Non-obstacle design is critical to tailor physically handicapped workers in manufacturing system.Simultaneous consideration of variability in physically disabled users,machines and environment of the manufacturing sys...Non-obstacle design is critical to tailor physically handicapped workers in manufacturing system.Simultaneous consideration of variability in physically disabled users,machines and environment of the manufacturing system is extremely complex and generally requires modeling of physically handicapped interaction with the system.Most current modeling either concentrates on the task results or functional disability.The integration of physical constraints with task constraints is far more complex because of functional disability and its extended influence on adjacent body parts.A framework is proposed to integrate the two constraints and thus model the specific behavior of the physical handicapped in virtual environment generated by product specifications.Within the framework a simplified model of physical disabled body is constructed,and body motion is generated based on 3 levels of constraints(effecter constraints,kinematics constraints and physical constraints).The kinematics and dynamic calculations are made and optimized based on the weighting manipulated by the kinematics constraints and dynamic constraints.With object transferring task as example,the model is validated in Jack 6.0.Modelled task motion elements except for squatting and overreaching well matched with captured motion elements.The proposed modeling method can model the complex behavior of the physically handicapped by integrating both task and physical disability constraints.展开更多
Technological development of motion and posture analyses is rapidly progressing,especially in rehabilitation settings and sport biomechanics.Consequently,clear discrimination among different measurement systems is req...Technological development of motion and posture analyses is rapidly progressing,especially in rehabilitation settings and sport biomechanics.Consequently,clear discrimination among different measurement systems is required to diversify their use as needed.This review aims to resume the currently used motion and posture analysis systems,clarify and suggest the appropriate approaches suitable for specific cases or contexts.The currently gold standard systems of motion analysis,widely used in clinical settings,present several limitations related to marker placement or long procedure time.Fully automated and markerless systems are overcoming these drawbacks for conducting biomechanical studies,especially outside laboratories.Similarly,new posture analysis techniques are emerging,often driven by the need for fast and non-invasive methods to obtain high-precision results.These new technologies have also become effective for children or adolescents with non-specific back pain and postural insufficiencies.The evolutions of these methods aim to standardize measurements and provide manageable tools in clinical practice for the early diagnosis of musculoskeletal pathologies and to monitor daily improvements of each patient.Herein,these devices and their uses are described,providing researchers,clinicians,orthopedics,physical therapists,and sports coaches an effective guide to use new technologies in their practice as instruments of diagnosis,therapy,and prevention.展开更多
This paper presents a novel control approach for achieving robust posture control in legged locomotion,specifically for SLIP-like bipedal running and quadrupedal bounding with trunk stabilization.The approach is based...This paper presents a novel control approach for achieving robust posture control in legged locomotion,specifically for SLIP-like bipedal running and quadrupedal bounding with trunk stabilization.The approach is based on the virtual pendulum concept observed in human and animal locomotion experiments,which redirects ground reaction forces to a virtual support point called the Virtual Pivot Point(VPP)during the stance phase.Using the hybrid averaging theorem,we prove the upright posture stability of bipedal running with a fixed VPP position and propose a VPP angle feedback controller for online VPP adjustment to improve performance and convergence speed.Additionally,we present the first application of the VPP concept to quadrupedal posture control and design a VPP position feedback control law to enhance robustness in quadrupedal bounding.We evaluate the effectiveness of the proposed VPP-based controllers through various simulations,demonstrating their effectiveness in posture control of both bipedal running and quadrupedal bounding.The performance of the VPP-based control approach is further validated through experimental validation on a quadruped robot,SCIT Dog,for stable bounding motion generation at different forward speeds.展开更多
This paper reports a case of cerebral stem infarction with quadriplegia and complete dependence on daily life.The course of the disease lasted more than 7 months.Frenchay's improved articulation Disorder Assessmen...This paper reports a case of cerebral stem infarction with quadriplegia and complete dependence on daily life.The course of the disease lasted more than 7 months.Frenchay's improved articulation Disorder Assessment Form has been assessed as severe articulation disorder.The patient has significantly improved his speech function and quality of life after systematic head control training,respiratory function training,articulation motor training,and articulation training.In the course of treatment,emphasis was placed on head postural control training and respiratory function training,and emphasis was placed on the strength and coordination training of articulatory organs,and the results were remarkable.After the patient was discharged from the hospital,the follow-up of basic daily life communication was not limited.展开更多
This study presents CGB-Net,a novel deep learning architecture specifically developed for classifying twelve distinct sleep positions using a single abdominal accelerometer,with direct applicability to gastroesophagea...This study presents CGB-Net,a novel deep learning architecture specifically developed for classifying twelve distinct sleep positions using a single abdominal accelerometer,with direct applicability to gastroesophageal reflux disease(GERD)monitoring.Unlike conventional approaches limited to four basic postures,CGB-Net enables fine-grained classification of twelve clinically relevant sleep positions,providing enhanced resolution for personalized health assessment.The architecture introduces a unique integration of three complementary components:1D Convolutional Neural Networks(1D-CNN)for efficient local spatial feature extraction,Gated Recurrent Units(GRU)to capture short-termtemporal dependencieswith reduced computational complexity,and Bidirectional Long Short-Term Memory(Bi-LSTM)networks for modeling long-term temporal context in both forward and backward directions.This complementary integration allows the model to better represent dynamic and contextual information inherent in the sensor data,surpassing the performance of simpler or previously published hybrid models.Experiments were conducted on a benchmark dataset consisting of 18 volunteers(age range:19–24 years,mean 20.56±1.1 years;height 164.78±8.18 cm;weight 55.39±8.30 kg;BMI 20.24±2.04),monitored via a single abdominal accelerometer.A subjectindependent evaluation protocol with multiple random splits was employed to ensure robustness and generalizability.The proposed model achieves an average Accuracy of 87.60% and F1-score of 83.38%,both reported with standard deviations over multiple runs,outperforming several baseline and state-of-the-art methods.By releasing the dataset publicly and detailing themodel design,this work aims to facilitate reproducibility and advance research in sleep posture classification for clinical applications.展开更多
Human motion modeling is a core technology in computer animation,game development,and humancomputer interaction.In particular,generating natural and coherent in-between motion using only the initial and terminal frame...Human motion modeling is a core technology in computer animation,game development,and humancomputer interaction.In particular,generating natural and coherent in-between motion using only the initial and terminal frames remains a fundamental yet unresolved challenge.Existing methods typically rely on dense keyframe inputs or complex prior structures,making it difficult to balance motion quality and plausibility under conditions such as sparse constraints,long-term dependencies,and diverse motion styles.To address this,we propose a motion generation framework based on a frequency-domain diffusion model,which aims to better model complex motion distributions and enhance generation stability under sparse conditions.Our method maps motion sequences to the frequency domain via the Discrete Cosine Transform(DCT),enabling more effective modeling of low-frequency motion structures while suppressing high-frequency noise.A denoising network based on self-attention is introduced to capture long-range temporal dependencies and improve global structural awareness.Additionally,a multi-objective loss function is employed to jointly optimize motion smoothness,pose diversity,and anatomical consistency,enhancing the realism and physical plausibility of the generated sequences.Comparative experiments on the Human3.6M and LaFAN1 datasets demonstrate that our method outperforms state-of-the-art approaches across multiple performance metrics,showing stronger capabilities in generating intermediate motion frames.This research offers a new perspective and methodology for human motion generation and holds promise for applications in character animation,game development,and virtual interaction.展开更多
Wearable sensors integrated with deep learning techniques have the potential to revolutionize seamless human-machine interfaces for real-time health monitoring,clinical diagnosis,and robotic applications.Nevertheless,...Wearable sensors integrated with deep learning techniques have the potential to revolutionize seamless human-machine interfaces for real-time health monitoring,clinical diagnosis,and robotic applications.Nevertheless,it remains a critical challenge to simultaneously achieve desirable mechanical and electrical performance along with biocompatibility,adhesion,self-healing,and environmental robustness with excellent sensing metrics.Herein,we report a multifunctional,anti-freezing,selfadhesive,and self-healable organogel pressure sensor composed of cobalt nanoparticle encapsulated nitrogen-doped carbon nanotubes(CoN CNT)embedded in a polyvinyl alcohol-gelatin(PVA/GLE)matrix.Fabricated using a binary solvent system of water and ethylene glycol(EG),the CoN CNT/PVA/GLE organogel exhibits excellent flexibility,biocompatibility,and temperature tolerance with remarkable environmental stability.Electrochemical impedance spectroscopy confirms near-stable performance across a broad humidity range(40%-95%RH).Freeze-tolerant conductivity under sub-zero conditions(-20℃)is attributed to the synergistic role of CoN CNT and EG,preserving mobility and network integrity.The Co N CNT/PVA/GLE organogel sensor exhibits high sensitivity of 5.75 k Pa^(-1)in the detection range from 0 to 20 k Pa,ideal for subtle biomechanical motion detection.A smart human-machine interface for English letter recognition using deep learning achieved 98%accuracy.The organogel sensor utility was extended to detect human gestures like finger bending,wrist motion,and throat vibration during speech.展开更多
Most of the previous studies on the vibration ride comfort of the human-vehicle system were focused only on one or two aspects of the investigation. A hybrid approach which integrates all kinds of investigation method...Most of the previous studies on the vibration ride comfort of the human-vehicle system were focused only on one or two aspects of the investigation. A hybrid approach which integrates all kinds of investigation methods in real environment and virtual environment is described. The real experimental environment includes the WBV（whole body vibration） test, questionnaires for human subjective sensation and motion capture. The virtual experimental environment includes the theoretical calculation on simplified 5-DOF human body vibration model, the vibration simulation and analysis within ADAMS/VibrationTM module, and the digital human biomechanics and occupational health analysis in Jack software. While the real experimental environment provides realistic and accurate test results, it also serves as core and validation for the virtual experimental environment. The virtual experimental environment takes full advantages of current available vibration simulation and digital human modelling software, and makes it possible to evaluate the sitting posture comfort in a human-vehicle system with various human anthropometric parameters. How this digital evaluation system for car seat comfort design is fitted in the Industry 4.0 framework is also proposed.展开更多
Human body posture recognition has attracted considerable attention in recent years in wireless body area networks(WBAN). In order to precisely recognize human body posture,many recognition algorithms have been propos...Human body posture recognition has attracted considerable attention in recent years in wireless body area networks(WBAN). In order to precisely recognize human body posture,many recognition algorithms have been proposed.However, the recognition rate is relatively low. In this paper, we apply back propagation(BP) neural network as a classifier to recognizing human body posture, where signals are collected from VG350 acceleration sensor and a posture signal collection system based on WBAN is designed. Human body signal vector magnitude(SVM) and tri-axial acceleration sensor data are used to describe the human body postures. We are able to recognize 4postures: Walk, Run, Squat and Sit. Our posture recognition rate is up to 91.67%. Furthermore, we find an implied relationship between hidden layer neurons and the posture recognition rate. The proposed human body posture recognition algorithm lays the foundation for the subsequent applications.展开更多
Technology of passive location has broad prospects in applications. In this paper, the method using the phase rate of change for the single observer passive location is introduced based on existing methods. One can ob...Technology of passive location has broad prospects in applications. In this paper, the method using the phase rate of change for the single observer passive location is introduced based on existing methods. One can obtain the direction of the target with phase information of two orthogonal interferometers on the observer and the radial distance with the corresponding phase rate of change. Then the target can be located with high speed and precision. A locating approach is given when the flying posture of t...展开更多
A novel 6-degree of freedom (DOF) posture alignment system, based on 3-DOF positioners, is presented for the assembly of aircraft wings. Each positioner is connected with the wing through a rotational and adsorptive h...A novel 6-degree of freedom (DOF) posture alignment system, based on 3-DOF positioners, is presented for the assembly of aircraft wings. Each positioner is connected with the wing through a rotational and adsorptive half-ball shaped end-effector, and the positioners together with the wing are considered as a 3-PPPS (P denotes a prismatic joint and S denotes a spherical joint) redundantly actuated parallel mechanism. The kinematic model of this system is established and a trajectory planning method is introduced. A complete analysis of inverse dynamics is carried out with the Newton-Euler algorithm, which is used to find the desired actuating torque in the design and path planning phase. Simulation analysis of the displacement and actuating torque of each joint of the positioners based on inverse kinematics and dynamics is conducted, and the results show that the system is feasible for the posture alignment of aircraft wings.展开更多
The design and efficacy of surgery for horizontal idiopathic nystagmus （HIN） with abnormal head posture and strabismus were investigated. Different surgical procedures were selected according to the angle of head tu...The design and efficacy of surgery for horizontal idiopathic nystagmus （HIN） with abnormal head posture and strabismus were investigated. Different surgical procedures were selected according to the angle of head turn in 44 cases of HIN with abnormal head posture and strabismus. For patients with a head turn of 15° or less, the Anderson procedure was used; the yoke muscles were recessed upon slow-phase. For patients with a head turn between 15° and 25°, the surgery was designed as a Kestenbaum 5-4-4-5 procedure. For patients with a head turn of 25° or more, the surgery was designed as a Parks 5-8-6-7 procedure. The surgery to correct the abnormal head posture was performed on the fixating eye while that to correct the deviation was then performed on the non-fixating eye at the same time. The amount of surgery of the horizontal rectus muscles on the nonfixating eye was sum of the angle of head turn and the degree of deviation, which was calculated as follows： recession/resection amount of medial and lateral rectis/2×5=angle of head turn±degree of deviation. The results showed as follows： （1） Visual acuity： the visual acuity in the primary ocular position increased two lines or more in 35 patients, accounting for 79.55%. Nine patients had no or only one-line improvement, accounting for 20.45% of the entire study population; （2） The degree of deviation in the primary ocular position： 37 cases had a normal primary ocular position or the degree of deviation ≤8△ after surgery, accounting for 84.09%. Six patients had a residual degree of deviation of 8△―15△, accounting for 13.64%. One patient had a residual degree of deviation 〉20△, accounting for 2.27% of the patients examined; （3） Abnormal head posture： 34 patients had a normal head posture or a head turn of less than 5°, accounting for 72.27%. Eight patients had a residual head turn of 5°―15°, accounting for 18.18%. Two patients had a head turn of 15°― 25°, accounting for 4.55%. It was concluded that different surgical procedures based on the angle of head turn and the relationship between deviation and null zone can eliminate anomalous head posture, correct deviation, and improve vision acuity in the primary ocular position simultaneously.展开更多
AIM: To investigate the effectiveness of head compensatory postures to ensure safe oropharyngeal transit. METHODS: A total of 321 dysphagia patients were enrolled and assessed with videofluoromanometry (VFM). The dysp...AIM: To investigate the effectiveness of head compensatory postures to ensure safe oropharyngeal transit. METHODS: A total of 321 dysphagia patients were enrolled and assessed with videofluoromanometry (VFM). The dysphagia patients were classified as follows: safe transit; penetration without aspiration; aspiration before, during or after swallowing; multiple aspirations and no transit. The patients with aspiration or no transit were tested with VFM to determine whether compensatory postures could correct their swallowing disorder. RESULTS: VFM revealed penetration without aspiration in 71 patients (22.1%); aspiration before swallowing in 17 patients (5.3%); aspiration during swallowing in 32 patients (10%); aspiration after swallowing in 21 patients (6.5%); multiple aspirations in six patients (1.9%); no transit in five patients (1.6%); and safe transit in 169 patients (52.6%). Compensatory postures guaranteed a safe transit in 66/75 (88%) patients with aspiration or no transit. A chin-down posture achieved a safe swallow in 42/75 (56%) patients, a head-turned posture in 19/75 (25.3%) and a hyperextended head posture in 5/75 (6.7%). The compensatory postures were not effective in 9/75 (12%) cases. CONCLUSION: VFM allows the speech-language therapist to choose the most effective compensatory posture without a trial-and-error process and check the effectiveness of the posture.展开更多
In this paper, a method to posture maintenance control of 2-link object by nonprehensile two-cooperative-arm robot without compensating friction is proposed. In details, a mathematical model of the 2-link object is fi...In this paper, a method to posture maintenance control of 2-link object by nonprehensile two-cooperative-arm robot without compensating friction is proposed. In details, a mathematical model of the 2-link object is firstly built. Based on the model, stable regions for holding motion of nonprehensile two-cooperative-arm robot are obtained while the 2-link object is kept stable on the robot arms with static friction. Among the obtained stable regions, the robust pairs of orientation angles of the 2-link object are found. Under the robust orientation angles, a feedback control system is designed to control the arms to maintain the 2-link object's posture while it is being held or lifted up. Finally, experimental results are shown to verify the effectiveness of the proposed method.展开更多
An independently developed mobile welding robot system is introduced. Kinematics model is the base of robot planning. With the Denavit-Hartenberg method, robot kinematics equation can be gotten. The robot welding torc...An independently developed mobile welding robot system is introduced. Kinematics model is the base of robot planning. With the Denavit-Hartenberg method, robot kinematics equation can be gotten. The robot welding torch inclination angle consists of the working and moving angles. According to the kinematics model,both the two angles and torch position can be calculated. Under special moving angle, a two-step algorithm is used to obtain the optimal manipulator posture. The calculation result shows that the algorithm has high precision.展开更多
We present a novel methodology and strategy to predict pressures and flow rates in the global cardiovascular network in different postures varying from supine to upright. A closed-loop, multiscale mathematical model o...We present a novel methodology and strategy to predict pressures and flow rates in the global cardiovascular network in different postures varying from supine to upright. A closed-loop, multiscale mathematical model of the entire cardiovascular system (CVS) is developed through an integration of one-dimensional (1D) modeling of the large systemic arteries and veins, and zero-dimensional (0D) lumped-parameter modeling of the heart, the cardiac-pulmonary circulation, the cardiac and venous valves, as well as the microcirculation. A versatile junction model is proposed and incorporated into the 1D model to cope with splitting and/or merging flows across a multibranched junction, which is validated to be capable of estimating both subcritical and supercritical flows while ensuring the mass conservation and total pressure continuity. To model gravitational effects on global hemodynamics during postural change, a robust venous valve model is further established for the 1D venous flows and distributed throughout the entire venous network with consideration of its anatomically realistic numbers and locations. The present integrated model is proven to enable reasonable prediction of pressure and flow rate waveforms associated with cardiopulmonary circulation, systemic circulation in arteries and veins, as well as microcirculation within normal physiological ranges, particularly in mean venous pressures, which well match the in vivo measurements. Applications of the cardiovascular model at different postures demonstrate that gravity exerts remarkable influence on arterial and venous pressures, venous returns and cardiac outputs whereas venous pressures below the heart level show a specific correlation between central venous and hydrostatic pressures in right atrium and veins.展开更多
Considering the unmanned aerial vehicle(UAV) three-dimensional(3D) posture, a novel 3D non-stationary geometry-based stochastic model(GBSM) is proposed for multiple-input multipleoutput(MIMO) UAV-to-vehicle(U2V) chann...Considering the unmanned aerial vehicle(UAV) three-dimensional(3D) posture, a novel 3D non-stationary geometry-based stochastic model(GBSM) is proposed for multiple-input multipleoutput(MIMO) UAV-to-vehicle(U2V) channels. It consists of a line-of-sight(Lo S) and non-line-of-sight(NLo S) components. The factor of fuselage posture is considered by introducing a time-variant 3D posture matrix. Some important statistical properties, i.e.the temporal autocorrelation function(ACF) and spatial cross correlation function(CCF), are derived and investigated. Simulation results show that the fuselage posture has significant impact on the U2V channel characteristic and aggravate the non-stationarity. The agreements between analytical, simulated, and measured results verify the correctness of proposed model and derivations. Moreover, it is demonstrated that the proposed model is also compatible to the existing GBSM without considering fuselage posture.展开更多
Some approaches to measure parallel 6-degree of freedom platform's posturestatically and to calibrate the platform's actual structural parameters by measuring a series of theplatform's varying postures are...Some approaches to measure parallel 6-degree of freedom platform's posturestatically and to calibrate the platform's actual structural parameters by measuring a series of theplatform's varying postures are studied. In the case where high posture accuracy is requiredrelatively, to obtain the platform's actual structural parameters is very important. Threedimensions measurement with 2 theodolites are used to obtain the platform's postures statically andNewton iterative method is adopted to calibrate structural parameters. Some measures taken in themeasurement and the calibration are discussed in detail. And the experiment results of theplatform's posture control before and after the calibration are given. The results show that theplatform's posture control accuracy after the calibration is improved notably.展开更多
AIM： To determine the association between the binocular vision and an abnormal head posture（AHP）when watching television（TV） in children 7-14 y of age.·METHODS： Fifty normal children in the normal group and...AIM： To determine the association between the binocular vision and an abnormal head posture（AHP）when watching television（TV） in children 7-14 y of age.·METHODS： Fifty normal children in the normal group and 52 children with an AHP when watching TV in the AHP group were tested for spherical equivalents, far and near fusional convergence（FC） and fusional divergence（FD） amplitudes, near point of convergence, far and near heterophoria, accommodative convergence/accommodation ratio and stereoacuity. The values of these tests were compared between the two groups. The independent t test was applied at a confidence level of95%.·RESULTS： The far and near FC amplitudes and far FD amplitudes were lower in the AHP group（the far FC amplitudes： break point 13.6±5.4~△, recovery point 8.7±5.4~△.The near FC amplitudes： break point 14.5 ±7.3~△, recovery point 10. 3 ± 5. 1~△. The far FD amplitudes ： break point3.9±2.7~△, recovery point 2.6±2.3~△） compared with those in the normal group（the far FC amplitudes： break point19.1 ±6.2△, recovery point 12.4 ±4.5~△. The near FC amplitudes： break point 22.3 ±8.0~△, recovery point 16.1 ±5.7~△. The far FD amplitudes： break point 7.0 ±2.1~△,recovery point 4.6 ±1.9~△）. Other tests presented no statistically significant differences.·CONCLUSION： An association between the reduced FC and FD amplitudes and the AHP in children when watching TV is proposed in the study. This kind of AHP is considered to be an anomalous manifestation which appears in a part of puerile patients of fusional vergence dysfunction.展开更多
基金supported by National Natural Science Foundation of China(Grant No.60975058)
文摘Non-obstacle design is critical to tailor physically handicapped workers in manufacturing system.Simultaneous consideration of variability in physically disabled users,machines and environment of the manufacturing system is extremely complex and generally requires modeling of physically handicapped interaction with the system.Most current modeling either concentrates on the task results or functional disability.The integration of physical constraints with task constraints is far more complex because of functional disability and its extended influence on adjacent body parts.A framework is proposed to integrate the two constraints and thus model the specific behavior of the physical handicapped in virtual environment generated by product specifications.Within the framework a simplified model of physical disabled body is constructed,and body motion is generated based on 3 levels of constraints(effecter constraints,kinematics constraints and physical constraints).The kinematics and dynamic calculations are made and optimized based on the weighting manipulated by the kinematics constraints and dynamic constraints.With object transferring task as example,the model is validated in Jack 6.0.Modelled task motion elements except for squatting and overreaching well matched with captured motion elements.The proposed modeling method can model the complex behavior of the physically handicapped by integrating both task and physical disability constraints.
基金Supported by University Research Project GrantNo. PIACERI Found–NATURE-OA-2020-2022。
文摘Technological development of motion and posture analyses is rapidly progressing,especially in rehabilitation settings and sport biomechanics.Consequently,clear discrimination among different measurement systems is required to diversify their use as needed.This review aims to resume the currently used motion and posture analysis systems,clarify and suggest the appropriate approaches suitable for specific cases or contexts.The currently gold standard systems of motion analysis,widely used in clinical settings,present several limitations related to marker placement or long procedure time.Fully automated and markerless systems are overcoming these drawbacks for conducting biomechanical studies,especially outside laboratories.Similarly,new posture analysis techniques are emerging,often driven by the need for fast and non-invasive methods to obtain high-precision results.These new technologies have also become effective for children or adolescents with non-specific back pain and postural insufficiencies.The evolutions of these methods aim to standardize measurements and provide manageable tools in clinical practice for the early diagnosis of musculoskeletal pathologies and to monitor daily improvements of each patient.Herein,these devices and their uses are described,providing researchers,clinicians,orthopedics,physical therapists,and sports coaches an effective guide to use new technologies in their practice as instruments of diagnosis,therapy,and prevention.
基金This work was supported by the Touyan Innovation Program of Heilongjiang Province.
文摘This paper presents a novel control approach for achieving robust posture control in legged locomotion,specifically for SLIP-like bipedal running and quadrupedal bounding with trunk stabilization.The approach is based on the virtual pendulum concept observed in human and animal locomotion experiments,which redirects ground reaction forces to a virtual support point called the Virtual Pivot Point(VPP)during the stance phase.Using the hybrid averaging theorem,we prove the upright posture stability of bipedal running with a fixed VPP position and propose a VPP angle feedback controller for online VPP adjustment to improve performance and convergence speed.Additionally,we present the first application of the VPP concept to quadrupedal posture control and design a VPP position feedback control law to enhance robustness in quadrupedal bounding.We evaluate the effectiveness of the proposed VPP-based controllers through various simulations,demonstrating their effectiveness in posture control of both bipedal running and quadrupedal bounding.The performance of the VPP-based control approach is further validated through experimental validation on a quadruped robot,SCIT Dog,for stable bounding motion generation at different forward speeds.
基金Teaching and Research Project of Anhui Urban Management Vocational College(Project No.:2024kfkc001)。
文摘This paper reports a case of cerebral stem infarction with quadriplegia and complete dependence on daily life.The course of the disease lasted more than 7 months.Frenchay's improved articulation Disorder Assessment Form has been assessed as severe articulation disorder.The patient has significantly improved his speech function and quality of life after systematic head control training,respiratory function training,articulation motor training,and articulation training.In the course of treatment,emphasis was placed on head postural control training and respiratory function training,and emphasis was placed on the strength and coordination training of articulatory organs,and the results were remarkable.After the patient was discharged from the hospital,the follow-up of basic daily life communication was not limited.
基金funded by Vietnam National Foundation for Science and Technology Development(NAFOSTED)under grant number:NCUD.02-2024.11.
文摘This study presents CGB-Net,a novel deep learning architecture specifically developed for classifying twelve distinct sleep positions using a single abdominal accelerometer,with direct applicability to gastroesophageal reflux disease(GERD)monitoring.Unlike conventional approaches limited to four basic postures,CGB-Net enables fine-grained classification of twelve clinically relevant sleep positions,providing enhanced resolution for personalized health assessment.The architecture introduces a unique integration of three complementary components:1D Convolutional Neural Networks(1D-CNN)for efficient local spatial feature extraction,Gated Recurrent Units(GRU)to capture short-termtemporal dependencieswith reduced computational complexity,and Bidirectional Long Short-Term Memory(Bi-LSTM)networks for modeling long-term temporal context in both forward and backward directions.This complementary integration allows the model to better represent dynamic and contextual information inherent in the sensor data,surpassing the performance of simpler or previously published hybrid models.Experiments were conducted on a benchmark dataset consisting of 18 volunteers(age range:19–24 years,mean 20.56±1.1 years;height 164.78±8.18 cm;weight 55.39±8.30 kg;BMI 20.24±2.04),monitored via a single abdominal accelerometer.A subjectindependent evaluation protocol with multiple random splits was employed to ensure robustness and generalizability.The proposed model achieves an average Accuracy of 87.60% and F1-score of 83.38%,both reported with standard deviations over multiple runs,outperforming several baseline and state-of-the-art methods.By releasing the dataset publicly and detailing themodel design,this work aims to facilitate reproducibility and advance research in sleep posture classification for clinical applications.
基金supported by the National Natural Science Foundation of China(Grant No.72161034).
文摘Human motion modeling is a core technology in computer animation,game development,and humancomputer interaction.In particular,generating natural and coherent in-between motion using only the initial and terminal frames remains a fundamental yet unresolved challenge.Existing methods typically rely on dense keyframe inputs or complex prior structures,making it difficult to balance motion quality and plausibility under conditions such as sparse constraints,long-term dependencies,and diverse motion styles.To address this,we propose a motion generation framework based on a frequency-domain diffusion model,which aims to better model complex motion distributions and enhance generation stability under sparse conditions.Our method maps motion sequences to the frequency domain via the Discrete Cosine Transform(DCT),enabling more effective modeling of low-frequency motion structures while suppressing high-frequency noise.A denoising network based on self-attention is introduced to capture long-range temporal dependencies and improve global structural awareness.Additionally,a multi-objective loss function is employed to jointly optimize motion smoothness,pose diversity,and anatomical consistency,enhancing the realism and physical plausibility of the generated sequences.Comparative experiments on the Human3.6M and LaFAN1 datasets demonstrate that our method outperforms state-of-the-art approaches across multiple performance metrics,showing stronger capabilities in generating intermediate motion frames.This research offers a new perspective and methodology for human motion generation and holds promise for applications in character animation,game development,and virtual interaction.
基金supported by the Basic Science Research Program(2023R1A2C3004336,RS-202300243807)&Regional Leading Research Center(RS-202400405278)through the National Research Foundation of Korea(NRF)grant funded by the Korea Government(MSIT)。
文摘Wearable sensors integrated with deep learning techniques have the potential to revolutionize seamless human-machine interfaces for real-time health monitoring,clinical diagnosis,and robotic applications.Nevertheless,it remains a critical challenge to simultaneously achieve desirable mechanical and electrical performance along with biocompatibility,adhesion,self-healing,and environmental robustness with excellent sensing metrics.Herein,we report a multifunctional,anti-freezing,selfadhesive,and self-healable organogel pressure sensor composed of cobalt nanoparticle encapsulated nitrogen-doped carbon nanotubes(CoN CNT)embedded in a polyvinyl alcohol-gelatin(PVA/GLE)matrix.Fabricated using a binary solvent system of water and ethylene glycol(EG),the CoN CNT/PVA/GLE organogel exhibits excellent flexibility,biocompatibility,and temperature tolerance with remarkable environmental stability.Electrochemical impedance spectroscopy confirms near-stable performance across a broad humidity range(40%-95%RH).Freeze-tolerant conductivity under sub-zero conditions(-20℃)is attributed to the synergistic role of CoN CNT and EG,preserving mobility and network integrity.The Co N CNT/PVA/GLE organogel sensor exhibits high sensitivity of 5.75 k Pa^(-1)in the detection range from 0 to 20 k Pa,ideal for subtle biomechanical motion detection.A smart human-machine interface for English letter recognition using deep learning achieved 98%accuracy.The organogel sensor utility was extended to detect human gestures like finger bending,wrist motion,and throat vibration during speech.
基金Supported by National Natural Science Foundation of China(Grant No.51465056)Xinjiang Provincial Natural Science Foundation of China(Grant No.2015211C265)Xinjiang University Ph D Start-up Funds,China
文摘Most of the previous studies on the vibration ride comfort of the human-vehicle system were focused only on one or two aspects of the investigation. A hybrid approach which integrates all kinds of investigation methods in real environment and virtual environment is described. The real experimental environment includes the WBV（whole body vibration） test, questionnaires for human subjective sensation and motion capture. The virtual experimental environment includes the theoretical calculation on simplified 5-DOF human body vibration model, the vibration simulation and analysis within ADAMS/VibrationTM module, and the digital human biomechanics and occupational health analysis in Jack software. While the real experimental environment provides realistic and accurate test results, it also serves as core and validation for the virtual experimental environment. The virtual experimental environment takes full advantages of current available vibration simulation and digital human modelling software, and makes it possible to evaluate the sitting posture comfort in a human-vehicle system with various human anthropometric parameters. How this digital evaluation system for car seat comfort design is fitted in the Industry 4.0 framework is also proposed.
基金supported by the National Natural Science Foundation of China(No.61074165 and No.61273064)Jilin Provincial Science&Technology Department Key Scientific and Technological Project(No.20140204034GX)Jilin Province Development and Reform Commission Project(No.2015Y043)
文摘Human body posture recognition has attracted considerable attention in recent years in wireless body area networks(WBAN). In order to precisely recognize human body posture,many recognition algorithms have been proposed.However, the recognition rate is relatively low. In this paper, we apply back propagation(BP) neural network as a classifier to recognizing human body posture, where signals are collected from VG350 acceleration sensor and a posture signal collection system based on WBAN is designed. Human body signal vector magnitude(SVM) and tri-axial acceleration sensor data are used to describe the human body postures. We are able to recognize 4postures: Walk, Run, Squat and Sit. Our posture recognition rate is up to 91.67%. Furthermore, we find an implied relationship between hidden layer neurons and the posture recognition rate. The proposed human body posture recognition algorithm lays the foundation for the subsequent applications.
文摘Technology of passive location has broad prospects in applications. In this paper, the method using the phase rate of change for the single observer passive location is introduced based on existing methods. One can obtain the direction of the target with phase information of two orthogonal interferometers on the observer and the radial distance with the corresponding phase rate of change. Then the target can be located with high speed and precision. A locating approach is given when the flying posture of t...
文摘A novel 6-degree of freedom (DOF) posture alignment system, based on 3-DOF positioners, is presented for the assembly of aircraft wings. Each positioner is connected with the wing through a rotational and adsorptive half-ball shaped end-effector, and the positioners together with the wing are considered as a 3-PPPS (P denotes a prismatic joint and S denotes a spherical joint) redundantly actuated parallel mechanism. The kinematic model of this system is established and a trajectory planning method is introduced. A complete analysis of inverse dynamics is carried out with the Newton-Euler algorithm, which is used to find the desired actuating torque in the design and path planning phase. Simulation analysis of the displacement and actuating torque of each joint of the positioners based on inverse kinematics and dynamics is conducted, and the results show that the system is feasible for the posture alignment of aircraft wings.
文摘The design and efficacy of surgery for horizontal idiopathic nystagmus （HIN） with abnormal head posture and strabismus were investigated. Different surgical procedures were selected according to the angle of head turn in 44 cases of HIN with abnormal head posture and strabismus. For patients with a head turn of 15° or less, the Anderson procedure was used; the yoke muscles were recessed upon slow-phase. For patients with a head turn between 15° and 25°, the surgery was designed as a Kestenbaum 5-4-4-5 procedure. For patients with a head turn of 25° or more, the surgery was designed as a Parks 5-8-6-7 procedure. The surgery to correct the abnormal head posture was performed on the fixating eye while that to correct the deviation was then performed on the non-fixating eye at the same time. The amount of surgery of the horizontal rectus muscles on the nonfixating eye was sum of the angle of head turn and the degree of deviation, which was calculated as follows： recession/resection amount of medial and lateral rectis/2×5=angle of head turn±degree of deviation. The results showed as follows： （1） Visual acuity： the visual acuity in the primary ocular position increased two lines or more in 35 patients, accounting for 79.55%. Nine patients had no or only one-line improvement, accounting for 20.45% of the entire study population; （2） The degree of deviation in the primary ocular position： 37 cases had a normal primary ocular position or the degree of deviation ≤8△ after surgery, accounting for 84.09%. Six patients had a residual degree of deviation of 8△―15△, accounting for 13.64%. One patient had a residual degree of deviation 〉20△, accounting for 2.27% of the patients examined; （3） Abnormal head posture： 34 patients had a normal head posture or a head turn of less than 5°, accounting for 72.27%. Eight patients had a residual head turn of 5°―15°, accounting for 18.18%. Two patients had a head turn of 15°― 25°, accounting for 4.55%. It was concluded that different surgical procedures based on the angle of head turn and the relationship between deviation and null zone can eliminate anomalous head posture, correct deviation, and improve vision acuity in the primary ocular position simultaneously.
文摘AIM: To investigate the effectiveness of head compensatory postures to ensure safe oropharyngeal transit. METHODS: A total of 321 dysphagia patients were enrolled and assessed with videofluoromanometry (VFM). The dysphagia patients were classified as follows: safe transit; penetration without aspiration; aspiration before, during or after swallowing; multiple aspirations and no transit. The patients with aspiration or no transit were tested with VFM to determine whether compensatory postures could correct their swallowing disorder. RESULTS: VFM revealed penetration without aspiration in 71 patients (22.1%); aspiration before swallowing in 17 patients (5.3%); aspiration during swallowing in 32 patients (10%); aspiration after swallowing in 21 patients (6.5%); multiple aspirations in six patients (1.9%); no transit in five patients (1.6%); and safe transit in 169 patients (52.6%). Compensatory postures guaranteed a safe transit in 66/75 (88%) patients with aspiration or no transit. A chin-down posture achieved a safe swallow in 42/75 (56%) patients, a head-turned posture in 19/75 (25.3%) and a hyperextended head posture in 5/75 (6.7%). The compensatory postures were not effective in 9/75 (12%) cases. CONCLUSION: VFM allows the speech-language therapist to choose the most effective compensatory posture without a trial-and-error process and check the effectiveness of the posture.
文摘In this paper, a method to posture maintenance control of 2-link object by nonprehensile two-cooperative-arm robot without compensating friction is proposed. In details, a mathematical model of the 2-link object is firstly built. Based on the model, stable regions for holding motion of nonprehensile two-cooperative-arm robot are obtained while the 2-link object is kept stable on the robot arms with static friction. Among the obtained stable regions, the robust pairs of orientation angles of the 2-link object are found. Under the robust orientation angles, a feedback control system is designed to control the arms to maintain the 2-link object's posture while it is being held or lifted up. Finally, experimental results are shown to verify the effectiveness of the proposed method.
基金the National High Technology Research and Development Program(863) of China(No.2009AAA042221)Shanghai Sciences&Technology Committee(No.11111100302)
文摘An independently developed mobile welding robot system is introduced. Kinematics model is the base of robot planning. With the Denavit-Hartenberg method, robot kinematics equation can be gotten. The robot welding torch inclination angle consists of the working and moving angles. According to the kinematics model,both the two angles and torch position can be calculated. Under special moving angle, a two-step algorithm is used to obtain the optimal manipulator posture. The calculation result shows that the algorithm has high precision.
基金supported by a Grant-in-Aid for Scientific Research (Grant 17300141)Japan Society for the Promotion of Science and Research and Development of the Next Generation Integrated Simulation of Living Matter, JST,a part of the Development and Use of the Next Generation Supercomputer Project of the Ministry of Education, Culture, Sports, Science and Technology (MEXT), Japanthe RIKEN Junior Research Associate Program
文摘We present a novel methodology and strategy to predict pressures and flow rates in the global cardiovascular network in different postures varying from supine to upright. A closed-loop, multiscale mathematical model of the entire cardiovascular system (CVS) is developed through an integration of one-dimensional (1D) modeling of the large systemic arteries and veins, and zero-dimensional (0D) lumped-parameter modeling of the heart, the cardiac-pulmonary circulation, the cardiac and venous valves, as well as the microcirculation. A versatile junction model is proposed and incorporated into the 1D model to cope with splitting and/or merging flows across a multibranched junction, which is validated to be capable of estimating both subcritical and supercritical flows while ensuring the mass conservation and total pressure continuity. To model gravitational effects on global hemodynamics during postural change, a robust venous valve model is further established for the 1D venous flows and distributed throughout the entire venous network with consideration of its anatomically realistic numbers and locations. The present integrated model is proven to enable reasonable prediction of pressure and flow rate waveforms associated with cardiopulmonary circulation, systemic circulation in arteries and veins, as well as microcirculation within normal physiological ranges, particularly in mean venous pressures, which well match the in vivo measurements. Applications of the cardiovascular model at different postures demonstrate that gravity exerts remarkable influence on arterial and venous pressures, venous returns and cardiac outputs whereas venous pressures below the heart level show a specific correlation between central venous and hydrostatic pressures in right atrium and veins.
基金supported by the National Natural Science Foundation of China,No.62271250the National Key Scientific Instrument and Equipment Development Project,No.61827801+3 种基金Key Technologies R&D Program of Jiangsu(Prospective and Key Technologies for Industry),No.BE2022067,BE2022067-1 and BE2022067-3the Natural Science Foundation of Jiangsu Province,No.BK20211182the open research fund of National Mobile Communications Research Laboratory,Southeast University,No.2022D04the Experimental technology research and development,No.SYJS202304Z。
文摘Considering the unmanned aerial vehicle(UAV) three-dimensional(3D) posture, a novel 3D non-stationary geometry-based stochastic model(GBSM) is proposed for multiple-input multipleoutput(MIMO) UAV-to-vehicle(U2V) channels. It consists of a line-of-sight(Lo S) and non-line-of-sight(NLo S) components. The factor of fuselage posture is considered by introducing a time-variant 3D posture matrix. Some important statistical properties, i.e.the temporal autocorrelation function(ACF) and spatial cross correlation function(CCF), are derived and investigated. Simulation results show that the fuselage posture has significant impact on the U2V channel characteristic and aggravate the non-stationarity. The agreements between analytical, simulated, and measured results verify the correctness of proposed model and derivations. Moreover, it is demonstrated that the proposed model is also compatible to the existing GBSM without considering fuselage posture.
基金This project is supported by National Defense Science and Technology Multi-vocation Foundation in Advance Research of China(No. 97J465JW0408).
文摘Some approaches to measure parallel 6-degree of freedom platform's posturestatically and to calibrate the platform's actual structural parameters by measuring a series of theplatform's varying postures are studied. In the case where high posture accuracy is requiredrelatively, to obtain the platform's actual structural parameters is very important. Threedimensions measurement with 2 theodolites are used to obtain the platform's postures statically andNewton iterative method is adopted to calibrate structural parameters. Some measures taken in themeasurement and the calibration are discussed in detail. And the experiment results of theplatform's posture control before and after the calibration are given. The results show that theplatform's posture control accuracy after the calibration is improved notably.
基金Supported by the Scientific and Technological Project of Henan Scientific Committee(No.112102310193No.122102310132+2 种基金No.132102310132)the Key Scientific Research Project of Education Department of HenanProvince(No.12A320068)the Medical Science Research Project of Henan Province(No.201003112)
文摘AIM： To determine the association between the binocular vision and an abnormal head posture（AHP）when watching television（TV） in children 7-14 y of age.·METHODS： Fifty normal children in the normal group and 52 children with an AHP when watching TV in the AHP group were tested for spherical equivalents, far and near fusional convergence（FC） and fusional divergence（FD） amplitudes, near point of convergence, far and near heterophoria, accommodative convergence/accommodation ratio and stereoacuity. The values of these tests were compared between the two groups. The independent t test was applied at a confidence level of95%.·RESULTS： The far and near FC amplitudes and far FD amplitudes were lower in the AHP group（the far FC amplitudes： break point 13.6±5.4~△, recovery point 8.7±5.4~△.The near FC amplitudes： break point 14.5 ±7.3~△, recovery point 10. 3 ± 5. 1~△. The far FD amplitudes ： break point3.9±2.7~△, recovery point 2.6±2.3~△） compared with those in the normal group（the far FC amplitudes： break point19.1 ±6.2△, recovery point 12.4 ±4.5~△. The near FC amplitudes： break point 22.3 ±8.0~△, recovery point 16.1 ±5.7~△. The far FD amplitudes： break point 7.0 ±2.1~△,recovery point 4.6 ±1.9~△）. Other tests presented no statistically significant differences.·CONCLUSION： An association between the reduced FC and FD amplitudes and the AHP in children when watching TV is proposed in the study. This kind of AHP is considered to be an anomalous manifestation which appears in a part of puerile patients of fusional vergence dysfunction.
