下肢康复机器人的研究进展与临床应用

社会老龄化进程中,由于疾病或事故导致下肢受损的患者越来越多,患者的运动能力康复变得尤为重要.相对于传统的物理康复治疗方法,利用下肢康复机器人进行运功功能康复训练可以准确评估、大幅改善康复效果,提高康复效率,节约医疗康复资源.作为一种涉及康复医学、机械学、控制学、机器人学、计算机学及人工智能等诸多学科的智能仿生机电设备,下肢康复机器人按照患者的康复作业姿态主要分为坐卧式下肢康复机器人和站立式下肢康复机器人.其中坐卧式下肢康复机器人可以分为脚踏板式和外骨骼式机器人,站立式下肢康复机器人分为悬挂减重式和独立可穿戴式机器人.本文调研了国际上应用较为广泛的几类下肢康复机器人的代表性产品,详细分析了下肢康复机器人的主被动自由度、驱动方式、传动关节、感知技术、运动控制策略和训练模式等关键技术,并对各类机器人典型临床测试案例进行了比较和探讨,对下肢康复机器人未来的技术发展做出展望.     

一种六足仿生巡检机器人的设计与实现

六足仿生机器人因其灵活度好、可靠性高、适应性强等特点而得到广泛应用;针对六足仿生巡检机器人,从结构设计、步态规划、系统仿真和实物构建等方面,探索一般意义上系统设计和实现方法;首先设计了六足仿生机器人的多关节机械结构,并给出了此类系统的量化建模方法;然后采用了重心随动的三角步态规划方法,对系统稳定性和典型步态规划进行了量化分析;在此基础上基于标准D-H参数法建立了机器人的运动学模型,并且通过仿真实现了六足机器人向前纵向行走和向右横向行走的直线平稳运动;最后通过六足仿生巡检机器人实物测试,验证了所设计的结构和步态规划方法的可行性和有效性。     

面向数字舞台表演的海龟机器人系统研制

针对所创作的机器人戏剧剧本,研制一套用于数字舞台表演的大型海龟机器人系统.该机器人由机械系统和控制系统组成,机械部分由4条3DOF模块化轻型腿、一套具有连续曲率的柔性脖子、龟壳开合装置和碳纤维框架组成,所有电机、电路板等机电部件安装于躯干中,通过同步带将电机的运动传递到外端,降低了悬臂部分的尺寸和质量,减轻了电机的负载.系统的控制部分由上位机及嵌入式控制器组成,分别提供顶层的人机交互和底层的关节实时控制功能.采用重心自调整的方法规划运动步态,确保多足运动的稳定性.经大量实验,研制、开发了样机,完成了机器人戏剧的公演,所研制的机器人可以完美地演绎戏剧角色,外形美观,惹人喜爱,表演效果极佳.     

Improved Computational Model of Grid Cells Based on Column Structure

To simulate the firing pattern of biological grid cells, this paper presents an improved computational model of grid cells based on column structure. In this model, the displacement along different directions is processed by modulus operation, and the obtained remainder is associated with firing rate of grid cell. Compared with the original model, the improved parts include that: the base of modulus operation is changed, and the firing rate in firing field is encoded by Gaussian-like function. Simulation validates that the firing pattern generated by the improved computational model is more consistent with biological characteristic than original model. Besides, the firing pattern is badly influenced by the cumulative positioning error, but the computational model can also generate the regularly hexagonal firing pattern when the real-time positioning results are modified.     

凹坑形貌对线接触摩擦副耐磨性的影响

在线接触摩擦副中,非光滑结构单元的凹坑、凸包、波纹、鳞片形态等表面凹坑形貌对其耐磨性有一定的影响,其中凹坑的直径、深度对耐磨性的影响十分显著。以圆形凹坑非光滑形貌为例,采用有限元仿真分析的方法,对非光滑表面凹坑不同直径和深度的磨损过程进行了分析,研究了仿生非光滑表面对摩擦副耐磨性影响的程度。研究结果表明:线性摩擦副工作过程中,凹坑间距为1 000 m的条件下,摩擦副表面的等效应力和摩擦力随着圆形凹坑直径的增大而增大,随其深度的增大而呈抛物线增长;且在凹坑直径为100 m、深度为300 m时,矩形块的耐磨性最优。     

太阳能利用透光表面超疏水增透膜研究进展

透明超疏水性表面可以阻挡大气尘埃附着,减少表面反射率,提高透光率。超疏水增透膜与传统增透膜相比,具有自清洁性、低反射率和高透光性等优势。本文对增透膜和超疏水表面的基本原理进行了介绍,对比了近年来超疏水增透膜的4种制备方法（沉积法、刻蚀法、自组装法和溶胶-凝胶法）的优缺点,说明了高透光性和低反射率的超疏水表面研究进展。最后对超疏水性增透涂料的潜在应用前景进行了展望,改善超疏水增透膜的耐久性和开发适用于各种应用场合的超疏水增透膜将是未来研究的重点。     

离心泵仿生微结构叶片减阻特性的仿真研究

目的 通过在离心泵叶片表面布置仿生微结构实现离心泵的减阻，并获得仿生微结构的最优化设计参数。方法 研究利用仿真模拟的方法，采用离心泵的扭矩变化对其减阻性能进行表征，考虑了仿生微结构的形态、截面形状和特征高度等结构参数的影响规律，通过分析叶片表面的湍流动能、剪切应力和近壁面层的速度云图揭示仿生微结构对离心泵减阻特性的影响机理。结果 在3种微结构形态中，流向沟槽的减阻效果最好;在3种截面形状的微结构中，矩形截面的减阻效果最好;离心泵减阻率并非随微结构特征尺寸单调变化，而是存在最优值;所有微结构的减阻率均随着流量的增加而增加。当叶片表面布置流向、矩形沟槽时离心泵具有最优的减阻效果，且在全流量工况范围流向矩形沟槽结构的最大减阻率为8.39%。结论 叶片表面微结构的布置可以实现离心泵减阻，其减阻机理与近壁面流体流动行为有关。表面微结构可有效降低叶片壁面的速度梯度，使速度沿壁面法线方向过渡更加均匀，且微结构内部低速流体层可有效控制和减弱近壁面区的湍动程度，减少湍流动能损耗;同时微沟槽内的反向涡流具有类“滚动轴承”作用，将滑动摩擦转换为滚动摩擦，降低摩擦阻力。     

中国传统文化与现代产品设计

设计的内涵就是文化,设计若离开文化的支撑则如同无源之水。在现代文化趋同和传统文化危机论的全球化大背景下,现代产品设计,到底以什么为支撑?本文以生态设计、仿生设计、简约设计三种现代设计理念为例,阐述了这些现代设计理念对传统文化哲学思想的文脉传承,以及这些传统文化哲学与现代产品设计理念如何融合、创新。     

Cell Development Enhanced Bionic Silk Hydrogel on Remodeling Immune Pathogenesis of Spinal Cord Injury via M2 Polarization of Microglial

Due to the complex spatial-temporal pathophysiology of spinal cord injury (SCI), effective modulation of SCI-specific inflammatory pathogenesis to achieve desirable therapeutic effects on functional recovery still remains challenging. Herein, cell-enhanced photocrosslinked silk fibroin hydrogels with extracellular matrix-mimicking cues of mechanical properties and RGD (Arg-Gly-Asp) signals are gelled in situ to fill the lesion site to modulate injury-induced neuroinflammation and promote neurite regrowth after SCI. The bionic hydrogel system provides biomimetic mechanical cues to promote neuronal differentiation of neural stem/progenitor cells (NPCs) and neurite growth by activating YAP nuclear expression. Importantly, favored by the strong capacity of silk fibroin hydrogels on macrophage/microglia recruitment, NPCs encapsulated hydrogel (NPCs@SFRGD0.1) effectively promotes recruited macrophages/microglia to M2 polarization in the lesion site by releasing S100A4 and thereby remodels the inflammatory microenvironment after SCI. Moreover, NPCs@SFRGD0.1 successfully reduces glial scar formation and accelerates corticospinal tract axon regrowth to improve locomotor recovery. Overall, this work contributes to illustrating the therapeutic mechanism of NPCs development based biomaterial therapies on modulating inflammatory microenvironment and this NPCs enhanced silk fibroin hydrogel provides a promising therapeutic strategy for SCI.     

Spray-Coating of Superhydrophobic Coatings for Advanced Applications

Superhydrophobic coatings are widely applicable, e.g., as self-cleaning surfaces or water–oil separation membranes, yet their wider usage is impeded due to costs of fabrication, size, or substrate limitation. Spray-coating is a versatile coating procedures and might offer a good solution for the fabrication of these superhydrophobic coatings, due to the fact that coatings can be fabricated on various materials in a simple, fast, and inexpensive manner. Most procedures rely on hybrid coatings of hydrophobized nanoparticles and a polymeric matrix, which have several drawbacks including the easy loss of nanoparticles and difficult waste handling. Here, the fabrication of the superhydrophobic material, called Fluoropor, for the first time, by spray-coating on various substrates including metals, tissues, concrete, and glass is presented. It is fabricated by spray-coating a mixture of a highly fluorinated monomer blended with porogens followed by photopolymerization. The superhydrophobicity of the material relies on the porous structure on the micro-/nanoscale across the bulk material and does not require any nanoparticles. Excellent self-cleaning ability of these coatings, resistance against thermal and abrasive impact, and their application as oil–water separation membranes are shown. This versatile applicability is highly promising for real-world application as self-cleaning coatings or oil–water separating membranes.