Adaptive-Robust Controller for Smart Exoskeleton Robot.

Rehabilitation robotics has seen growing popularity in recent years due to its immense potential for improving the lives of people with disabilities. However, the complex, uncertain dynamics of these systems present significant control challenges, requiring advanced techniques. This paper introduces a novel adaptive control framework integrating modified function approximation (MFAT) and double-integral non-singular terminal sliding mode control (DINTSMC). The goal is to achieve precise tracking performance, high robustness, a fast response, a finite convergence time, reduced chattering, and effective handling of unknown system dynamics. A key feature is the incorporation of a higher-order sliding mode observer, eliminating the need for velocity feedback. This provides a new solution for overcoming the inherent variations and uncertainties in robot manipulators, enabling improved accuracy within fixed convergence times. The efficacy of the proposed approach was validated through simulations and experiments on an exoskeleton robot. The results successfully demonstrated the controller's effectiveness. Stability analysis using Lyapunov theory proved the closed-loop system's uniform ultimate boundedness. This contribution is expected to enable enhanced control for rehabilitation robots and improved patient outcomes.

Preparation, characterization and in vitro cytotoxicity assay of curcumin loaded solid lipid nanoparticle in IMR32 neuroblastoma cell line.

Curcumin (diferuloylmethane) possesses low bioavailability due to its poor solubility, permeability and rapid metabolism. Solid Lipid Nanoparticle of curcumin was prepared by high-speed homogenization technique. Stearic acid was used as a lipid, tween 80 as surfactant and various co surfactants were used for the preparation of SLN. The prepared SLN was characterized using zeta sizer, TEM analysis and the average particle size was found to be in the range of 80 nm - 200nm. The entrapment efficiency of the SLN was ~58 to 85%. The characteristic FTIR peaks suggest that the stearic acid is compatible with curcumin. MTT assay was performed on the optimized formulation and the results are indicative that curcumin SLN showed better cytotoxicity in low dose while compared to plain curcumin. The developed Cu-SLN can find its better place in the anticancer therapy.