mg/ml), immunoglobulin M (IgM) (2.87 ± 0.0.05 mg/ml), immunoglobulin A (IgA) (0.33 ± 0.01 mg/ml), and IL-6 (1.6 ± 0.05 pg/ml). In this experiment, higher concentrations of IgG (21.11 ± 0.20 mg/ml), IgM (2.92 ± 0.04 mg/ml), IgA (0.35 ± 0.02 mg/ml), and IL-6 (1.62 ± 0.05 pg/ml) were found in Group B BBGs, whereas the lower levels of IgG, IgM, IgA, and IL-6 were found at 17.16 ± 0.18 mg/ml, 2.12 ± 0.01 mg/ml, 0.29 ± 0.03 mg/ml, and 1.55 ± 0.05 pg/ml, respectively, in the Group E BBGs. Rapid wound healing was observed in the older groups compared to the younger groups of BBGs. The concentrations of Igs (IgG, IgM, and IgA) and IL-6 were gradually increased in all groups from day 3 (early inflammatory stage) and day 7 (late inflammatory stage), and then they decreased gradually from day 14 (proliferative stage) to reach the final stage of day 21 (remodeling stage), where the concentrations were found to be at a level comparable to their per-incisional period. No gender-related differences were detected. Conclusion: Adult BBGs (3 to 5 years old) showed faster wound repair and stronger immune responses. This finding may assist veterinarians and researchers in considering age-related immune responses for the recovery and rapid cure of surgical wounds.

Autonomous Exercise Generator for Upper Extremity Rehabilitation: A Fuzzy-Logic-Based Approach.

In this paper, an autonomous exercise generation system based of fuzzy logic approach is presented. This work attempts to close a gap in the design of a completely autonomous robotic rehabilitation system that can recommend exercises to patients based on their data, such as shoulder range of motion (ROM) and muscle strength, from a pre-set library of exercises. The input parameters are fed into a system that uses Mamdani-style fuzzy logic rules to process them. In medical applications, the rationale behind decision making is a sophisticated process that involves a certain amount of uncertainty and ambiguity. In this instance, a fuzzy-logic-based system emerges as a viable option for dealing with the uncertainty. The system's rules have been reviewed by a therapist to ensure that it adheres to the relevant healthcare standards. Moreover, the system has been tested with a series of test data and the results obtained ensures the proposed idea's feasibility.

Hand Rehabilitation Devices: A Comprehensive Systematic Review.

A cerebrovascular accident, or a stroke, can cause significant neurological damage, inflicting the patient with loss of motor function in their hands. Standard rehabilitation therapy for the hand increases demands on clinics, creating an avenue for powered hand rehabilitation devices. Hand rehabilitation devices (HRDs) are devices designed to provide the hand with passive, active, and active-assisted rehabilitation therapy; however, HRDs do not have any standards in terms of development or design. Although the categorization of an injury's severity can guide a patient into seeking proper assistance, rehabilitation devices do not have a set standard to provide a solution from the beginning to the end stages of recovery. In this paper, HRDs are defined and compared by their mechanical designs, actuation mechanisms, control systems, and therapeutic strategies. Furthermore, devices with conducted clinical trials are used to determine the future development of HRDs. After evaluating the abilities of 35 devices, it is inferred that standard characteristics for HRDs should include an exoskeleton design, the incorporation of challenge-based and coaching therapeutic strategies, and the implementation of surface electromyogram signals (sEMG) based control.

Catabolic profiling of selective enzymes in the saccharification of non-food lignocellulose parts of biomass into functional edible sugars and bioenergy: An in silico bioprospecting.

Objectives: The research aims to analyze the catabolic strength of different hydrolytic enzymes in assessing the biological conversion potential of lignocellulose parts of agricultural biomass wastes into functional edible sugars and biofuels. Materials and Methods: The enzymes' hydrolytic properties-versatile peroxidase, manganese peroxidase, and lignin peroxidase were used to identify their complexing strength with the lignin substrate, whereas endoglucanase cel12A, acidocaldarius cellulase, and Melanocarpus albomyces endoglucanase were tested on the cellulose gel substrate. Because the biodegradation properties are heavily influenced by the "enzyme-substrate complexing energy level," proper molecular optimization and energy minimization of the enzymes and substrates were carried out, as well as the identification of the enzyme's active sites prior to complexing.comprehensive molecular dynamic simulation was run to study their-alpha carbon, root-mean-square deviation (Å), molecular surface area (Å2), root-mean-square fluctuation (Å), radius of gyration (nm), hydrogen bonds with hydrophobic interactions, and solvent accessible surface area (Å2) values for 50 ns. The simulated data mining was conducted using advanced programming algorithms to establish the final enzyme-substrate complexing strength in binding and catalysis. Results: Among the lignin-degrading enzymes, versatile peroxidase shows promising catalytic activity with the best docking pose and significant values in all the dynamic simulation parameters. Similarly, Melanocarpus albomyces endoglucanase shows the best activity in all aspects of molecular docking and dynamics among the cellulose-degrading enzymes. Conclusion: The lignin content of biomass wastes can be degraded into cellulose and hemicellulose using lignin-degrading enzymes. The cellulose can be further degraded into glucose and xylose sugars following the cellulose-degrading enzyme activity. These sugars can be further degraded into biofuel through anaerobic fermentation. Systematic bioconversion of the lignocellulosic components can ensure sustainable biomass management, creating an alternative food and energy source for human beings to face the challenges of global hunger where the enzymes can pave the way.

Molecular identification, characterization, and antagonistic activity profiling of Bacillus cereus LOCK 1002 along with the in-silico analysis of its presumptive bacteriocins.

Objectives: This research aimed to isolate, identify, and characterize a new strain of Bacillus cereus through different molecular biology approaches so that it could be further studied for therapeutic purposes against selective enteric pathogens. Materials and Methods: Pure isolates of B. cereus were prepared from buffalo yogurt samples in REMBA medium. Initially, the morphological, physiological, and biochemical properties were studied accordingly. Following the tests, the molecular identification for the strain identification was conducted through plasmid DNA extraction, PCR, agarose gel electrophoresis, and 16S rRNA sequencing up to 1.37 kb. Afterward, the antibiotic sensitivity [Epsilometer test (E-Test)] and antifungal activity were tested considering different concentrations. Being classified from the aforementioned tests, a comprehensive antimicrobial activity test was conducted using the cell-free-supernatant (CFS) of the test strain against selective enteric pathogens in humans in vitro. Besides, the different clusters of genes were identified and characterized for understanding the presumptive bacteriocins present in the CFS of the strain in silico, where molecular string properties were calculated. Finally, the evolutionary relationship among diversified bacteriocins synthesized by different Bacillus strains was studied to predict the CFS-containing bacteriocins of the new strain. Results: Purified isolates of B. cereus were Gram-positive rods and showed significant tolerance (p < 0.0001) to different concentrations of pH, phenol, bile salt, and NaCl. 16S rRNA revealed the strain as LOCK 1002, which was strongly sensitive to all the antibiotics used and resistant to selective antifungal agents. The CFS of B. cereus LOCK 1002 was found to be a very promising antagonist to all the enteric pathogens used in the culture condition. Two gene clusters were predicted to be interconnected and responsible for different presumptive bacteriocins. Conclusion: The newly identified LOCK 1002 can be a very potent strain of B. cereus in use as an antimicrobial agent for having different bacteriocin coding gene clusters.

Prospective Function of Different Antioxidant Containing Natural Products in the Treatment of Neurodegenerative Diseases.

Neurodegenerative diseases represent one of the most important public health problems and concerns, as they are a growing cause of mortality and morbidity worldwide, particularly in the elderly. However, natural products have a significant function in the avoidance of disease by boosting health in humans as well as animals. These natural products have been scientifically acknowledged to have a range of biological characteristics like antioxidant, and anti-inflammatory actions. Both In vitro and in vivo studies have more recognized the convenience of natural products in different preclinical models of neurodegenerative disorders. Moreover, most NPs comprise phytoconstituents, including polyphenolic antioxidants; originate in herbs, fruits, nuts, vegetables, as well as, also in marine with freshwater flora. These phytoconstituents might actively repress neuro-degeneration and recover memory as like cognitive actions of the brain. Moreover, they are well recognized to participate in an essential position in the prevention of like treatment of different neurodegenerative diseases, like Alzheimer's disease, Parkinson's disease, epilepsy, and additional neuronal disorders. However, the large-scale neuro-pharmacological actions of natural products have been familiar owing to the consequence of also the inhibition of inflammatory processes, or the up-regulation of various cell endurance proteins or a mixture of together. Owing to the shortage of human studies on neuroprotective belongings of natural products, this review highlights a variety of documented actions of natural products in vitro and in vivo preclinical models and their possible neuro-protection applications by the accessible awareness in writing.

A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation.

The research presents a novel controller designed for robotic systems subject to nonlinear uncertain dynamics and external disturbances. The control scheme is based on the modified super-twisting method, input/output feedback linearization, and time delay approach. In addition, to minimize the chattering phenomenon and ensure fast convergence to the selected sliding surface, a new reaching law has been integrated with the control law. The control scheme aims to provide high performance and enhanced accuracy via limiting the effects brought by the presence of uncertain dynamics. Stability analysis of the closed-loop system was conducted using a powerful Lyapunov function, showing finite time convergence of the system's errors. Lastly, experiments shaping rehabilitation tasks, as performed by healthy subjects, demonstrated the controller's efficiency given its uncertain nonlinear dynamics and the external disturbances involved.

Design and Development of an Upper Limb Rehabilitative Robot with Dual Functionality.

The design of an upper limb rehabilitation robot for post-stroke patients is considered a benchmark problem regarding improving functionality and ensuring better human-robot interaction (HRI). Existing upper limb robots perform either joint-based exercises (exoskeleton-type functionality) or end-point exercises (end-effector-type functionality). Patients may need both kinds of exercises, depending on the type, level, and degree of impairments. This work focused on designing and developing a seven-degrees-of-freedom (DoFs) upper-limb rehabilitation exoskeleton called 'u-Rob' that functions as both exoskeleton and end-effector types device. Furthermore, HRI can be improved by monitoring the interaction forces between the robot and the wearer. Existing upper limb robots lack the ability to monitor interaction forces during passive rehabilitation exercises; measuring upper arm forces is also absent in the existing devices. This research work aimed to develop an innovative sensorized upper arm cuff to measure the wearer's interaction forces in the upper arm. A PID control technique was implemented for both joint-based and end-point exercises. The experimental results validated both types of functionality of the developed robot.

Flexohand: A Hybrid Exoskeleton-Based Novel Hand Rehabilitation Device.

Home-based hand rehabilitation has excellent potential as it may reduce patient dropouts due to travel, transportation, and insurance constraints. Being able to perform exercises precisely, accurately, and in a repetitive manner, robot-aided portable devices have gained much traction these days in hand rehabilitation. However, existing devices fall short in allowing some key natural movements, which are crucial to achieving full potential motion in performing activities of daily living. Firstly, existing exoskeleton type devices often restrict or suffer from uncontrolled wrist and forearm movement during finger exercises due to their setup of actuation and transmission mechanism. Secondly, they restrict passive metacarpophalangeal (MCP) abduction-adduction during MCP flexion-extension motion. Lastly, though a few of them can provide isolated finger ROM, none of them can offer isolated joint motion as per therapeutic need. All these natural movements are crucial for effective robot-aided finger rehabilitation. To bridge these gaps, in this research, a novel lightweight robotic device, namely "Flexohand", has been developed for hand rehabilitation. A novel compliant mechanism has been developed and included in Flexohand to compensate for the passive movement of MCP abduction-adduction. The isolated and composite digit joint flexion-extension has been achieved by integrating a combination of sliding locks for IP joints and a wire locking system for finger MCP joints. Besides, the intuitive design of Flexohand inherently allows wrist joint movement during hand digit exercises. Experiments of passive exercises involving isolated joint motion, composite joint motions of individual fingers, and isolated joint motion of multiple fingers have been conducted to validate the functionality of the developed device. The experimental results show that Flexohand addresses the limitations of existing robot-aided hand rehabilitation devices.

Raising awareness of antimicrobial resistance in rural aquaculture practice in Bangladesh through digital communications: a pilot study.

One of the key strategic objectives of the World Health Organisation's global antimicrobial resistance (AMR) action plan is to improve public awareness and understanding of this issue. Very few AMR awareness campaigns have targeted the animal production sector, particularly in low- and middle-income countries (LMICs) where rural communities can be geographically difficult to access via traditional face-to-face community engagement methods. Aquaculture is a major food production industry in Bangladesh and across Asia, an area which poses a significant risk to global AMR dissemination. In this pilot study, we sought to investigate the potential for digital communication materials to rapidly and effectively communicate AMR messages to rural aquaculture farmers in Bangladesh. Working with stakeholders from the Bangladesh aquaculture industry, we developed a 4-minute digital animation designed specifically for this audience and assessed its capacity to engage and communicate AMR messages to farmers. We then conducted a small-scale social media campaign, to determine the potential for rapidly disseminating AMR awareness materials to a large audience across Bangladesh, where there is an extensive 4 G internet network and an ever-increasing proportion of the population (57% as of December 2019) have mobile internet access. Thirty-six farmers were surveyed: all of them liked this method of communication and 97% said it would change the way they use antibiotics in the future. Through the social media campaign, the animation received 9,100 views in the first 2 weeks alone. Although preliminary, these results demonstrate the huge potential for digital communication methods for the rapid and widespread communication of AMR awareness materials to rural aquaculture communities in Bangladesh and across Asia. Our results support the need for more research into the most appropriate and effective content of AMR awareness campaigns for aquaculture communities and question the need for explaining the science underlying AMR in such communication materials.

Rehabilitation in Bangladesh.

Physical rehabilitation medicine started in Bangladesh 50 years ago, but there is no documentary evidence stating its origin, history of progression as a specialty, and work with agenda items. A gap exists between disability-related health and participation, which affects service delivery systems offered to persons with disability (PwD). Disability prevalence ranges from 0.47% to 14.4%. Illiteracy, maldistribution of wealth, and increasing prevalence of chronic diseases add to the burden of existing disability. It is necessary to involve all stakeholders in disability management to strengthen medical rehabilitation teams and improve service delivery while advocating for the rights and needs of PwD.

Novel robust control of a 7-DOF exoskeleton robot.

This paper proposes a novel robust control method for the control of a 7-DOF exoskeleton robot. The external disturbances and unknown dynamics in the form of friction forces, different upper-limb's mass, backlash, and input saturation make robot unstable, which prevents the robot from correctly following the defined path. A new fractional sliding mode controller (NFSMC) is designed, which is robust against unknown dynamic and external disturbances. Fractional PID controller (FPID) has high trajectory tracking, but it is not robust against external disturbances. Therefore, by combining NFSMC and FPID controllers, a new compound fractional PID sliding mode controller (NCFPIDSMC) is proposed, which benefits high trajectory tracking of FPID and robustness of NFSMC. The stability of the proposed control method is verified by Lyapunov theory. A random noise is applied in order to confirm the robustness of the proposed control method.