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Zaixiang Pang

Bio: Zaixiang Pang is an academic researcher from Changchun University. The author has contributed to research in topics: Computer science & Nonlinear programming. The author has an hindex of 3, co-authored 5 publications receiving 28 citations.

Papers
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Journal ArticleDOI
TL;DR: The rationality of the wearable upper limb rehabilitation robot design is verified, which can help patients achieve rehabilitation training and provide an effective rehabilitation equipment for patients with hemiplegia caused by stroke.
Abstract: Nowadays, patients with mild and moderate upper limb paralysis caused by cerebral apoplexy are uncomfortable with autonomous rehabilitation. In this paper, according to the “rope + toothed belt” generalized rope drive design scheme, we design a utility model for a wearable upper limb rehabilitation robot with a tension mechanism. Owing to study of the human upper extremity anatomy, movement mechanisms, and the ranges of motion, it can determine the range of motion angles of the human arm joints, and design the shoulder joint, elbow joint, and wrist joint separately under the principle of ensuring the minimum driving torque. Then, the kinematics, workspace and dynamics analysis of each structure are performed. Finally, the control system of the rehabilitation robot is designed. The experimental results show that the structure is convenient to wear on the human body, and the robot’s freedom of movement matches well with the freedom of movement of the human body. It can effectively support and traction the front and rear arms of the affected limb, and accurately transmit the applied traction force to the upper limb of the joints. The rationality of the wearable upper limb rehabilitation robot design is verified, which can help patients achieve rehabilitation training and provide an effective rehabilitation equipment for patients with hemiplegia caused by stroke.

28 citations

Journal ArticleDOI
TL;DR: The 0-stability, consistency and convergence reveal that the developed discrete-time zeroing neural network models converge to the theoretical solution to the time-varying nonlinear optimization problem with the residual error O ( τ 4 ) where τ signifies the sampling gap.
Abstract: In this paper, a new Taylor-type differentiation formula is investigated for the first-order derivative approximation to generate higher numerical accuracy in the implementation of zeroing neural network model discretization. Then, two novel discrete-time zeroing neural network models are first developed, analyzed and verified for online solving time-varying nonlinear optimization problem. Moreover, the 0-stability, consistency and convergence reveal that the developed discrete-time zeroing neural network models converge to the theoretical solution to the time-varying nonlinear optimization problem with the residual error O ( τ 4 ) , where τ signifies the sampling gap. In addition, according to the smooth solution accuracy, the proposed discrete-time zeroing neural network models have better performance than traditional computing models by adopting the Taylor-type computational differentiation formula with O ( τ 3 ) pattern. Finally, two illustrative numerical examples are further provided to demonstrate the efficiency and superiority of the proposed discrete-time zeroing neural network models for time-varying nonlinear optimization problems solving compared with the classical neural network models, furthermore, the proposed models are also applied on two-link mechanical arm with motion generation.

15 citations

Journal ArticleDOI
TL;DR: This paper presents a humanoid robotic arm massage system with an aim toward satisfying the clinical requirements of pain relief on the waist and legs of older patients during Chinese medicinal massage, designed by adapting a bottom to top modular method.
Abstract: This paper presents a humanoid robotic arm massage system with an aim toward satisfying the clinical requirements of pain relief on the waist and legs of older patients during Chinese medicinal massage. On the basis of an in-depth analysis regarding the characteristics of arm joints of the human body and Chinese medicinal massage theory, a humanoid robotic arm massage system was designed by adapting a bottom to top modular method. The combined finite element and kinematic analysis led to an improved performance according to repeated positioning accuracy, massage strength accuracy, and massage effect. The developed humanoid robotic arm was characterized by a compact structure, high precision, light quality, and good stiffness, achieving a good bearing capacity. Due to the PID controller, the numerical simulations and experimental results provided valuable insight into the development of Chinese medicinal massage robots and massage treatments for patients who suffer from lumbar muscle strain.

11 citations

Journal ArticleDOI
TL;DR: This study develops an interesting framework to exploiting control methods on bipedal robots through accurately and effectively solving nonlinear programming problems.
Abstract: A type of trust region-sequential quadratic programming (TRSQP) approach with superlinearly convergent property is first proposed, investigated, and implemented on bipedal robots based on nonlinear model predictive control (NMPC). NMPC is utilized to predict the system behavior and optimize the control move in a receding horizon way, which will result in recursive efficiency and stability. Considering that the classical line search rules are expensive or hard in particular applications, the attempted trust region search is leveraged to avoid the drawbacks of the classical line search rules. Moreover, the feasible descent direction is contained in the trust region via a novelly truncated technique which avoids to recompute the quadratic programming subproblem (QPS) for the main search direction. Owing to some suitable conditions, the globally/superlinearly convergent performance and well-defined properties are analyzed and verified for the TRSQP. The main result is illustrated on a simple bipedal robot which is called as compass-like bipedal robot (CLBR) through numerical simulations and is used to generate dynamic locomotion via TRSQP and NMPC. Furthermore, to demonstrate the feasibility and superiority of a complex bipedal robot which is called as a high-dimensional bipedal robot, numerical simulations are conducted on the model of a three-link bipedal robot (TLBR) and a five-link robot (RABBIT). Furthermore, simulation results show that the TRSQP approach is effectiveness and superiority through comparing with the classical approaches, which included discrete mechanics and optimal control (DMOC) and hybrid zero dynamic (HZD), and control Lyapunov function-quadratic programming (CLF-QP) for the optimal gait of bipedal robot. In addition, to verify the robustness, the TLBR model with parameter’s disturbance 1.5 times is investigated and analyzed via TRSQP with NMPC technique. Last,this study develops an interesting framework to exploiting control methods on bipedal robots through accurately and effectively solving nonlinear programming problems.

11 citations

Journal ArticleDOI
07 Apr 2022-Machines
TL;DR: In this paper , an anthropomorphic design of an electrically driven, lower-limb exoskeleton rehabilitation robot was proposed to help people with impairment of lower extremity movement regain the ability to stand and walk, and to enhance limb function.
Abstract: To help people with impairment of lower extremity movement regain the ability to stand and walk, and to enhance limb function, this study proposes an anthropomorphic design of an electrically driven, lower-limb exoskeleton rehabilitation robot. The angular range of the robot’s motion was determined according to the characteristics of the targeted lower-limb joints; the robot was given an active–passive anthropomorphic design with 12 degrees of freedom. The multi-degree-of-freedom hip exoskeleton, bionic artificial knee exoskeleton and passive rigid-flexible coupling ankle exoskeleton can assist patients in rehabilitation exercises with better wear comfort and exercise flexibility. A kinetic model of the seven-rod lower-limb exoskeleton rehabilitation robot was built, and data analysis of the dynamically captured motion trajectory was conducted. These provided a theoretical basis for gait planning and the control system of the lower-limb exoskeleton rehabilitation robot. The results show that the lower-limb exoskeleton rehabilitation robot system possesses sound wearing comfort and movement flexibility, and the degree of freedom of movement of the exoskeleton robot matches well with that of human movement. The robot can thus provide effective assistance to patients’ standing and walking rehabilitation training.

8 citations


Cited by
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Journal ArticleDOI
18 Jan 2021
TL;DR: The paper provides detailed information about state-of-the-art research in care, hospital, assistive, rehabilitation, and walking assisting robots and discusses the open challenges healthcare robots face to be integrated into the authors' society.
Abstract: In recent years, with the current advancements in Robotics and Artificial Intelligence (AI), robots have the potential to support the field of healthcare. Robotic systems are often introduced in the care of the elderly, children, and persons with disabilities, in hospitals, in rehabilitation and walking assistance, and other healthcare situations. In this survey paper, the recent advances in robotic technology applied in the healthcare domain are discussed. The paper provides detailed information about state-of-the-art research in care, hospital, assistive, rehabilitation, and walking assisting robots. The paper also discusses the open challenges healthcare robots face to be integrated into our society.

115 citations

Journal ArticleDOI
18 Mar 2021-Sensors
TL;DR: In this paper, a literature search was performed in Scopus, IEEE Xplore, Web of Science, and PubMed using the PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) methodology with three main inclusion criteria: (a) motor or neuromotor rehabilitation for upper limbs, (b) mobile robotic exoskeletons, and (c) AI.
Abstract: Processing and control systems based on artificial intelligence (AI) have progressively improved mobile robotic exoskeletons used in upper-limb motor rehabilitation. This systematic review presents the advances and trends of those technologies. A literature search was performed in Scopus, IEEE Xplore, Web of Science, and PubMed using the PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) methodology with three main inclusion criteria: (a) motor or neuromotor rehabilitation for upper limbs, (b) mobile robotic exoskeletons, and (c) AI. The period under investigation spanned from 2016 to 2020, resulting in 30 articles that met the criteria. The literature showed the use of artificial neural networks (40%), adaptive algorithms (20%), and other mixed AI techniques (40%). Additionally, it was found that in only 16% of the articles, developments focused on neuromotor rehabilitation. The main trend in the research is the development of wearable robotic exoskeletons (53%) and the fusion of data collected from multiple sensors that enrich the training of intelligent algorithms. There is a latent need to develop more reliable systems through clinical validation and improvement of technical characteristics, such as weight/dimensions of devices, in order to have positive impacts on the rehabilitation process and improve the interactions among patients, teams of health professionals, and technology.

30 citations

Journal ArticleDOI
TL;DR: The rationality of the wearable upper limb rehabilitation robot design is verified, which can help patients achieve rehabilitation training and provide an effective rehabilitation equipment for patients with hemiplegia caused by stroke.
Abstract: Nowadays, patients with mild and moderate upper limb paralysis caused by cerebral apoplexy are uncomfortable with autonomous rehabilitation. In this paper, according to the “rope + toothed belt” generalized rope drive design scheme, we design a utility model for a wearable upper limb rehabilitation robot with a tension mechanism. Owing to study of the human upper extremity anatomy, movement mechanisms, and the ranges of motion, it can determine the range of motion angles of the human arm joints, and design the shoulder joint, elbow joint, and wrist joint separately under the principle of ensuring the minimum driving torque. Then, the kinematics, workspace and dynamics analysis of each structure are performed. Finally, the control system of the rehabilitation robot is designed. The experimental results show that the structure is convenient to wear on the human body, and the robot’s freedom of movement matches well with the freedom of movement of the human body. It can effectively support and traction the front and rear arms of the affected limb, and accurately transmit the applied traction force to the upper limb of the joints. The rationality of the wearable upper limb rehabilitation robot design is verified, which can help patients achieve rehabilitation training and provide an effective rehabilitation equipment for patients with hemiplegia caused by stroke.

28 citations

Journal ArticleDOI
TL;DR: In this article, a comprehensive review of soft and rigid wearable robotic devices provided for rehabilitation and assistance focusing on the shoulder joint is presented, where the authors identify and evaluate the important features and strengths and weaknesses of the plans to lead to the presentation of more optimal plans in the future.
Abstract: The importance of the human upper limb role in performing daily life and personal activities is significant. Improper functioning of this organ due to neurological disorders or surgeries can greatly affect the daily activities performed by patients. This paper aims to comprehensively review soft and rigid wearable robotic devices provided for rehabilitation and assistance focusing on the shoulder joint. In the last two decades, many devices have been proposed in this regard, however, there have been a few groups whose devices have had effective therapeutic capability with acceptable clinical evidence. Also, there were not many portable, lightweight and user-friendly devices. Therefore, this comprehensive study could pave the way for achieving optimal future devices, given the growing need for these devices. According to the results, the most commonly used plan was Exoskeleton, the most commonly used actuators were electrical, and most devices were considered to be stationary and rigid. By doing these studies, the advantages and disadvantages of each method are also presented. The presented devices each have a new idea and attitude in a specific field to solve the problems of movement disorders and rehabilitation, which were in the form of prototypes, initial clinical studies and sometimes comprehensive clinical and commercial studies. These plans need more comprehensive clinical trials to become a complete and efficient plan. This article could be used by researchers to identify and evaluate the important features and strengths and weaknesses of the plans to lead to the presentation of more optimal plans in the future.

17 citations