RESUMEN
Antimony contamination of tailings from the mining process remain attracted a great amount of concern. In this study, defective UiO-66-X crystal materials are rationally constructed using trifluoroacetic acid and hydrochloric acid as modulators for the removal of Sb(V) from actual tailing sand leachates. XRD and TG characterizations reveal that the number and kind of defects in UiO-66 are influenced by the type of modulators and the addition of trifluoroacetic acid makes UiO-66-TFA contain both cluster and ligand defects. Adsorption experiments show that UiO-66 and UiO-66-HCl achieve 100% removal of Sb(V) at pH 7.5 of the tailing sand leachate, and up to 90% removal of Sb(V) by the three materials at pH 2.5. It is noteworthy that the removal rate of Sb(V) by UiO-66-HCl is still satisfactory even under strongly acidic conditions at pH 0.5, with good potential for practical applications. Four kinetic models are used to fit the adsorption data and the analysis shows that the mechanism of Sb(V) adsorption by three adsorbent is all pseudo-second order and chemisorption acts as an important role in the adsorption process. In addition, the fixed bed adsorption experiments show that the material exhibit good prospects for practical applications.
RESUMEN
The lower limb rehabilitation robot is an application of robotic technology for stroke people with lower limb disabilities. A new applicable and effective sitting/lying lower limb rehabilitation robot (LLR-Ro) is proposed, which has the mechanical limit protection, the electrical limit protection, and the software protection to prevent the patient from the secondary damage. Meanwhile, as a new type of the rehabilitation robots, its hip joint rotation ranges are different in the patient sitting training posture and lying training posture. The mechanical leg of the robot has a variable workspace to work in both training postures. So, if the traditional mechanical limit and the electrical limit cannot be used in the hip joint mechanism design, a follow-up limit is first proposed to improve the compatibility of human-machine motion. Besides, to eliminate the accident interaction force between the patient and LLR-Ro in the process of the passive training, an amendment impedance control strategy based on the position control is proposed to improve the compliance of the LLR-Ro. A simulation experiment and an experiment with a participant show that the passive training of LLR-Ro has compliance.
Asunto(s)
Dispositivo Exoesqueleto , Extremidad Inferior , Robótica , Rehabilitación de Accidente Cerebrovascular , Terapia por Ejercicio , Humanos , Rango del Movimiento Articular , SeguridadRESUMEN
The lower limb rehabilitation robot is an application of robotic technology for stroke people with lower limb disabilities. A new applicable and effective sitting/lying lower limb rehabilitation robot (LLR-Ro) is proposed, which has the mechanical limit protection, the electrical limit protection, and the software protection to prevent the patient from the secondary damage. Meanwhile, as a new type of the rehabilitation robots, its hip joint rotation ranges are different in the patient sitting training posture and lying training posture. The mechanical leg of the robot has a variable workspace to work in both training postures. So, if the traditional mechanical limit and the electrical limit cannot be used in the hip joint mechanism design, a follow-up limit is first proposed to improve the compatibility of human-machine motion. Besides, to eliminate the accident interaction force between the patient and LLR-Ro in the process of the passive training, an amendment impedance control strategy based on the position control is proposed to improve the compliance of the LLR-Ro. A simulation experiment and an experiment with a participant show that the passive training of LLR-Ro has compliance.