Challenges in neuro-machine interaction based active robotic rehabilitation of stroke patients

Song, Aiguo,Yang, Renhuan,Xu, Baoguo,Pan, Lizheng,Li, Huijun Techno-Press 2014 Advances in robotics research Vol.1 No.2

Study results in the last decades show that amount and quality of physical exercises, then the active participation, and now the cognitive involvement of patient in rehabilitation training are known of crux to enhance recovery outcome of motor dysfunction patients after stroke. Rehabilitation robots mainly have been developing along this direction to satisfy requirements of recovery therapy, or focusing on one or more of the above three points. Therefore, neuro-machine interaction based active rehabilitation robot has been proposed for assisting paralyzed limb performing designed tasks, which utilizes motor related EEG, UCSDI (Ultrasound Current Source Density Imaging), EMG for rehabilitation robot control and feeds back the multi-sensory interaction information such as visual, auditory, force, haptic sensation to the patient simultaneously. This neuro-controlled and perceptual rehabilitation robot will bring great benefits to post-stroke patients. In order to develop such kind of robot, some key technologies such as noninvasive precise detection of neural signal and realistic sensation feedback need to be solved. There are still some grand challenges in solving the fundamental questions to develop and optimize such kind of neuro-machine interaction based active rehabilitation robot.

Model-Based Load Characteristics Analysis of the Multi-Dimensional Force Sensor

Liyue Fu,Aiguo Song 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10

As an important component of force feedback device, multi-dimensional force sensor has been widely used in haptic device, prosthetic hand and other devices. In a given application, the multi-dimensional force sensor is always coupled with a load by the screw thread, which may result in a totally different dynamic behavior from a bare force sensor. It is the key data for deeply understanding the dynamic performance to have information about the structural distribution of stiffness and mass of the multi-dimensional force sensor. To address this need, the approach of model-based load characteristic analysis of the multi-dimensional force sensor is presented in this paper. Dynamic behavior of the force sensor in a given load is described by a lumped mass model consists of spring-mass-damper elements and characterized by the model parameters that describe the dynamic correlation distribution of mass, stiffness, and damping. The main purpose of the proposed approach is the description of the load characteristics of the multi-dimensional force sensor, independent of the given mechanical environment, which provides a certain theoretical reference for the calculation of the load capacity of the force sensor.

Bilateral Motion Prediction and Tracking Control for Nonlinear Teleoperation SystemWith Time-varying Delays

Shaobo Shen,Aiguo Song 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10

The motion prediction and tracking control problem for nonlinear teleoperation system with time-varying delays are investigated in this paper. A novel model-independent prediction method with an observer-based structure is proposed. The positions of both slave and master robots are estimated by using delayed measurements through two predictors which are located on the another side of the robot to be measured. It is proven that the prediction errors can converge to zero by applying the Lyapunov method. Predictive controllers of both master and slave robots are designed by applying the prediction results instead of delayed measurements. Some sufficient conditions are derived to design suitable parameters of controllers acording to Lyapunov theory. Finally, the effectiveness of proposed predictor and controller is verified by simulations.

Effect of Nicotinamide on Proliferation, Differentiation, and Energy Metabolism in Bovine Preadipocytes

Liu, Xiaomu,Fu, Jinlian,Song, Enliang,Zang, Kun,Wan, Fachun,Wu, Naike,Wang, Aiguo Asian Australasian Association of Animal Productio 2009 Animal Bioscience Vol.22 No.9

This study examined the effects of nicotinamide on proliferation, differentiation, and energy metabolism in a primary culture of bovine adipocytes. After treatment of cells with 100-500 $\mu{M}$ nicotinamide, cell growth was measured using 3-(4,5-dimethylthiazol-2-yl)-2,5-diphenyltetrazolium bromide (MTT), and cellular lipid content was assessed by Oil Red O staining and a triglyceride (TG) assay. Several factors related to energy metabolism, namely adenosine triphosphatase (ATPase) activity, nitric oxide (NO) content, nitric oxide synthase (NOS) activity, the number of mitochondria and the relative expression of glyceraldehydes-3-phosphate dehydrogenase (GAPDH), peroxisome proliferator-activated receptor-$\gamma$ ($PPAR_{\gamma}$) and inducible NOS (iNOS), were also investigated. Results showed that nicotinamide induced both proliferation and differentiation in bovine preadipocytes. Nicotinamide decreased NO production by inhibiting NOS activity and iNOS mRNA expression, and controlled lipolytic activity by increasing ATPase activity and the number of mitochondria. The present study provides further evidence of the effects of nicotinamide on lipid and energy metabolism, and suggests that nicotinamide may play an important role in the development of bovine adipose tissue in vivo. This emphasizes the importance of investigating bovine adipose tissue to improve our understanding of dairy cow physiology.

An Optimized Model for the Local Compression Deformation of Soft Tissue

( Xiaorui Zhang ),( Xuefeng Yu ),( Wei Sun ),( Aiguo Song ) 한국인터넷정보학회 2020 KSII Transactions on Internet and Information Syst Vol.14 No.2

Due to the long training time and high training cost of traditional surgical training methods, the emerging virtual surgical training method has gradually replaced it as the mainstream. However, the virtual surgical system suffers from poor authenticity and high computational cost problems. For overcoming the deficiency of these problems, we propose an optimized model for the local compression deformation of soft tissue. This model uses a simulated annealing algorithm to optimize the parameters of the soft tissue model to improve the authenticity of the simulation. Meanwhile, although the soft tissue deformation is divided into local deformation region and non-deformation region, our proposed model only needs to calculate and update the deformation region, which can improve the simulation real-time performance. Besides, we define a compensation strategy for the “superelastic” effect which often occurs with the mass-spring model. To verify the validity of the model, we carry out a compression simulation experiment of abdomen and human foot and compare it with other models. The experimental results indicate the proposed model is realistic and effective in soft tissue compression simulation, and it outperforms other models in accuracy and real-time performance.

Negatively Charged Metal Oxide Nanoparticles Interact with the 20S Proteasome and Differentially Modulate Its Biologic Functional Effects

Falaschetti, Christine A.,Paunesku, Tatjana,Kurepa, Jasmina,Nanavati, Dhaval,Chou, Stanley S.,De, Mrinmoy,Song, MinHa,Jang, Jung-tak,Wu, Aiguo,Dravid, Vinayak P.,Cheon, Jinwoo,Smalle, Jan,Woloschak, G American Chemical Society 2013 ACS NANO Vol.7 No.9

<P>The multicatalytic ubiquitin–proteasome system (UPS) carries out proteolysis in a highly orchestrated way and regulates a large number of cellular processes. Deregulation of the UPS in many disorders has been documented. In some cases, such as carcinogenesis, elevated proteasome activity has been implicated in disease development, while the etiology of other diseases, such as neurodegeneration, includes decreased UPS activity. Therefore, agents that alter proteasome activity could suppress as well as enhance a multitude of diseases. Metal oxide nanoparticles, often developed as diagnostic tools, have not previously been tested as modulators of proteasome activity. Here, several types of metal oxide nanoparticles were found to adsorb to the proteasome and show variable preferential binding for particular proteasome subunits with several peptide binding “hotspots” possible. These interactions depend on the size, charge, and concentration of the nanoparticles and affect proteasome activity in a time-dependent manner. Should metal oxide nanoparticles increase proteasome activity in cells, as they do <I>in vitro</I>, unintended effects related to changes in proteasome function can be expected.</P><P><B>Graphic Abstract</B> <IMG SRC='http://pubs.acs.org/appl/literatum/publisher/achs/journals/content/ancac3/2013/ancac3.2013.7.issue-9/nn402416h/production/images/medium/nn-2013-02416h_0010.gif'></P><P><A href='http://pubs.acs.org/doi/suppl/10.1021/nn402416h'>ACS Electronic Supporting Info</A></P>