Self-Balancing Exoskeleton Robots Designed to Facilitate Multiple Rehabilitation Training Movements.

This study presents the biomimetic design of the structure and controller of AutoLEE-II, a self-balancing exoskeleton developed to assist patients in performing multiple rehabilitation movements without crutches or other supporting equipment. Its structural design is founded upon the human body structure, with an eliminated axis deviation and a raised CoM of the exoskeleton. The controller is a physical parameter-independent controller based on the CoM modification. Thus, the exoskeleton can adapt to patients with different physical parameters. Five subjects underwent exoskeleton-assisted rehabilitation training experiments, including squatting, tilting, and walking trainings. The results showed that the exoskeleton can assist patients in completing various rehabilitation exercises and help them maintain their balance during the rehabilitation training. This helpful role of the exoskeleton in rehabilitation training is analyzed through an electromyography (EMG) data analysis. The findings revealed that wearing the exoskeleton can reduce the activity of the lower limb muscles by approximately 20-30% when performing the same rehabilitation exercises.

Development and Evaluation of a Lumbar Assisted Exoskeleton With Mixed Lifting Tasks by Various Postures.

A large number of the WRLSs (wearable robots lumbar support) research have been presented for working efficient increase and injure risk reduction in recent years. However, the previous research can only complete the sagittal-plane lifting task, which can not adapt to the mixed lifting tasks in the actual work scene. Therefore, we presented a novel lumbar assisted exoskeleton with mixed lifting tasks by various postures based on position control, which can not only carry out the lifting tasks of sagittal-plane, but also complete the lifting tasks of sides. First, we proposed a new generation method of raising reference curves that can generate assistance curve for each user with each task, which is very convenient in mixed lifting tasks. Then, an adaptive predictive controller was designed to track the reference curves of different users under different loads, the maximum tracking errors of the angles are 2.2° and 3.3° respectively at 5kg and 15kg, and all the errors are within 3%. Compared to the condition of no exoskeleton, the average RMS (root mean square) of EMG (electromyography) for six muscles are reduced by 10.33±1.44% , 9.62±0.69% , 10.97±0.81% and 14.48±2.11% by lifting loads with stoop, squat, left-asymmetric and right-asymmetric respectively. The results demonstrate that our lumbar assisted exoskeleton presents outperformance in mixed lifting tasks by various postures.

Interaction of sleep quality and anxiety on quality of life in individuals with type 2 diabetes mellitus.

PURPOSE: Sleep disturbances and anxious symptoms are very common in people with type 2 diabetes mellitus(T2DM). This study aimed to assess the interactive effects of poor sleep quality and anxious symptoms on the quality of life of people with T2DM. METHODS: Nine hundred and forty-four participants with T2DM were enrolled in a cross-sectional study. Demographic and physiological characteristics were recorded. Each participant completed a Chinese version of the Pittsburgh Sleep Quality Index, the Patient Health Questionnaire-9 and General Anxiety Disorder questionnaire, and the Diabetes Specificity Quality of Life scale. The products of poor sleep quality and anxiety were added to a logistic regression model to evaluate the multiplicative interactions, expressed as the relative excess risk of interaction, the attributable proportion of interaction, and the synergy index. RESULTS: Poor sleep quality and anxiety symptoms were associated with reduced quality of life. There was a significant interaction between poor sleep quality and anxiety symptoms; this combined effect significantly reduced quality of life scores by 6.09-fold. The relative excess risk of interactions was 1.36. CONCLUSIONS: The combined effect of poor sleep quality and anxiety symptoms reduces quality of life in people with T2DM. TRIAL REGISTRATION: ChiCTR-IOP-16008045. Registered 3 March 2016. A clinical study to investigate gum infection in patients undergoing kidney dialysis.

A novel inspection robot for nuclear station steam generator secondary side with self-localization.

Nuclear energy is one of the most important clean energy on earth presently. The steam generator secondary side is the key device of nuclear power station. As an important branch of special robot, nuclear robot is the most convenient and effective mean to inspect the steam generator. This paper describes one robot system which could help users inspecting tubes and locating the robot inside the steam generator. The main part of this system is a climbing robot which can move inside the steam generator carrying a PT or telescopic arm. Four cameras are installed on the robot and PT to send real-time videos back for analysis. Experiments show that this system works stably and the localization is accuracy and effective.

[A cross-sectional survey of blindness and low vision among adults aged 60 years and above in Xinchengqiao Blocks, Nantong].

OBJECTIVE: To investigate the prevalence and causes of blindness and low vision among adults aged > or = 60 years in the urban population of Nantong. METHODS: Cluster sampling was used to select 8 from 14 communities in Xinchengqiao Blocks, in which all individuals aged > or = 60 years were visited. The visual acuity without correction and the presenting acuity with the participants' habitual distance correction were measured separately for each eye. In individuals with visual acuity less than 0.6, pinhole visual acuity was tested with pinhole spectacle. External eye, anterior segment and ocular fundus were examined by the ophthalmologist using a slit lamp-microscope and direct ophthalmoscopy. The survey was preceded by a pilot study. RESULTS: Of 3352 enumerated subjects, 3040 individuals participated in this survey (90.69% response rate). According to pinhole visual acuity and World Health Organization (WHO) visual impairment criterion (blindness: less than 0.05 in the better eye; low vision: less than 0.3 to 0.05 in the better eye), the prevalence of blindness and low vision was 1.35% and 1.84% respectively. The prevalence of blindness and low vision for females were 1.92% and 2.33%, respectively, which were differenced from that in males (0.66% and 1.24%, respectively). The prevalence of blindness and low vision increased with age. The survey showed that the most important cause leading to blindness and low vision was cataract. According to the presenting visual acuity and visual impairment criterion (blindness: less than 0.1 in both eyes), the prevalence of blindness and visual impairment was 1.58% and 13.59%, respectively, 2.10% and 15.98% in females and 0.95% and 10.66% in males, respectively. The prevalence of blindness and visual impairment was raised with increasing age. Cataract was also the leading cause for blindness. CONCLUSIONS: The prevalence of blindness in the Nantong area was lower than that in northern, southern and western China. Females and illiteracy were more likely to have blindness and low vision than that of males and literate. The leading causes of blindness in Nantong are, in descending sequence, cataract, ocular fundus diseases, ametropia and corneal scar/opacity.