editorial biologically inspired and rehabilitation...
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EditorialBiologically Inspired and Rehabilitation Robotics
Liwei Shi ,1 Yong Yu,2 Nan Xiao,1 and Dongming Gan 3
1The Institute of Advanced Biomedical Engineering System, School of Life Science, Beijing Institute of Technology, No. 5,Zhongguancun South Street, Haidian District, 100081 Beijing, China2Kagoshima University, Kagoshima, Japan3Khalifa University Center for Autonomous Robotics Systems and Department of Mechanical Engineering,Khalifa University of Science and Technology, PO Box, 127788 Abu Dhabi, UAE
Correspondence should be addressed to Liwei Shi; [email protected] and Dongming Gan; [email protected]
Received 30 December 2018; Accepted 30 December 2018; Published 13 March 2019
Copyright © 2019 Liwei Shi et al. This is an open access article distributed under the Creative Commons Attribution License, whichpermits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Intelligent robots will soon be ready to serve in our home,hospital, office, and outdoors. One key approach to the devel-opment of such intelligent and autonomous robots drawsinspiration from behavior demonstration of biological sys-tems. In fact, using this approach, a number of new appli-cation areas have recently received significant interests inthe robotics community, including rehabilitation robots,service robots, medical robots, and entertainment robots.It is clear that bioinspired methods are becoming increas-ingly important in the face of the complexity of today’sdemanding applications. Biological inspiration in roboticsis leading to complex structures with sensory-motor coordi-nation, in which learning often plays an important role inachieving adaptation. In addition, rehabilitation roboticshas produced exciting new ideas and novel human assistivedevices in the growing field of biomedical robotics. The sci-ence and technology of rehabilitation robotics will progressthrough the collaboration among robotic researchers, medi-cal doctors, and patients.
This special issue focuses on the theoretical and tech-nological challenges of evolutionary transformation frombiological systems to intelligent robots. There were 33 sub-missions received, and 18 original research papers werefinally accepted in this special issue after formal peer reviews.The accepted papers can be further classified into threerelated topics, namely, exoskeleton systems for human assist-ing and rehabilitation, bioinspired manipulator design forfine manipulation and surgery, and bioinspired sensing sys-tem development for human-centered applications.
Among the exoskeleton works, a big focus was on thelower limb applications. A. Yatsugi et al. studied the feasibil-ity of neurorehabilitation using a hybrid assistive limb forpatients who underwent spine surgery. Treatment indiceswere introduced, and real patient subject experiments wereconducted to prove that neurorehabilitation therapy usinglower limb exoskeleton is feasible following spine surgery.For the similar application, Q. Chen et al. proposed a novelgait planning approach, which is aimed at providing a reli-able and balance gait during walking assistance. The exoskel-eton and patient were modeled together as a linear invertedpendulum (LIP), and the patients’ intention was obtainedthrough an orbital energy diagram. Experimental resultsdemonstrated the effectiveness of the proposed new method.Y. Liu et al. developed a wearable powered foot orthosis withmetatarsophalangeal joint which is considered a critical com-ponent in human locomotion. The experimental results alsosuggested that the designed system could offer promise incertain rehabilitation applications and clinical treatment. Asoft robotic suit was also developed by S. Jin et al. to assisthip flexion for energy-efficient walking of elderly persons indaily life activities, on metabolic cost reduction in thelong-distance level and inclined walking. Experiment resultsshow that, for a 79-year-old healthy male subject, the roboticsuit significantly reduced metabolic cost in the conditionof the robotic suit worn and powered on compared withthe condition of worn but powered off. To assist customizedgait planning for stable motion in variable terrains in lowerlimb exoskeleton-based rehabilitation walking, C. Yue et al.
HindawiApplied Bionics and BiomechanicsVolume 2019, Article ID 2428707, 2 pageshttps://doi.org/10.1155/2019/2428707
developed a novel wearable sensing system employing 7 forcesensors as a sensing matrix to achieve high accuracy ofground reaction force detection. By fusing force and angularvelocity data, four typical terrain features are able to be recog-nized successfully, and the recognition rate can reach up to93%. For the upper limb rehabilitation, W. Wei et al. devel-oped a soft arm exoskeleton-based Bowden cable-driven sys-tem. The movement of the shoulder skeletal system througha mathematical model based on the Bowden cable transmis-sion was explored, and the experimental results show thatman-machine interaction force can be reduced when thenumber of bearing force points is increased and the bearingforce point is away from the elbow. To fully understand thehuman shoulder mechanism to rehabilitation exoskeletondesign, a new skeleton model and the motion rhythm analy-sis for human shoulder complex were proposed by S. Zhibinet al. Experimental data were analyzed and proved the pro-posed model effectiveness. One of the big topics in exoskele-ton research is the human-robot interfacing. EMG has beenwidely used, and B. Gao et al. studied the real-time evaluationof the sEMG signal processing in an upper arm exoskeletonsystem for rehabilitation. The experimental results showedthat the recognition accuracy of sEMG was 94%, and theaverage delay time was 300ms, which met the requirementsin the real rehabilitation process.
Biology systems have showed good references andinspiration for engineers to develop new manipulationand sensing systems. A critical review was conducted by H.Al-Shuka et al. with focus on active impedance control ofbioinspired motion robotic manipulators. Different strategieswere summarized and compared for future reference of newsystem control development. By learning from human anat-omy and the muscle control system, a muscle coordinationcontrol for an asymmetrically antagonistic-driven musculo-skeletal robot using attractor selection was developed by S.Ide and A. Nishikawa. A virtual antagonistic muscle structurewas revealed in the experiments to show the effective controlmethod. By fully exploring the human elbow joint complex,kinematic decoupling analysis was conducted, and a new bio-mimetic robotic elbow joint was designed by B. Cui et al.Detailed kinematics and design were explained followed bysimulation tests. Similarly, a full 7-DOF prosthetic arm wasbuilt for shoulder disarticulation with the objective of lowcost. A 3D printed method was recommended with the finalprototype weighing 1350 g, and assessment was conducted toshow the effectiveness in daily living activities. Other thanprosthesis, a bioinspired catheter system was also developedby Y. Jiang et al. for endovascular treatment with force feed-back. An initial clinical trial was conducted and showed thefeasibility of the developed system. Apart from a human,a soft robotic fish was presented by W. Zhao et al. byusing piezoelectric fiber composite (PFC) as flexible actuatorbased on numerical coupling analysis. On the bioinspiredsensing side, a novel micro-photoionization detector forrapid volatile organic compound measurement was devel-oped by Q. Zhou et al. The testing results showed that theion collection efficiency reached 91% at a bias voltage of150V. To target microdistance and force perception, amagnetostrictive bioinspired whisker sensor based on the
galfenol composite cantilever beam was developed to real-ize bidirectional tactile perception. In the experiment, thedesigned whisker, compared with a traditional unimorphwhisker, displayed an output voltage range of -240 to240mV, the distance was 0-22mm, with the microforcesensing range of 9.8-2,744mN, the average distance of10.90mm/mV, and the force sensitivity of 11.4mN/mV.The experimental results show that the proposed whiskersensor can realize the bidirection tactile perception inone-dimensional space. The automatic measurement, espe-cially for products with complex shapes, has always beenone of the most important application areas of robots. Aim-ing at the challenge of measuring residual stress under thecurved surface, Q. Pan et al. proposed a robotic system forthe residual stress ultrasonic measuring based on combiningindustrial robot technology with residual stress ultrasonicnondestructive measuring technology. Irregular vibration ofthe vocal cords corresponding to a variety of voice disorderscan be observed with electronic laryngoscope to assist diag-nosing vocal cord disease. However, laryngoscopy examina-tion is invasive, and the outcomes are relatively subjective.Acoustic analysis can complement and in some cases replacethe other invasive methods, which are based on direct vocalfold observation. Based on this, X. Zhang et al. designed apathological voice source analysis system by integrating non-linear dynamics with an optimized asymmetric two-massmodel to explore nonlinear characteristics of vocal cordvibration. Changes in acoustic parameters, such as funda-mental frequency, caused by distinct subglottal pressureand varying degrees of vocal cord paralysis are analyzed.Experimental results validate the applicability of the pro-posed model to reproduce vocal cord vibration with highaccuracy and show that a paralyzed vocal cord increases themodel coupling stiffness.
Therefore, this special issue presents the most recentadvances in modeling, design, analysis, implementation,and therapeutic testing of the human assistive rehabilita-tion robotic exoskeletons, bioinspired prosthesis, manipu-lators, and sensing systems. We hope the knowledge andinformation will be good references and basis for furtherdevelopment in those fields for human-centered scienceand technology.
Conflicts of Interest
We all guest editors have no conflict of interest.
Liwei ShiYong YuNan Xiao
Dongming Gan
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