Intelligent ankle-foot prosthesis based on human structure and motion bionics.

The ankle-foot prosthesis aims to compensate for the missing motor functions by fitting the motion characteristics of the human ankle, which contributes to enabling the lower-limb amputees to take care of themselves and improve mobility in daily life. To address the problems of poor bionic motion of the ankle-foot prosthesis and the lack of natural interaction among the patient, prosthesis, and the environment, we developed a complex reverse-rolling conjugate joint based on the human ankle-foot structure and motion characteristics, the rolling joint was used to simulate the rolling-sliding characteristics of the knee joint. Meanwhile, we established a segmental dynamics model of the prosthesis in the stance phase, and the prosthetic structure parameters were obtained with the optimal prosthetic structure dimensions and driving force. In addition, a carbon fiber energy-storage foot was designed based on the human foot profile, and the dynamic response of its elastic strain energy at different thicknesses was simulated and analyzed. Finally, we integrated a bionic ankle-foot prosthesis and experiments were conducted to verify the bionic nature of the prosthetic joint motion and the energy-storage characteristics of the carbon fiber prosthetic foot. The proposed ankle-foot prosthesis provides ambulation support to assist amputees in returning to social life normally and has the potential to help improve clinical viability to reduce medical rehabilitation costs.

Towards humanlike grasp in robotic hands: mechanical implementation of force synergies.

In the field of robotic hands, finger force coordination is usually achieved by complex mechanical structures and control systems. This study presents the design of a novel transmission system inspired from the physiological concept of force synergies, aiming to simplify the control of multifingered robotic hands. To this end, we collected human finger force data during six isometric grasping tasks, and force synergies (i.e. the synergy weightings and the corresponding activation coefficients) were extracted from the concatenated force data to explore their potential for force modulation. We then implemented two force synergies with a cable-driven transmission mechanism consisting of two spring-loaded sliders and five V-shaped bars. Specifically, we used fixed synergy weightings to determine the stiffness of the compression springs, and the displacements of sliders were determined by time-varying activation coefficients. The derived transmission system was then used to drive a five-finger robotic hand named SYN hand. We also designed a motion encoder to selectively activate desired fingers, making it possible for two motors to empower a variety of hand postures. Experiments on the prototype demonstrate successful grasp of a wide range of objects in everyday life, and the finger force distribution of SYN hand can approximate that of human hand during six typical tasks. To our best knowledge, this study shows the first attempt to mechanically implement force synergies for finger force modulation in a robotic hand. In comparison to state-of-the-art robotic hands with similar functionality, the proposed hand can distribute humanlike force ratios on the fingers by simple position control, rather than resorting to additional force sensors or complex control strategies. The outcome of this study may provide alternatives for the design of novel anthropomorphic robotic hands, and thus show application prospects in the field of hand prostheses and exoskeletons.

Bionic intelligent ankle-foot prosthesis based on the conjugate curved surface.

Given the poor biomimetic motion of traditional ankle-foot prostheses, it is of great significance to develop an intelligent prosthesis that can realize the biomimetic mechanism of human feet and ankles. To this end, we presented a bionic intelligent ankle-foot prosthesis based on the complex conjugate curved surface. The proposed prosthesis is mainly composed of the rolling conjugated joints with a bionic design and the carbon fiber energy-storage foot. We investigated the flexibility of the prosthetic ankle joint movement, and the ability of the prosthetic foot to absorb ground impact during the gait cycle. Experimental results showed the matching of the ankle/toe position relationship of the human foot during simulated walking, which is helpful to realize the biomimetic motion of the human foot and ankle. It can also help therapists and clinicians provide better rehabilitation for lower-limb amputees.

Enhancement of Time-Frequency Energy for the Classification of Motor Imagery Electroencephalogram Based on an Improved FitzHugh-Nagumo Neuron System.

Brain-computer interface (BCI) based on motor imagery (MI) electroencephalogram (EEG) has become an essential way for rehabilitation, because of the activation and interaction of motor neurons between the brain and rehabilitation devices in recent years. However, due to the discrepancies between individuals, the frequency ranges can be different even for the same rhythm component of EEG recordings, which brings difficulties to the extraction of features for MI classification. Typical algorithms for MI classification such as common spatial patterns (CSP) require multi-channel analysis and lack frequency information. With the development of BCI, the single-channel BCI system has become indispensable for simplicity of use. However, the currently available single-channel detection methods have low classification accuracy. To address this issue, two novel frameworks based on an improved two-dimensional nonlinear FitzHugh-Nagumo (FHN) neuron system are proposed to extract features of the single-channel MI. To evaluate the effectiveness of the proposed methods, this research utilized an open-access database (BCI competition IV dataset 2a), an offline database, and a 10-fold cross-validation procedure. Experimental results showed that the improved nonlinear FHN system can transfer the energy of noise into MI, thereby effectively enhancing the time-frequency energy. Compared with the traditional methods, the proposed methods can achieve higher classification accuracy and robustness.

A sensitive sequential 'on/off' SERS assay for heparin with wider detection window and higher reliability based on the reversed surface charge changes of functionalized Au@Ag nanoparticles.

A sequential 'on/off' dual mode SERS assay platform for heparin with wider detection window and higher reliability is constructed based on electrostatic forces, in which the highly protonated chitosan encapsulated p-Mercaptobenzoic acid coated Au@Ag core-shell nanoparticles undergo sequential aggregation/segregation upon the additive of heparin with a limit of detection of 43.74ng/mL (5.69U/mL) and a continuous concentration range of 50-800ng/mL (6.5-104U/mL), which are lower in sensitivity and wider in detection window than the most reported assay for heparin. Remarkably, the latter declined window over a range of 350-800ng/mL in contrast, which has not reported before, is extremely important in reliable and practical assay of heparin.