Implementation of a passive bi-articular ankle-knee exoskeleton during maximal squat jumping.

Owing to the unexplored potential to harness knee extension power during jumping, the current study aimed to examine how joint mechanics were altered with a biologically inspired, passive bi-articular ankle-knee exoskeleton, which could potentially facilitate greater jump height by increasing work production about the knee and ankle. Twenty-five participants (16 males and 9 females, 175.2 ± 8.2 cm, 72.9 ± 10.3 kg, 24.0 ± 3.4 years) performed maximal squat jumping with and without the exoskeletal device and we compared jump height, joint moment and joint work of the lower limbs. Despite a low exoskeleton stiffness and therefore a limited capacity to store energy, the bi-articular device resulted in decreased jump height (1.9 ± 3.1 cm, p = 0.006), decreased net work about the knee (0.23 J/kg, p < 0.001) and no increase in ankle joint work (p = 0.207), compared with jumping with no exoskeleton. Based on our findings, to mimic unassisted ankle joint moment profiles, a future bi-articular device would need increased elastic element slack length, greater stiffness and a larger moment arm about the ankle. Future designs could also employ attachment sites that have minimal overlying soft tissue, such as the pelvis, to improve comfort of the device.

Relationship between somatosensory and visuo-perceptual impairments and motor functions in adults with hemiparetic cerebral palsy.

Introduction: Children with cerebral palsy (CP) exhibit a variety of sensory impairments that can interfere with motor performance, but how these impairments persist into adulthood needs further investigation. The objective of this study was to describe the sensory impairments in adults having CP and how they relate to motor impairments. Methods: Nineteen adults having CP performed a set of robotic and clinical assessments. These assessments were targeting different sensory functions and motor functions (bilateral and unilateral tasks). Frequency of each type of impairments was determined by comparing individual results to normative data. Association between the sensory and motor impairments was assessed with Spearman correlation coefficient. Results: Impairment in stereognosis was the most frequent, affecting 57.9% of participants. Although less frequently impaired (26.3%), tactile discrimination was associated with all the motor tasks (unilateral and bilateral, either robotic or clinical). Performance in robotic motor assessments was more frequently associated with sensory impairments than with clinical assessments. Finally, sensory impairments were not more closely associated with bilateral tasks than with unilateral tasks. Discussion: Somatosensory and visuo-perceptual impairments are frequent among adults with CP, with 84.2% showing impairments in at least one sensory function. These sensory impairments show a moderate association with motor impairments.

Subjective and fitting evaluation of a revised physical attachment interface for a passive exoskeleton chair.

Passive exoskeleton chairs can alleviate fatigue, enhance efficiency, and reduce the risk of musculoskeletal diseases for workers standing for prolonged hours and have gradually been applied in recent years. In this study, by strategically distributing elastic and non-elastic fabrics, physical interfaces of the attachment system for the exoskeleton chair were revised to better adapt to bodily deformations and movements. We conducted an experiment using motion capture systems and subjective questionnaires to evaluate the performance of the initial and revised attachment systems of an exoskeleton chair worn by participants while performing multiple simulated assembly tasks. The results indicated that when wearing the revised one, some adverse effects on gait were significant reduced, as was the relative displacement of straps and discomfort in lumbar and abdominal, and system usability was improved, all of which were considered to be helpful in design to improve the performance of the attachment system in the future.

This study aims to address the limited adaptability of the physical interface of attachment system (AS) to movements and bodily deformations. We proposed a revised AS by strategically incorporating elastic and non-elastic fabrics. Our results indicate that the revised AS alleviates negative effects on gait and discomfort, and improves overall usability.

Application of Novel Wearable Self-Balancing Exoskeleton Robot Capable for Complete Self-Support in Post-stroke Rehabilitation: A Case Study.

Early weight-bearing and trunk control training are essential components for promoting lower limb motor recovery in individuals with stroke. In this case study, we presented the successful implementation of a three-week wearable self-balancing exoskeleton robot training program for a 57-year-old male patient who had suffered from a stroke. After carefully reviewing the patient's previous medical records, conducting a thorough assessment, and excluding other potential contraindications, we introduced wearable self-balancing exoskeleton robot training to complement conventional rehabilitation in managing balance and lower limb function. The training program included early initiation of weight bearing and trunk control training following an ischemic stroke, aimed at promoting motor recovery and improving functional independence. The findings indicated that training with a wearable self-balancing exoskeleton robot enhanced the balance and motor function of the hemiplegic patient, with commendable adherence. Furthermore, the participants consistently reported increased satisfaction and confidence during the training sessions. This case report not only provided preliminary evidence of the effectiveness of the wearable self-balancing exoskeleton robot in promoting functional recovery following a stroke but also outlined a comprehensive training program that may hold value for future clinical application.

Can a Novel Light Weight Minimal Support Lifting Exoskeleton Modify Lifting Movement in People without Low Back Pain?

Low back pain (LBP) is a major contributor to lifting-related disabilities. To minimize the risk of back pain, emerging technologies known as lifting exoskeletons were designed to optimize lifting movements. However, it is currently unknown whether a minimally supportive exoskeleton can alter the lifting movement in people without LBP. This study aims to investigate if wearing a novel lightweight exoskeleton that minimally supports the back, hip, and knee can alter the lifting range of motion and movement variations in people without LBP. This study also aims to investigate if wearing this novel exoskeleton can result in a reliable between-day lifting movement. In two separate sessions (each one week apart), fourteen participants lifted a box (that weighed 10% of their body weight) ten times, once while wearing an exoskeleton and once while not wearing an exoskeleton. Wearing the novel exoskeleton during lifting produced moderate-high, test-retest reliability (Trunk: ICC3,1 = 0.89, 95% CI [0.67, 0.96], SEM = 9.34°; Hip: ICC3,1 = 0.63, 95% CI [0.22, 0.88], SEM = 2.57°; Knee: ICC3,1 = 0.61, 95% CI [0.23, 0.87], SEM = 2.50°). Wearing an exoskeleton significantly decreased the range of motion of the knee (F1,4 = 4.83, p = 0.031, ηp2 = 0.06). Additionally, wearing an exoskeleton significantly decreased hip (diff = 8.38, p = 0.045) and knee (diff = -8.57, p = 0.038) movement variability; however, wearing an exoskeleton did not decrease the movement variability of the body's trunk (diff = 0.60, p = 1.00). Therefore, minimally supported lifting through the use of exoskeletons can modify movement in people without LBP and produce reliable lifting movements. Wearing the novel exoskeleton is also desirable for monitoring lifting movements. Future studies should investigate the use of sensors and IMU to monitor lifting movement at work with the least amount of intrusion on an individual's movement.

Conceptualization of Cloud-Based Motion Analysis and Navigation for Wearable Robotic Applications.

The behavior of pedestrians in a non-constrained environment is difficult to predict. In wearable robotics, this poses a challenge, since devices like lower-limb exoskeletons and active orthoses need to support different walking activities, including level walking and climbing stairs. While a fixed movement trajectory can be easily supported, switches between these activities are difficult to predict. Moreover, the demand for these devices is expected to rise in the years ahead. In this work, we propose a cloud software system for use in wearable robotics, based on geographical mapping techniques and Human Activity Recognition (HAR). The system aims to give context to the surrounding pedestrians by providing hindsight information. The system was partially implemented and tested. The results indicate a viable concept with great extensibility prospects.

Benefits of robotic gait assistance with ATLAS 2030 in children with cerebral palsy.

Objective: This study aims to assess the impact of integrating ATLAS 2030 into the conventional therapy regimen for children with Cerebral Palsy (CP) compared to conventional therapy alone regarding gross motor function, range of motion (ROM) and spasticity. Design: A non-randomized controlled trial conducted in outpatient rehabilitation settings and special education schools, following the recommendations by the Consolidated Standards of Reporting Trials (CONSORT) statement. Participants: Thirty children with CP divided into intervention and control groups. Intervention: The intervention group received three months of therapy (twice per week) with the ATLAS 2030 device in addition to their standard therapy, while the control group underwent standard therapy alone. Main outcome measure: Gross motor function assessed using the Gross Motor Function Measure of 88 items (GMFM-88). Secondary outcomes: Spasticity, measured by the Modified Ashworth Scale (MAS), and ROM of the lower limbs. Results: Statistically significant differences were observed between groups, in favour the intervention group, in both the GMFM-88 total score and dimension A, B and D. Similar findings were noted for spasticity and ROM, demonstrating significant improvements in the intervention group. Conclusion: ATLAS 2030 proves to be a safe and valuable tool for the rehabilitation of children with CP, showing improvements in motor function, spasticity and ROM.

Torque-ratio-adjustable ankle-foot exoskeleton for resisting perturbation in forward direction within fan-shaped region of pelvis horizontal plane.

Introduction: The ankle-foot exoskeleton has been demonstrated to help users resist anterior perturbation in the horizontal pelvis plane. However, its effects on perturbations in other directions remain unclear. This paper focuses on how the ankle-foot exoskeleton helps people resist perturbations coming from forward directions within the fan-shaped region in the pelvis horizontal plane. Methods: Firstly, we proposed and validated a hypothesis that the human torque ratio of inversion to plantar flexion torque would change with the perturbation directions of anterior (dir0) and 45° deviating from anterior to left (dir45). Subsequently, based on the regulation demand, we developed an ankle-foot exoskeleton that can adjust the torque ratio delivered to the human body by controlling the forces on two cross-arranged cables. Finally, we evaluated and compared the assistance performance of three powered assistive modes (NM, medBD, and latBD) with the unpowered one (UN) by setting different force pairs in two cables. Results: The results showed that, with the assistance, the margin of stability was increased and the standard deviations of ankle-foot segmental movements were decreased. Meanwhile, the biological inversion torque has a significant difference among the three assistive modes. Compared to the UN, the latBD was shown to reduce the biological inversion torque by 15.8 % and 13.7 % in response to the dir0 and dir45 perturbations, respectively, while the reductions for the NM and medBD were smaller. It was also observed that the torque ratios, generated by the human and the exoskeleton in latBD mode, differed by about 0.1 under dir0 and 0.08 under dir45, while the physiologically similarity of the exoskeleton torque ratio in NM and medBD modes were smaller. Based on the above results, we found that the more physiologically similar the exoskeleton torque ratio, the better the assistive performance. Discussion: The findings demonstrated that the torque-ratio-adjustable exoskeleton could support human resistance to perturbations coming from forward directions within a fan-shaped region in the pelvis horizontal plane and indicated that the exoskeleton's torque ratio should be carefully modulated to match the ratio of the human under various environmental conditions for better assistive performance.

Utilizing spiders for biomonitoring air pollution from road traffic: a novel approach and preliminary findings.

Polycyclic aromatic hydrocarbons (PAHs) are air pollutants generated mainly by fuel combustion, industry, and other anthropogenic sources. The level of these pollutants can be assessed by employing biomonitors, a cost-effective and less contaminating alternative than conventional methods. In the present study, we aimed to investigate whether spiders inhabiting areas around a major city like Córdoba, Argentina, adsorb and retain PAHs in their exoskeletons. Additionally, we aimed to determine if spiders' life traits influence their capacity to accumulate PAHs and explore potential relationships between PAH levels and the types of roads where they were collected. Specimens of a funnel-shaped web spider (Aglaoctenus lagotis) and an orb-weaver (Metepeira spp.) were collected from roadsides. Roads were classified into four categories based on their traffic intensity. Using high-performance liquid chromatography (HPLC), we identified 15 different PAHs. Both species exhibited varying concentrations of PAHs, although Metepeira spp. showed 15-18 times higher PAH levels compared to A. lagotis. Moreover, A. lagotis individuals living alongside highways accumulated up to six times more PAHs compared to those along other road types. These findings suggest that spiders' life traits may influence pollutant concentrations. Our study demonstrates that spiders near roads are exposed to and accumulate PAHs on their exoskeletons, likely sourced from petrogenic vehicular emissions, highlighting their value as biomonitors and emphasizing the need for mitigation measures to address air pollutants emitted from mobile sources.

Physiotherapy-assisted overground exoskeleton use: mixed methods feasibility study protocol quantifying the user experience, as well as functional, neural, and muscular outcomes in children with mobility impairments.

Background: Early phase research suggests that physiotherapy paired with use of robotic walking aids provides a novel opportunity for children with severe mobility challenges to experience active walking. The Trexo Plus is a pediatric lower limb exoskeleton mounted on a wheeled walker frame, and is adjustable to fit a child's positional and gait requirements. It guides and powers the child's leg movements in a way that is individualized to their movement potential and upright support needs, and can provide progressive challenges for walking within a physiotherapy-based motor learning treatment paradigm. Methods: This protocol outlines a single group mixed-methods study that assesses the feasibility of physiotherapy-assisted overground Trexo use in school and outpatient settings during a 6-week physiotherapy block. Children ages 3-6 years (n = 10; cerebral palsy or related disorder, Gross Motor Function Classification System level IV) will be recruited by circle of care invitations to participate. Study indicators/outcomes will focus on evaluation of: (i) clinical feasibility, safety, and acceptability of intervention; (ii) pre-post intervention motor/functional outcomes; (iii) pre-post intervention brain structure characterization and resting state brain connectivity; (iv) muscle activity characterization during Trexo-assisted gait and natural assisted gait; (v) heart rate during Trexo-assisted gait and natural assisted gait; and (vi) user experience and perceptions of physiotherapists, children, and parents. Discussion: This will be the first study to investigate feasibility indicators, outcomes, and experiences of Trexo-based physiotherapy in a school and outpatient context with children who have mobility challenges. It will explore the possibility of experience-dependent neuroplasticity in the context of gait rehabilitation, as well as associated functional and muscular outcomes. Finally, the study will address important questions about clinical utility and future adoption of the device from the physiotherapists' perspective, comfort and engagement from the children's perspective, and the impressions of parents about the value of introducing this technology as an early intervention. Clinical trial registration: https://clinicaltrials.gov, identifier NCT05463211.

Evaluation of a passive back-support exoskeleton during in-bed patient handling tasks.

This study evaluated the effects of a back-support exoskeleton on the trunk and hip joint angles, lower back muscle activity and heart rate during four patient handling tasks: assisting a patient from sitting to lying, laterally repositioning the patient and turning the patient in two directions. Eight participants performed these tasks with and without the exoskeleton. Results demonstrated a significant reduction in the lower back muscle activity, but less pronounced effects for other tasks involving minimal trunk flexion. Hip flexion angles were reduced for all tasks when the exoskeleton was worn. The amount of reduction in the muscle activity and changes in the trunk and hip angles varied by task. The exoskeleton did not affect the heart rate across all tasks. The exoskeleton appeared to be more effective in tasks requiring substantial trunk flexion, indicating its potential benefits for reducing lower back muscle strain during such activities.

Walking against the odds: The intricate connection between spatiotemporal characteristics, kinetic and kinematic variables, cognitive stress, and passive assistive exoskeletons in senior and young adults.

In this study, we investigated the combined effects of age, dual-tasking (DT) and a passive hip exoskeleton on gait patterns among senior (SA) and young adults (YA). It was hypothesized that SA will be more affected by DT and that wearing the exoskeleton will improve gait patterns for both groups during DT. Twenty-two SA and twenty-six YA performed a single task (normal walking) and DT walking at their preferred speed with an exoskeleton (EXO), without (noEXO), and a sham version (SHAM) in a randomized and balanced order. Speed, cadence, double support time (DST), step length, hip joint power, range of motion (ROM), and moments (mom), as well as DT performance, were extracted using mocap, force plates (1000 Hz), and a voice recorder. Three-way MANOVA with group × device × condition was conducted (p < .05, inferred significance). Results showed a predominantly significant main effect of group for step length, speed, DST, ROM, and mom (p ≤ .01), main effect of condition for cadence, DST, speed, and mom (p < .01) and a main effect of the device for ROMz and mom (p < .05). Age-related changes were seen by decreased walking speed and step length, independent of DT and use of exoskeleton. Wearing the EXO aided the SA group to maintain similar levels of cadence from single to DT and decreased the hip internal rotation mom by 65%. There was no difference in DT performance between groups. In conclusion, SA showed a decline in gait patterns during DT that was somewhat mitigated by wearing an EXO.

Walking on Real-world Terrain with an Ankle Exoskeleton in Cerebral Palsy.

Despite medical treatment focused on addressing walking disability, many millions of people with neurological conditions, like cerebral palsy (CP), struggle to maintain independent mobility. Lower limb exoskeletons and exosuits may hold potential for augmenting walking ability. However, it remains unknown whether these wearable robots are safe and beneficial for use outside of highly controlled laboratory environments, the demonstration of which is necessary for clinical translation. Here, we show that a lightweight, portable, ankle exoskeleton with an adaptable one-size-works-for-all assistance controller can improve energy efficiency and walking speed for individuals with CP spanning a wide spectrum of lower limb impairment in a multi-terrain real-world environment. Tested on an outdoor walking route with level, sloped, and stair terrain, robotic assistance resulted in a 15-18% (p = 0.013-0.026) reduction in estimated energy cost and a 7-8% (p = 0.001-0.004) increase in average walking speed across "shorter" 6-minute and "longer" 20-minute walking durations relative to unassisted walking. This study provides evidence that wearable robots may soon improve mobility in neighborhood, school, and community settings for individuals with CP.

Safety & efficacy of a robotic hip exoskeleton on outpatient stroke rehabilitation.

OBJECTIVE: The objective of this study was to analyze the safety and efficacy of using a robotic hip exoskeleton designed by Samsung Electronics Co., Ltd., Korea, called the Gait Enhancing and Motivating System-Hip (GEMS-H), in assistance mode only with the poststroke population in an outpatient-rehabilitation setting. METHODS: Forty-one participants with an average age of 60 and average stroke latency of 6.5 years completed this prospective, single arm, interventional, longitudinal study during the COVID-19 pandemic. Significant modifications to the traditional outpatient clinical environment were made to adhere to organizational physical distancing policies as well as guidelines from the Centers for Disease Control. All participants received gait training with the GEMS-H in assistance mode for 18 training sessions over the course of 6-8 weeks. Performance-based and self-reported clinical outcomes were assessed at four time points: baseline, midpoint (after 9 training sessions), post (after 18 training sessions), and 1-month follow up. Daily step count was also collected throughout the duration of the study using an ankle-worn actigraphy device. Additionally, corticomotor excitability was measured at baseline and post for 4 bilateral lower limb muscles using transcranial magnetic stimulation. RESULTS: By the end of the training program, the primary outcome, walking speed, improved by 0.13 m/s (p < 0.001). Secondary outcomes of walking endurance, balance, and functional gait also improved as measured by the 6-Minute Walk Test (47 m, p < 0.001), Berg Balance Scale (2.93 points, p < 0.001), and Functional Gait Assessment (1.80 points, p < 0.001). Daily step count significantly improved with and average increase of 1,750 steps per day (p < 0.001). There was a 35% increase in detectable lower limb motor evoked potentials and a significant decrease in the active motor threshold in the medial gastrocnemius (-5.7, p < 0.05) after training with the device. CONCLUSIONS: Gait training with the GEMS-H exoskeleton showed significant improvements in walking speed, walking endurance, and balance in persons with chronic stroke. Day-to-day activity also improved as evidenced by increased daily step count. Additionally, corticomotor excitability changes suggest that training with this device may help correct interhemispheric imbalance typically seen after stroke. TRIAL REGISTRATION: This study is registered with ClinicalTrials.gov (NCT04285060).

Impact of a passive upper-body exoskeleton on muscular activity and precision in overhead single and dual tasks: an explorative randomized crossover study.

Introduction: Tasks performed at or above head height in industrial workplaces pose a significant challenge due to their association with musculoskeletal disorders. Upper-body exoskeletons have been identified as a potential solution for mitigating musculoskeletal loads and fighting against excessive muscular fatigue. However, the influence of such support on fine motor control, as well as on cognitive-motor interference, has received limited attention thus far. Therefore, this crossover randomized study aimed to investigate the impact of the use of a passive upper-body exoskeleton in the presence of muscular fatigue or not. Additionally, focusing on differences between single (ST) and dual (DT) industrial tasks consisting of overhead speed and accuracy exercises. Methods: In both scenarios, N = 10 participants (5 male/5 female) engaged in an overhead precision task using a nail gun to precisely target specific areas on three differently sized regions, based on Fitts' law paradigm (speed-accuracy trade-off task). This was done with and without the passive upper-body exoskeleton, before and immediately after a fatiguing exercise of shoulder and leg muscles. In addition, a second task (dual-task, DT) was carried out in which the occurrence of an auditory signal had to be counted. The main outcomes were muscular activation of the shoulder girdle as well as the time to perform speed-accuracy tasks of different difficulty indexes (calculated by means of Fitts' law). Results and discussion: In the absence of fatigue, the exoskeleton did not affect the speed-accuracy trade-off management of participants in the single task, but it did in the dual-task conditions. However, after muscle fatigue, the speed-accuracy trade-off was differently affected when comparing its execution with or without the exoskeleton. In general, the dual task resulted in longer times to perform the different tasks, whether it was with or without the exoskeleton. Furthermore, the use of the exoskeleton decreased muscle activity, which is associated with less physical effort, but only significantly for the M. deltoideus and M. trapezius when compared by tasks. Overall, these study findings highlight the potential supportive effects of using an upper-body exoskeleton for industrial overhead tasks.

The moulting arthropod: a complete genetic toolkit review.

Exoskeletons are a defining character of all arthropods that provide physical support for their segmented bodies and appendages as well as protection from the environment and predation. This ubiquitous yet evolutionarily variable feature has been instrumental in facilitating the adoption of a variety of lifestyles and the exploitation of ecological niches across all environments. Throughout the radiation that produced the more than one million described modern species, adaptability afforded by segmentation and exoskeletons has led to a diversity that is unrivalled amongst animals. However, because of the limited extensibility of exoskeleton chitin and cuticle components, they must be periodically shed and replaced with new larger ones, notably to accommodate the growing individuals encased within. Therefore, arthropods grow discontinuously by undergoing periodic moulting events, which follow a series of steps from the preparatory pre-moult phase to ecdysis itself and post-moult maturation of new exoskeletons. Each event represents a particularly vulnerable period in an arthropod's life cycle, so processes must be tightly regulated and meticulously executed to ensure successful transitions for normal growth and development. Decades of research in representative arthropods provide a foundation of understanding of the mechanisms involved. Building on this, studies continue to develop and test hypotheses on the presence and function of molecular components, including neuropeptides, hormones, and receptors, as well as the so-called early, late, and fate genes, across arthropod diversity. Here, we review the literature to develop a comprehensive overview of the status of accumulated knowledge of the genetic toolkit governing arthropod moulting. From biosynthesis and regulation of ecdysteroid and sesquiterpenoid hormones, to factors involved in hormonal stimulation responses and exoskeleton remodelling, we identify commonalities and differences, as well as highlighting major knowledge gaps, across arthropod groups. We examine the available evidence supporting current models of how components operate together to prepare for, execute, and recover from ecdysis, comparing reports from Chelicerata, Myriapoda, Crustacea, and Hexapoda. Evidence is generally highly taxonomically imbalanced, with most reports based on insect study systems. Biases are also evident in research on different moulting phases and processes, with the early triggers and late effectors generally being the least well explored. Our synthesis contrasts knowledge based on reported observations with reasonably plausible assumptions given current taxonomic sampling, and exposes weak assumptions or major gaps that need addressing. Encouragingly, advances in genomics are driving a diversification of tractable study systems by facilitating the cataloguing of putative genetic toolkits in previously under-explored taxa. Analysis of genome and transcriptome data supported by experimental investigations have validated the presence of an "ultra-conserved" core of arthropod genes involved in moulting processes. The molecular machinery has likely evolved with elaborations on this conserved pathway backbone, but more taxonomic exploration is needed to characterise lineage-specific changes and novelties. Furthermore, linking these to transformative innovations in moulting processes across Arthropoda remains hampered by knowledge gaps and hypotheses based on untested assumptions. Promisingly however, emerging from the synthesis is a framework that highlights research avenues from the underlying genetics to the dynamic molecular biology through to the complex physiology of moulting.

Bee morphology: A skeletomuscular anatomy of Thyreus (Hymenoptera: Apidae).

Although the knowledge of the skeletal morphology of bees has progressed enormously, a corresponding advance has not happened for the muscular system. Most of the knowledge about bee musculature was generated over 50 years ago, well before the digital revolution for anatomical imaging, including the application of microcomputed tomography. This technique, in particular, has made it possible to dissect small insects digitally, document anatomy efficiently and in detail, and visualize these data three dimensionally. In this study, we document the skeletomuscular system of a cuckoo bee, Thyreus albomaculatus and, with that, we provide a 3D atlas of bee skeletomuscular anatomy. The results obtained for Thyreus are compared with representatives of two other bee families (Andrenidae and Halictidae), to evaluate the generality of our morphological conclusions. Besides documenting 199 specific muscles in terms of origin, insertion, and structure, we update the interpretation of complex homologies in the maxillolabial complex of bee mouthparts. We also clarify the complicated 3D structure of the cephalic endoskeleton, identifying the tentorial, hypostomal, and postgenal structures and their connecting regions. We describe the anatomy of the medial elevator muscles of the head, precisely identifying their origins and insertions as well as their homologs in other groups of Hymenoptera. We reject the hypothesis that the synapomorphic propodeal triangle of Apoidea is homologous with the metapostnotum, and instead recognize that this is a modification of the third phragma. We recognize two previously undocumented metasomal muscle groups in bees, clarifying the serial skeletomusculature of the metasoma and revealing shortcomings of Snodgrass' "internal-external" terminological system for the abdomen. Finally, we elucidate the muscular structure of the sting apparatus, resolving previously unclear interpretations. The work conducted herein not only provides new insights into bee morphology but also represents a source for future phenomic research on Hymenoptera.

Design and Verification of Piano Playing Assisted Hand Exoskeleton Robot.

Finger technique is a crucial aspect of piano learning, and hand exoskeleton mechanisms effectively assist novice piano players in maintaining correct finger technique consistently. Addressing current issues with exoskeleton robots, such as the inability to provide continuous correction of finger technique and their considerable weight, a novel hand exoskeleton robot has been developed to enhance finger technique through continuous correction and reduced weight. Initial data are gathered using finger joint angle sensors to analyze movements during piano playing, focusing on the trajectory and angular velocity of key strikes. This analysis informs the design of a 6-bar double-closed-loop mechanism with an end equivalent sliding pair, using analytical methods to establish the relationship between motor extension and input rod rotation. Simulation studies assess the exoskeleton's motion space and dynamics, confirming its capability to meet structural and functional demands for accurate key striking. Prototype testing validates the exoskeleton's ability to maintain correct finger positioning and mimic natural strike speeds, thus improving playing technique while ensuring comfort and safety.

A Study on the Design of Knee Exoskeleton Rehabilitation Based on the RFPBS Model.

The gait rehabilitation knee exoskeleton is an advanced rehabilitative assistive device designed to help patients with knee joint dysfunction regain normal gait through training and activity support. This paper introduces a design framework based on the process knowledge representation method to optimize the design and control efficiency of the knee exoskeleton. This framework integrates knowledge of design objects and processes, specifically including requirements, functions, principle work areas, and the representation and multi-dimensional dynamic mapping of the Behavior-Structure (RFPBS) matrix, achieving multi-dimensional dynamic mapping of the knee exoskeleton. This method incorporates biomechanical and physiological knowledge from the rehabilitation process to more effectively simulate and support gait movements during rehabilitation. Research results indicate that the knee rehabilitation exoskeleton design, based on the RFPBS process knowledge representation model, accomplishes multi-dimensional dynamic mapping, providing a scientific basis and effective support for the rehabilitation of patients with knee joint dysfunction.

Recent Advances in Self-Powered Wearable Flexible Sensors for Human Gaits Analysis.

The rapid progress of flexible electronics has met the growing need for detecting human movement information in exoskeleton auxiliary equipment. This study provides a review of recent advancements in the design and fabrication of flexible electronics used for human motion detection. Firstly, a comprehensive introduction is provided on various self-powered wearable flexible sensors employed in detecting human movement information. Subsequently, the algorithms utilized to provide feedback on human movement are presented, followed by a thorough discussion of their methods and effectiveness. Finally, the review concludes with perspectives on the current challenges and opportunities in implementing self-powered wearable flexible sensors in exoskeleton technology.