This paper presents a novel rehabilitation robot designed to address the challenges of Passive Range of Motion(PROM)exercises for frozen shoulder patients by integrating advanced scapulohumeral rhythm stabilization.Fr...This paper presents a novel rehabilitation robot designed to address the challenges of Passive Range of Motion(PROM)exercises for frozen shoulder patients by integrating advanced scapulohumeral rhythm stabilization.Frozen shoulder is characterized by limited glenohumeral motion and disrupted scapulohumeral rhythm,with therapist-assisted interventions being highly effective for restoring normal shoulder function.While existing robotic solutions replicate natural shoulder biomechanics,they lack the ability to stabilize compensatory movements,such as shoulder shrugging,which are critical for effective rehabilitation.Our proposed device features a 6 Degrees of Freedom(DoF)mechanism,including 5 DoF for shoulder motion and an innovative 1 DoF Joint press for scapular stabilization.The robot employs a personalized two-phase operation:recording normal shoulder movement patterns from the unaffected side and applying them to guide the affected side.Experimental results demonstrated the robot’s ability to replicate recorded motion patterns with high precision,with Root Mean Square Error(RMSE)values consistently below 1 degree.In simulated frozen shoulder conditions,the robot effectively suppressed scapular elevation,delaying the onset of compensatory movements and guiding the affected shoulder to move more closely in alignment with normal shoulder motion,particularly during arm elevation movements such as abduction and flexion.These findings confirm the robot’s potential as a rehabilitation tool capable of automating PROM exercises while correcting compensatory movements.The system provides a foundation for advanced,personalized rehabilitation for patients with frozen shoulders.展开更多
This paper presents a tutorial-style review on the recent results about the disturbance observer （DOB） in view of robust stabilization and recovery of the nominal performance. The analysis is based on the case when ...This paper presents a tutorial-style review on the recent results about the disturbance observer （DOB） in view of robust stabilization and recovery of the nominal performance. The analysis is based on the case when the bandwidth of Q-filter is large, and it is explained in a pedagogical manner that, even in the presence of plant uncertainties and disturbances, the behavior of real uncertain plant can be made almost similar to that of disturbance-free nominal system both in the transient and in the steady-state. The conventional DOB is interpreted in a new perspective, and its restrictions and extensions are discussed.展开更多
This study aimed to determine the sustainability criteria of the beekeeping industry in Iran,which was performed using three-stage classical Delphi technique.The participants were 32 experts in beekeeping industry who...This study aimed to determine the sustainability criteria of the beekeeping industry in Iran,which was performed using three-stage classical Delphi technique.The participants were 32 experts in beekeeping industry who were purposefully selected using the snowball sampling method.The criteria identified,after three Delphi stages,consisted of 70 items,which were categorized into 13 general criteria and into four economic,environmental,social,and institutional dimensions.The general criteria were presented in the form of a conceptual model,including:farmers’environmental behavior quality,beekeepers'environmental behavior quality,the quality of marketing and sales of beekeeping productions,productivity and performance improvement,amount of monetization from pollinations'right,the amount of monetization of byproducts and value added,employment rate and job stability,the level of social development of stakeholders,the quality of the role-playing of non-governmental stakeholders,the quality of extension and education new sciences and technologies to stakeholders,comprehensiveness of laws and programs,quality of role-playing of stakeholder non-governmental organizations,and the quality of the roleplaying of governmental institutions stakeholder.Using them,a comprehensive perception of the necessary criteria for the sustainability of Iran's beekeeping industry can be obtained and a comprehensive program can be designed for its implementation.展开更多
基金supported in part by the Technology Innovation Program(20017345)funded by the Ministry of Trade,Industry and Energy(MOTIE),Republic of Korea.
文摘This paper presents a novel rehabilitation robot designed to address the challenges of Passive Range of Motion(PROM)exercises for frozen shoulder patients by integrating advanced scapulohumeral rhythm stabilization.Frozen shoulder is characterized by limited glenohumeral motion and disrupted scapulohumeral rhythm,with therapist-assisted interventions being highly effective for restoring normal shoulder function.While existing robotic solutions replicate natural shoulder biomechanics,they lack the ability to stabilize compensatory movements,such as shoulder shrugging,which are critical for effective rehabilitation.Our proposed device features a 6 Degrees of Freedom(DoF)mechanism,including 5 DoF for shoulder motion and an innovative 1 DoF Joint press for scapular stabilization.The robot employs a personalized two-phase operation:recording normal shoulder movement patterns from the unaffected side and applying them to guide the affected side.Experimental results demonstrated the robot’s ability to replicate recorded motion patterns with high precision,with Root Mean Square Error(RMSE)values consistently below 1 degree.In simulated frozen shoulder conditions,the robot effectively suppressed scapular elevation,delaying the onset of compensatory movements and guiding the affected shoulder to move more closely in alignment with normal shoulder motion,particularly during arm elevation movements such as abduction and flexion.These findings confirm the robot’s potential as a rehabilitation tool capable of automating PROM exercises while correcting compensatory movements.The system provides a foundation for advanced,personalized rehabilitation for patients with frozen shoulders.
文摘This paper presents a tutorial-style review on the recent results about the disturbance observer （DOB） in view of robust stabilization and recovery of the nominal performance. The analysis is based on the case when the bandwidth of Q-filter is large, and it is explained in a pedagogical manner that, even in the presence of plant uncertainties and disturbances, the behavior of real uncertain plant can be made almost similar to that of disturbance-free nominal system both in the transient and in the steady-state. The conventional DOB is interpreted in a new perspective, and its restrictions and extensions are discussed.
文摘This study aimed to determine the sustainability criteria of the beekeeping industry in Iran,which was performed using three-stage classical Delphi technique.The participants were 32 experts in beekeeping industry who were purposefully selected using the snowball sampling method.The criteria identified,after three Delphi stages,consisted of 70 items,which were categorized into 13 general criteria and into four economic,environmental,social,and institutional dimensions.The general criteria were presented in the form of a conceptual model,including:farmers’environmental behavior quality,beekeepers'environmental behavior quality,the quality of marketing and sales of beekeeping productions,productivity and performance improvement,amount of monetization from pollinations'right,the amount of monetization of byproducts and value added,employment rate and job stability,the level of social development of stakeholders,the quality of the role-playing of non-governmental stakeholders,the quality of extension and education new sciences and technologies to stakeholders,comprehensiveness of laws and programs,quality of role-playing of stakeholder non-governmental organizations,and the quality of the roleplaying of governmental institutions stakeholder.Using them,a comprehensive perception of the necessary criteria for the sustainability of Iran's beekeeping industry can be obtained and a comprehensive program can be designed for its implementation.
