JournalTOCs

Applied Bionics and Biomechanics
Journal Prestige (SJR): 0.288

Citation Impact (citeScore): 1
Number of Followers: 4

This is an Open Access Journal

Open Access journal
ISSN (Print) 1176-2322 - ISSN (Online) 1754-2103
Published by Hindawi

[340 journals]

UCH-L1 Inhibitor Alleviates Nerve Damage Caused by Moyamoya Disease
- Abstract: Background. Moyamoya disease (MMD) leads to nerve injury. Exosomes are touted as bio-shuttles for the delivery of distinct biomolecules inside the cells. Recently, UCH-L1 was shown to play a vital role in nerve injury. However, it is still unknown whether UCH-L1 can improve the nerve injury of MMD. Materials and Methods. Exosomes were isolated from the serum of patients with MMD and healthy controls. The total RNA was extracted from the exosomes, and the level of GFAP and UCH-L1 between the serum exosomes of the two groups was analyzed by a quantitative reverse transcription-polymerase chain reaction and western blot. Exosome labeling and uptake by SH-SY5Y cells were observed by confocal laser microscopy. Cell counting kit-8 assay and flow cytometry were used to determine the viability and apoptosis of SH-SY5Y cells, respectively. Results. Exosomes were successfully isolated and identified from serum. The expression of GFAP and UCH-L1 was significantly higher in the serum-derived exosomes from MMD patients compared with the healthy controls (). Compared to the blank and control exosome group, serum-derived exosomes from MMD significantly suppress cellular vitality and promote apoptosis of SH-SY5Y cells, while the use of LDN-91946, a specific inhibitor of UCH-L1, could reverse the effects induced by serum-derived exosomes from MMD. Conclusion. UCH-L1 inhibitor could reverse MMD-induced inhibition of SH-SY5Y cell viability and promotion of apoptosis. UCH-L1 may be a therapeutic target for the treatment of nerve damage caused by MMD.
  PubDate: Thu, 25 Jul 2024 11:33:39 +000
Calculation of Propulsive Motion for Two-Jointed Bionic Robotic Dolphin
- Abstract: The cruising propulsion process of the bionic robotic fish under the swinging tail motion presents a strong periodic dynamic response, and accurate prediction of its performance is the key to the overall design. Taking the two-jointed bionic robotic dolphin as the research object, five kinds of movement modes were designed, and the coupled analysis model of the propulsion motion of the bionic robotic dolphin was established based on the hydrodynamic and Lagrangian dynamics methods, and the hydrodynamic performance of different movement modes and its linear propulsion dynamic response process were investigated. The results show that the coupled analysis method proposed in the paper can accurately obtain the motion response parameters of the robotic dolphin as well as the forces and moments of each joint, and the speed error with the hydrodynamic simulation is controlled within 5%. The research method and results have good application value to guide the selection design and performance prediction of bionic robotic fish.
  PubDate: Wed, 24 Jul 2024 07:49:30 +000
Biomechanical Effects of Dominant or Nondominant Limb on Asymmetry during
Running Stance Phase
- Abstract: Purpose. This study explores lower limb joint displacement differences during the stance phase and to examine the effects of limb dominance on asymmetry. A total of 32 healthy male amateur marathon runners were recruited (age: 35.33 ± 6.90 years, height: 174.17 ± 3.34 cm, weight: 63.92 ± 4.53 kg). The experiment employed a Vicon eight-camera motion capture system synchronized with an AMTI force plate to record the phase from heel strike to toe-off. The continuous relative phase (CRP) between the dominant and nondominant limbs was assessed using of independent t-test of SPM1d. Results. The hip–knee joint of the dominant limb had a larger maximum CRP (t = 1.104, , effect size = 0.270), smaller minimum CRP (t = −2.672, , effect size = 0.653), larger values of mean absolute relative phase (MARF) (t = 3.275, , effect size = 0.122), and deviation phase (DP) (t = 7.582, , effect size = 0.717) than that of the nondominant limb. Comparing the dominant limb of the knee–ankle joints with the nondominant, there are smaller maximum CRP (t = −0.422, , effect size = 0.144), smaller DP (t = −7.237, , effect size = 0.754), a larger minimum CRP (t = 7.909, , effect size = 2.704), and larger MARF (t = 0.355, , effect size = 0.801). Furthermore, during the stance phases, there are significant differences in coordination modes between the dominant limb and nondominant limb of intersegmental joints ().Conclusion. Throughout different phases of the stance phase, asymmetry in the sagittal plane of lower limb joint displacement is evident. The dominant limb undergoes significant changes in joint leading phase coordination modes, with notably less in-phase coordination compared to the nondominant limb. This predisposes muscles to overstretching, thereby increasing the risk of muscle strains, while the nondominant limb compensates for lower muscle strength. Recognizing and addressing such asymmetries is key to optimizing nondominant limb strength and minimizing muscle overstretching in the dominant limb, leading to improved stability and movement efficiency during marathon running. Consequently, when designing exercise programs or physical therapy, it is crucial to consider limb dominance-related symmetry differences to mitigate the risk of injury resulting from interlimb disparities in motion.
  PubDate: Tue, 09 Jul 2024 13:12:50 +000
Influence of Critical Shoulder Angle and Rotator Cuff Tear Type on
Load-Induced Glenohumeral Biomechanics: A Sawbone Simulator Study
- Abstract: Glenohumeral (GH) biomechanics after rotator cuff (RC) tears are not fully understood. The purpose of our study was to determine if the critical shoulder angle (CSA), type of RC tears, and level of weight bearing increase GH translation, instability based on the instability ratio, muscle forces and joint reaction force (JRF), and shifts the center of force (CoF) superiorly. A GH simulator with muscle-mimicking cable systems was used to simulate 30° abduction in the scapular plane. A Sawbone humerus and five specimen-specific scapular anthropometries were used to test six types of RC tears, three weight-bearing loads, and the native and adjusted (to different CSAs) deltoid origin sites. Linear mixed effects models (CSA, RC tear type, and weight bearing) with random effects (specimen and sex) were used to assess differences in GH biomechanics. With increasing CSA, GH translation increased, JRF decreased, and the CoF position was more inferior. RC tears did not significantly alter GH translation but shifted the CoF position superiorly, close to where glenoid erosion occurs in patients with RC tears with secondary osteoarthritis. Weight bearing significantly increased GH translation and JRF. RC and deltoid muscle forces increased with the presence of RC tears and increased weight bearing. The remaining RC muscles of intact tendons compensated for the torn RC tendons but not for the altered CoF position. GH translation remained comparable to shoulders with intact RC. These findings highlight the importance of early detection, clinical management, and targeted rehabilitation strategies for patients with RC tears.
  PubDate: Tue, 02 Jul 2024 14:34:54 +000
E-Bayesian Estimation Using Spacing Function for Inverse Lindley Adaptive
Type-I Progressively Censored Samples: Comparative Study with Applications
- Abstract: For the first time, this paper offers the Bayesian and E-Bayesian estimation methods using the spacing function (SF) instead of the classical likelihood function. The inverse Lindley distribution, including its parameter and reliability measures, is discussed in this study through the mentioned methods, along with some other classical approaches. Six-point and six-interval estimations based on an adaptive Type-I progressively censored sample are considered. The likelihood and product of spacing methods are used in classical inferential setups. The approximate confidence intervals are discussed using both classical approaches. For various parameters, the Bayesian methodology is studied by taking both likelihood and SFs as observed data sources to derive the posterior distributions. Moreover, the E-Bayesian estimation method is considered by using the same data sources in the usual Bayesian approach. The Bayes and E-Bayes credible intervals using both likelihood and SFs are also taken into consideration. Several Monte Carlo experiments are carried out to assess the performance of the acquired estimators, depending on different accuracy criteria and experimental scenarios. Finally, two data sets from the engineering and physics sectors are analyzed to demonstrate the superiority and practicality of the suggested approaches.
  PubDate: Thu, 06 Jun 2024 10:19:30 +000
Research on Modeling and Motion Optimization for an Underactuated Bionic
Scorpion Robot Arm
- Abstract: Flexible screen possessing a high-contrast ratio to accomplish high-definition display can be attributed to the accuracy of polarizer assembly. Different from the existing polarizer attached onto a flexible screen, resulting in low-accuracy and nonalignment attaching behaviors, a unique approach of underactuated bionic scorpion robot arms can be developed to explore the stable capture and accurate alignment motion operations. Overall structure design and D–H kinematic simulation of bionic scorpion robot arm can be conducted to analyze virtual three-key typical motions. Motion optimization of structural parameters and corresponding motion workspaces verification can be adopted to evaluate motion range and ability. Experiments can be utilized to verify the rationality of theoretical modeling and optimization simulation of bionic scorpion robot arm. Experimental results illustrate that it is evident to demonstrate that the motion behaviors of bionic scorpion robot arm can be verified to be consistent with three key states of virtual theoretical motions. The key joints possessing minor errors may also be utilized to illustrate the relatively excellent dynamic motions existing in bionic scorpion robot arm. Further, advancing the stable motion behaviors of bionic scorpion robot arm may solve the problems of low-accuracy and misalignment polarizer attachments.
  PubDate: Fri, 31 May 2024 11:05:01 +000
Motion Accuracy of Pneumatic Stepper Motor-Driven Robotic System Developed
for MRI-Guided High-Intensity Focused Ultrasound Treatment of Prostate
Disease
- Abstract: The latest advancement in high-intensity focused ultrasound (HIFU) treatment technology integrates magnetic resonance imaging (MRI) guidance for precise treatment of prostate disease. As conventional electromagnetic motors are not applicable for utilization within MRI scanners, we have developed a prototype robotic system driven by pneumatic stepper motors to control the movement of the HIFU transducer within an intrarectal probe during MRI-guided HIFU treatment procedures. These pneumatic stepper motors were constructed entirely from MRI-compatible plastic materials. Assessment of the robotic system’s MRI compatibility was conducted utilizing a 3.0T MRI scanner, revealing no discernible MRI image distortion with a minor decrease in the signal-to-noise ratio (2.8%) during the motor operation. The robotic system enabled the transducer to move inside the probe with two degrees of freedom, allowing both linear and rotational motion. The positional accuracy of the transducer movement was assessed, yielding ±0.20 and ±0.22 mm accuracies in the forward and backward linear movements, respectively, and ±0.79° and ±0.74° accuracies in the clockwise and counterclockwise rotational motions, respectively. Emulation of authentic HIFU procedures involved creating a two-dimensional array of thermal lesions in a tissue-mimicking phantom, achieving positional accuracy within ±1 mm for the generated HIFU focal spots. The prototype robotic system incorporating pneumatic stepper motors fabricated entirely from MRI-compatible plastic materials has demonstrated the requisite positional accuracy necessary for effective HIFU treatment of prostate disease, indicating substantial promise for future clinical application.
  PubDate: Fri, 10 May 2024 07:50:00 +000
Artificial Intelligence in Cardiology and Atherosclerosis in the Context
of Precision Medicine: A Scoping Review
- Abstract: Cardiovascular diseases remain the main cause of death worldwide which makes it essential to better understand, diagnose, and treat atherosclerosis. Artificial intelligence (AI) and novel technological solutions offer us new possibilities and enable the practice of individually tailored medicine. The study was performed using the PRISMA protocol. As of January 10, 2023, the analysis has been based on a review of 457 identified articles in PubMed and MEDLINE databases. The search covered reviews, original articles, meta-analyses, comments, and editorials published in the years 2009–2023. In total, 123 articles met inclusion criteria. The results were divided into the subsections presented in the review (genome-wide association studies, radiomics, and other studies). This paper presents actual knowledge concerning atherosclerosis, in silico, and big data analyses in cardiology that affect the way medicine is practiced in order to create an individual approach and adjust the therapy of atherosclerosis.
  PubDate: Tue, 30 Apr 2024 07:35:01 +000
Design and Performance Analysis of a Mecanum-Built Perturbation-Based
Balance Training Device
- Abstract: This study proposes a mecanum-built perturbation-based balance training device aimed at improving motor adaptive skills for fall prevention in individuals with neurological disorders or the elderly. Incorporating multidirectional fall simulations in line with modified constraint-induced movement therapy, the device’s efficacy was evaluated by measuring the distance traveled and peak acceleration under different static loads (20, 30, and 40 kg) and input accelerations (1, 2, and 3 m/s2). A pilot study with 10 subjects was conducted to assess device performance, utilizing repeated measures analysis of variance and Bonferroni’s post hoc analysis. Results indicated a load-dependent reduction in distance traveled, with an average mean difference of 0.74–1.23 cm between the 20 and 40 kg loads for trials of 9 and 18 cm, respectively. Despite varying loads, the device consistently achieved near-anticipated peak accelerations, suggesting its capability to induce effective perturbations. The study also observed a significant lateral movement preference, suggesting adjustments to pulse width modulation and time period may optimize lateral movement performance.
  PubDate: Fri, 29 Mar 2024 10:35:01 +000
Different Dual-Task Paradigm Reduce Postural Control Ability and Dynamic
Stability of Healthy Young Adults during Stair Descent
- Abstract: Objective. This study aimed to compare the impacts of different dual-task paradigms on the postural control ability and dynamic stability of the youth during stair descent. Method. Twenty young adults without regular exercise habits were randomly recruited to perform stair descent tasks with three different paradigms: single-task, cognitive dual-task, and manual dual-task. Kinematic and dynamic data were collected using an 8 Vicon motion analysis system and a Kistler force plate to evaluate postural control ability and dynamic stability during stair descent. Results. The variation trends of lower limb joint moment were similar under the three task models. Compared with a single-task, both dual-task paradigms significantly reduced the mechanical parameters and dynamic stability during stair descent. Conclusion. The dual-task paradigm increases the risk of stair-related falls. Both cognitive and manual tasks have similar impacts on postural control ability and dynamic stability during stair walking. It is recommended that people avoid performing dual tasks during stair descent.
  PubDate: Mon, 11 Mar 2024 15:35:01 +000
Adaptive Approximation Sliding-Mode Control of an Uncertain Continuum
Robot with Input Nonlinearities and Disturbances
- Abstract: This paper develops an adaptive nonsingular fast terminal sliding-mode control (ANFTSMC) scheme for the continuum robot subjected to uncertain dynamics, external disturbances, and input nonlinearities (e.g., actuator deadzones/faults). Concretely, a function approximation technique (FAT) is utilized to estimate unknown robot dynamics and actuator deadzones/faults online. Furthermore, a disturbance observer (DO) is devised to make up for unknown external disturbances. Then, an ANFTSMC scheme combined with FAT and DO is developed, to expedite the restoration of the stability for the continuum robot. The proposed ANFTSMC not only can retain the benefits of traditional terminal sliding-mode control (TSMC), containing easy enforcement, quick response, and robustness to uncertainties but also dispose of the latent singularity for traditional faster TSMC designs. Afterward, the simulation results show that the proposed controller can effectively improve the trajectory tracking accuracy of the continuum robot, and the tracking root-mean-square errors are 0.0115 and 0.0128 rad. Finally, the effectiveness of ANFTSMC scheme is validated by experiments.
  PubDate: Wed, 06 Mar 2024 09:50:01 +000
Electromechanical Coupling Model for Ionic Liquid Gel Soft Actuators
- Abstract: A soft robot is composed of soft materials, which exhibit continuous deformation and driving structure integration and can arbitrarily change shapes and sizes over wide ranges. It shows strong adaptability to unstructured environments and has broad application prospects in military reconnaissance, medical rescues, agricultural production, etc. Soft robots based on ionic electroactive polymers (EAPs) have low-driving voltages, large-actuation displacements, fast responses, light weights, and low powers and have become a hot research field of bionic robots. Ionic liquid gels (ILGs) are new ionic EAPs. In this study, a new soft actuator was designed based on an ILG, and the electromechanical coupling model of an ILG soft actuator was studied in detail. Based on the system transfer function method, a mechatronic coupling model for the soft actuator was developed. According to the material characteristics and current response law of the ILG-containing EAP, an equivalent circuit model was used to describe transfer of the output current and input voltage. Based on the equivalent transformer model for ionic polymer–metal composite (IPMC) actuators proposed by Claudia Bonomo, the electromechanical coupling equation and a driving equation of the ILG soft actuator were established. The least-squares method was used with the coupling model of an ILG soft actuator to identify the system parameters for the model, and the effects of the structural parameters on the end displacement and driving force of the soft actuator were analyzed.
  PubDate: Tue, 13 Feb 2024 07:50:01 +000
SHAKF-PU: Sage–Husa Adaptive Kalman Filtering-Based Pedestrian
Characteristic Parameter Update Mechanism for Enhancing Step Length
Estimation in Pedestrian Dead Reckoning
- Abstract: Step length estimation (SLE) is the core process for pedestrian dead reckoning (PDR) for indoor positioning. Original SLE requires accurate estimations of pedestrian characteristic parameter (PCP) by the linear update, which may cause large distance errors. To enhance SLE, this paper proposes the Sage–Husa adaptive Kalman filtering-based PCP update (SHAKF-PU) mechanism for enhancing SLE in PDR. SHAKF has the characteristic of predicting the trend of historical data; the estimated PCP is closer to the true value than the linear update. Since different kinds of pedestrians can influence the PCP estimation, adaptive PCP estimation is required. Compared with the classical Kalman filter, SHAKF updates its Q and R parameters in each update period so the estimated PCP can be more accurate than other existing methods. The experimental results show that SHAKF-PU reduces the error by 24.86% compared to the linear update, and thus, the SHAKF-PU enhances the indoor positioning accuracy for PDR.
  PubDate: Thu, 08 Feb 2024 09:20:00 +000
Nanoparticle Delivery in Microvascular after Cerebral Ischemia: A
Simulation Study
- Abstract: Nanodrug delivery systems have been used in the diagnosis and treatment of ischemic stroke. However, the delivery mechanisms of nanoparticles within microvascular after cerebral ischemia have not been systematically revealed. This study aims to investigate the binding of different nanoparticles to the walls of ischemic brain microvascular through numerical simulations. In this study, 3D models of cerebral microvascular based on ischemic pathological changes are constructed. After building the mesh of microvascular, computational fluid dynamics is used to simulate blood flow and nanoparticle delivery. The simulation results show that the total amount of binding nanoparticles with small size is higher than that with large size. The large-sized nanoparticles are more easily delivered to the stenosis. The density of the nanoparticles has no significant effect on delivery. Furthermore, the study finds that the presence of red blood cells can significantly enhance the delivery efficiency of nanoparticles. In addition to evaluating the forces exerted on the nanoparticles, the impact of the binding affinity of the modified ligand on nanoparticles to the target receptor on delivery is investigated. In summary, selecting suitable nanoparticles according to different targets will improve the delivery efficiency of nanodrugs. The microvascular delivery model of nanoparticles proposed in this study may be helpful in the design of nanoparticles for diagnosis and treatment of cerebral ischemia.
  PubDate: Wed, 07 Feb 2024 08:05:01 +000
A Study of Racket Weight Adaptation in Advanced and Beginner Badminton
Players
- Abstract: The jump smash is the most aggressive manoeuvre in badminton. Racket parameters may be the key factor affecting the performance of jump smash. Previous studies have focused only on the biomechanical characteristics of athletes or on racket parameters in isolation, with less observation of the overall performance of the human-racket system. This study aims to explore the effects of different racket weights on neuromuscular control strategies in advanced and beginner players. Nonnegative matrix factorisation (NMF) was used to extract the muscle synergies of players when jumping smash using different rackets (3U, 5U), and K-means clustering was used to obtain the fundamental synergies. Uncontrolled manifold (UCM) analyses were used to establish links between synergy and motor performance, and surface electromyography (sEMG) was mapped to each spinal cord segment. The study found significant differences () in the postural muscles of skilled players and significant differences () in the upper-limb muscles of beginners when the racket weight was increased. Advanced players adapt to the increase in racket weight primarily by adjusting the timing of the activation of the third synergy. Combined synergy in advanced players is mainly focused on the backswing, while that in beginners is mainly focused on the frontswing. This suggests that advanced players may be more adept at utilising the postural muscles and their coordination with the upper-limb muscles to adapt to different rackets. In addition, the motor experience can help athletes adapt more quickly to heavier rackets, and this adaptation occurs primarily by adjusting the temporal phase and covariation characteristics of the synergies rather than by increasing the number of synergies.
  PubDate: Thu, 25 Jan 2024 11:20:01 +000
Retracted: Image Video Teaching Method in College Physical Education
- PubDate: Wed, 24 Jan 2024 07:13:10 +000
Retracted: Analyzing College Students’ Reading Behavior by AI
Techniques
- PubDate: Wed, 24 Jan 2024 07:13:08 +000
Retracted: Deep-Learning-Based 3D Reconstruction: A Review and
Applications
- PubDate: Wed, 24 Jan 2024 07:13:07 +000
Retracted: Application of New Media Big Data in Visual Performance of
Axonometric Illustration
- PubDate: Wed, 24 Jan 2024 07:13:05 +000
Retracted: Rural Acoustic Landscape Analysis Based on Segmentation and
Extraction of Spectral Image Feature Information
- PubDate: Wed, 24 Jan 2024 07:13:03 +000
Retracted: A Novel Framework for Automation Technology Based on Machine
Vision and Robotics in Electrical Power Inspection Processing
- PubDate: Wed, 24 Jan 2024 07:13:01 +000
Retracted: Logistics Information Traceability Mechanism of Fresh
E-Commerce Based on Image Recognition Technology
- PubDate: Wed, 24 Jan 2024 07:13:00 +000
Retracted: Efficacy of High-Quality Nursing Service for the Patients
during the Anesthesia Recovery Period: A Meta-Analysis
- PubDate: Wed, 24 Jan 2024 07:12:58 +000
Assessment of Load Manual Lifting among Shelf-Stoking Workers in Chain
Stores: A Cross-Sectional Study
- Abstract: In Iranian stores, shelf workers, in addition to shelf-stocking, perform diverse tasks, such as working as a cashier, cleaning, barcode reading, labeling goods, and entering the price with the portable data terminal (PDT). Therefore, this study aimed to investigate the prevalence of work-related musculoskeletal symptoms (WMSs) and assess load manual lifting among shelf-stoking workers. This cross-sectional study was conducted among 101 shelf-stoking workers (60 males and 41 females) in chain stores at Shiraz city, Iran. The subjects were selected by cluster sampling from chain stores in Shiraz city, namely Refah, Canbo, Soroush, and Tirazis. Then, the required number of samples was selected and entered into the study from each cluster in proportion. The Persian version of the Nordic Musculoskeletal Questionnaire and the National Institute of Occupational Safety and Health–variable lifting index method were used to collect the required data. Data were analyzed by SPSS software version 22 using the Mann–Whitney U test, Spearman’s correlation coefficient, and linear regression. Ankles/feet, lower back, and knees had the highest prevalence of WMSs among the participants. About 70.3% of workers had a VLI higher than 1. There was an association between gender and VLI. The VLI was higher in males than females. The study’s findings revealed that the medians of the VLI were significantly different among participants with/without upper back symptoms during 12 months prior to the study and among participants with/without lower back symptoms during 7 days prior to the study. According to the linear regression analysis, gender and lower back symptoms during 7 days prior to the study remained in the model and were associated with the VLI. The findings revealed that the back region of the shelf-stoking workers is prone to work-related musculoskeletal disorders. In addition, based on the results, gender and lower back symptoms during the 7 days prior to the study were predicting variables for VLI. This study provides an overview of pain/discomfort and postural load in shelf-stoking workers. Since the principles of ergonomics for the placement and layout of shelves are the same in all stores, the findings of the present study can be used in other stores.
  PubDate: Wed, 17 Jan 2024 10:20:00 +000
3D Kinematics of Male and Female Soccer Players for a Variety of
Game-Specific Skills
- Abstract: Soccer is played by a variety of individuals with varying abilities. The complicated lower limb movements involved within the game often lead to knee and ankle injuries, with anterior cruciate ligament injuries being the most severe with regard to rehabilitation time and ongoing health risks. This research explores the biomechanical kinematics of male and female soccer players on synthetic grass to determine whether trends in lower limb biomechanics over a variety of movements could explain injury risk. Both male and female players (n = 10) aged between 19 and 24 years performed running-based and stationary-start movements. Biomechanical measurements at the hip, knee, and ankle were recorded. Observations showed that specific differences in joint angles were largely dependent on the movements performed; however, for male players, on average, across all movements, 84.6% and 72.6% of the variation in joint angles could be explained by internal/external rotation at the hip and knee, respectively. For female players, internal/external knee rotation, as well as hip abduction and adduction, accounted for 83.6% and 80.2% of the variation in joint angles, respectively, across all the tested movements. This highlights the importance of hip mechanics and knee alignment for players when performing a variety of movements.
  PubDate: Mon, 08 Jan 2024 10:05:00 +000
Force Tracking Control of Lower Extremity Exoskeleton Based on a New
Recurrent Neural Network
- Abstract: The lower extremity exoskeleton can enhance the ability of human limbs, which has been used in many fields. It is difficult to develop a precise force tracking control approach for the exoskeleton because of the dynamics model uncertainty, external disturbances, and unknown human–robot interactive force lied in the system. In this paper, a control method based on a novel recurrent neural network, namely zeroing neural network (ZNN), is proposed to obtain the accurate force tracking. In the framework of ZNN, an adaptive RBF neural network (ARBFNN) is employed to deal with the system uncertainty, and a fixed-time convergence disturbance observer is designed to estimate the external disturbance of the exoskeleton electrohydraulic system. The Lyapunov stability method is utilized to prove the convergence of all the closed-loop signals and the force tracking is guaranteed. The proposed control scheme’s (ARBFNN-FDO-ZNN) force tracking performances are presented and contrasted with the exponential reaching law-based sliding mode controller (ERL-SMC). The proposed scheme is superior to ERL-SMC with fast convergence speed and lower tracking error peak. Finally, experimental tests are conducted to verify the efficacy of the proposed controller for solving accurate force tracking control issues.
  PubDate: Sat, 06 Jan 2024 04:50:01 +000

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