Cyborg and bionic systems (Washington, D.C.)最新文献_第2页

A Multimodal Amphibious Robot Driven by Soft Electrohydraulic Flippers. 软电液鳍驱动的多模态两栖机器人。

IF 10.5

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2025-06-09 eCollection Date: 2025-01-01 DOI: 10.34133/cbsystems.0253

Fuyi Fang, Junfeng Zhou, Yuanzhen Zhang, Yanran Yi, Zhen Huang, Yicheng Feng, Kai Tao, Wenbo Li, Wenming Zhang

{"title":"A Multimodal Amphibious Robot Driven by Soft Electrohydraulic Flippers.","authors":"Fuyi Fang, Junfeng Zhou, Yuanzhen Zhang, Yanran Yi, Zhen Huang, Yicheng Feng, Kai Tao, Wenbo Li, Wenming Zhang","doi":"10.34133/cbsystems.0253","DOIUrl":"10.34133/cbsystems.0253","url":null,"abstract":"Soft robots are exceptionally suited to exploring complex environments, including amphibious navigations, due to their flexible and adaptive characteristics. However, achieving efficient actuation and multimodal locomotion or transition in amphibious environments for soft robots is challenging. In this paper, we present a multimodal amphibious robot with radial symmetry configuration and 3 different locomotion modes (crawling on land and underwater, swimming in water). The robot consists of 3 soft electrohydraulic flippers, which can be independently or synergistically actuated to rotate or oscillate in both air and water and generate the propulsion for amphibious locomotion. Theoretical analysis and experimental tests have verified the remarkable amphibious actuation performance of the soft electrohydraulic flippers with effective electrode encapsulation process. Optimal actuation frequencies are also obtained for maximizing the efficiency of the robot's movements in different mediums. Based on the 3 powerful soft electrohydraulic flippers with radial symmetry distribution, the robot can smoothly transition from crawling on land to crawling underwater, and swim up from the bottom to the surface of water, without reconfiguration of the robot. This work demonstrates the first amphibious soft robot based on electrohydraulic actuators with multimodal locomotion transition in an amphibious environment and may open up more possibilities for the development of multimodal soft robots.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"6 ","pages":"0253"},"PeriodicalIF":10.5,"publicationDate":"2025-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12146520/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144259514","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

IF 10.5

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2025-06-06 eCollection Date: 2025-01-01 DOI: 10.34133/cbsystems.0275

Yuanyuan Liu, Chengbei Hou, Xiao Dong, Di Wu, Xuehong Chu, Jiaqi Luo, Wanwan Zhang, Erlan Yu, Chuanhui Li, Chen Zhou, Chuanjie Wu, Xunming Ji

{"title":"Sex-Related Difference in Outcomes of Remote Ischemic Conditioning for Symptomatic Intracranial Atherosclerotic Stenosis.","authors":"Yuanyuan Liu, Chengbei Hou, Xiao Dong, Di Wu, Xuehong Chu, Jiaqi Luo, Wanwan Zhang, Erlan Yu, Chuanhui Li, Chen Zhou, Chuanjie Wu, Xunming Ji","doi":"10.34133/cbsystems.0275","DOIUrl":"10.34133/cbsystems.0275","url":null,"abstract":"Remote ischemic conditioning (RIC) is a novel and promising therapeutic intervention for symptomatic intracranial atherosclerotic stenosis (sICAS). This study aimed to evaluate sex differences in stroke recurrence among patients with sICAS and assess the efficacy of RIC in the RICA (chronic remote ischemic conditioning in patients with symptomatic intracranial atherosclerotic stenosis) trial. The RICA trial was a multicenter, randomized clinical trial conducted across 84 stroke centers in China. Patients with sICAS were randomly assigned on a 1:1 ratio to receive either RIC intervention or sham RIC intervention once daily for 12 months. The primary endpoint was ischemic stroke recurrence. The median follow-up duration was 3.5 years. Of the 3,033 patients enrolled in the RICA trial, 1,079 (35.58%) were women. Female patients were generally older (mean [SD] age 62.9 [8.8] years versus 60 [9.2] years) and had a higher prevalence of hypertension, diabetes, and a higher body mass index than male patients. No significant difference was observed in ischemic stroke recurrence risk between female and male patients during a median follow-up of 3.5 years (20.5% versus 16.6%, adjusted hazard ratio, 1.18; [95% CI, 0.97 to 1.42]). However, RIC significantly reduced the risk of ischemic stroke recurrence in male patients, while no similar effect was observed in female patients (adjusted hazard ratio, 0.88; [95% CI, 0.58 to 1.32]; P for interaction = 0.379). No significant sex-based differences were observed in ischemic stroke recurrence among patients with sICAS over the 3.5-year follow-up period. RIC may have better therapeutic benefits for male patients with good compliance.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"6 ","pages":"0275"},"PeriodicalIF":10.5,"publicationDate":"2025-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12141781/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144251149","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Radar-Based Control of a Helical Microswimmer in 3-Dimensional Space with Dynamic Obstacles. 三维空间有动态障碍物的螺旋微游泳者雷达控制。

IF 10.5

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2025-06-02 eCollection Date: 2025-01-01 DOI: 10.34133/cbsystems.0158

Yuezhen Liu, Yibin Wang, Kaiwen Fang, Hui Chen, Guangjun Zeng, Jiangfan Yu

{"title":"Radar-Based Control of a Helical Microswimmer in 3-Dimensional Space with Dynamic Obstacles.","authors":"Yuezhen Liu, Yibin Wang, Kaiwen Fang, Hui Chen, Guangjun Zeng, Jiangfan Yu","doi":"10.34133/cbsystems.0158","DOIUrl":"10.34133/cbsystems.0158","url":null,"abstract":"Advanced control strategies critical for microrobots have been widely investigated to achieve precise locomotion. However, dynamic obstacle avoidance in 3D space is a major challenge in control that remains unsolved. In this work, a control scheme is developed for the automatic navigation of a helical microswimmer in 3-dimensional (3D) space with dynamic obstacles. A 3D hierarchical radar with a motion sphere and a detection sphere is firstly developed. Using the radar-based avoidance approach, the desired motion direction for the microswimmer to avoid obstacles can be obtained, and the coarse-to-fine search is used to decrease the computational load of the algorithm. Three navigation modes of the microswimmer in 3D space with dynamic conditions are realized by the radar-based navigation strategy that combines the global path planning algorithm and the radar-based avoidance approach. Subsequently, a motion controller is proposed to achieve precise 3D locomotion control of the microswimmer. The control scheme integrating the radar-based navigation strategy and the motion controller is developed. The experimental results of navigated locomotion of a helical microswimmer in 3D space with 8 static obstacles and 8 dynamic obstacles demonstrate the effectiveness of the control scheme, and the proposed control scheme paves the way for advanced locomotion control of helical microswimmers in complex 3D space.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"6 ","pages":"0158"},"PeriodicalIF":10.5,"publicationDate":"2025-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12128585/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144210331","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Skeletal Muscle Tissue Engineering: From Tissue Regeneration to Biorobotics. 骨骼肌组织工程：从组织再生到生物机器人。

IF 10.5

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2025-05-15 eCollection Date: 2025-01-01 DOI: 10.34133/cbsystems.0279

Maira Z Cordelle, Sarah J B Snelling, Pierre-Alexis Mouthuy

引用次数: 0

Safety Decision-Making for Autonomous Vehicles Integrating Passenger Physiological States by fNIRS. 基于fNIRS的自动驾驶汽车安全决策研究

IF 10.5

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2025-05-13 eCollection Date: 2025-01-01 DOI: 10.34133/cbsystems.0205

Xiaofei Zhang, Haoyi Zheng, Jun Li, Zongsheng Xie, Huamu Sun, Hong Wang

{"title":"Safety Decision-Making for Autonomous Vehicles Integrating Passenger Physiological States by fNIRS.","authors":"Xiaofei Zhang, Haoyi Zheng, Jun Li, Zongsheng Xie, Huamu Sun, Hong Wang","doi":"10.34133/cbsystems.0205","DOIUrl":"10.34133/cbsystems.0205","url":null,"abstract":"In recent years, several serious traffic accidents have exposed the severity of safety issues in autonomous driving technology. Traditional decision-making methods are unable to address potential risky behaviors caused by the functional insufficiencies or machine performance limitations, and human intervention is still needed. This study proposes an intelligent safety decision-making algorithm with passengers' risk assessment by analyzing passenger physiological states online using functional near-infrared spectroscopy (fNIRS). This algorithm is developed based on twin-delayed deep deterministic policy gradient (TD3), and it can overcome the functional insufficiencies of traditional TD3 and guide TD3 using passengers' risk assessment by analyzing passenger physiological states online while confronting risky scenarios. Three experiments have been conducted in autonomous emergency braking, front vehicle cutting-in, and pedestrian crossing scenarios. The results show that the proposed algorithm demonstrates faster convergence and superior safety and comfort performance compared with traditional TD3. This study highlights the applicability of fNIRS technology in enhancing the safety and comfort of autonomous vehicles in the future.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"6 ","pages":"0205"},"PeriodicalIF":10.5,"publicationDate":"2025-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12069881/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144054583","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Hollow Mesoporous Carbon Nanospheres Derived from Metal-Organic Frameworks for Efficient Sono-immunotherapy against Pancreatic Cancer. 金属有机骨架制备的中空介孔碳纳米球用于胰腺癌的高效超声免疫治疗。

IF 10.5

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2025-05-09 eCollection Date: 2025-01-01 DOI: 10.34133/cbsystems.0247

Libin Chen, Haiwei Li, Jing Liu, Yunzhong Wang, Shengmin Zhang

{"title":"Hollow Mesoporous Carbon Nanospheres Derived from Metal-Organic Frameworks for Efficient Sono-immunotherapy against Pancreatic Cancer.","authors":"Libin Chen, Haiwei Li, Jing Liu, Yunzhong Wang, Shengmin Zhang","doi":"10.34133/cbsystems.0247","DOIUrl":"https://doi.org/10.34133/cbsystems.0247","url":null,"abstract":"Sono-immunotherapy is expected to effectively enhance treatment efficacy and reduce mortality in patients with pancreatic cancer. Hence, efficient applicable sono-immunotherapy systems are urgently needed for the treatment of this condition. In this study, hollow mesoporous carbon (HMC) nanoparticles were prepared using the sacrificial template method. These nanoparticles had a porphyrin-like structure and could generate singlet oxygen more efficiently than commercial TiO2. Cellular assays showed that HMC killed tumor cells in the presence of ultrasonication, primarily by inducing apoptosis. HMC could also accelerate the release of immune factors by tumor cells, thereby activating dendritic cells and enhancing the efficacy of immunotherapy. Experiments in tumor-bearing mice and in situ pancreatic cancer tests showed that HMC, in combination with the small-molecule inhibitors of programmed cell death ligand 1, could reduce tumor growth via the generation of reactive oxygen species following ultrasonication. HMC could enhance the efficacy of immunotherapy by disrupting the immunosuppressive tumor microenvironment and promoting the accumulation of immune cells. Accordingly, in vivo sono-immunotherapy was achieved, and the growth of transplanted tumors and in situ tumors could be reduced. In conclusion, this study proposes a novel method for the preparation of HMC nanoparticles and demonstrates their potential in tumor treatment. Additionally, owing to their unique structure, these HMC nanoparticles could be used for different combination therapies tailored based on specific clinical requirements.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"6 ","pages":"0247"},"PeriodicalIF":10.5,"publicationDate":"2025-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12062583/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144042227","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Accelerated Molecular Transportation in the Brain Extracellular Space with 755-nm Light Attenuates Post-Stroke Cognitive Impairment in Rats. 755纳米光加速脑细胞外空间分子运输可减轻大鼠脑卒中后认知障碍。

IF 10.5

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2025-05-06 eCollection Date: 2025-01-01 DOI: 10.34133/cbsystems.0262

Liu Yang, Yajuan Gao, Leonor Serrano Lopes, Jingge Lian, Wanyi Fu, Hanbo Tan, Shuangfeng Yang, Zhaoheng Xie, Yixing Huang, Jicong Zhang, Yanye Lu, Hao Tang, Bo Xiong, Xunbin Wei, Lide Xie, Yun Peng, Xinyu Liu, Hongbin Han

{"title":"Accelerated Molecular Transportation in the Brain Extracellular Space with 755-nm Light Attenuates Post-Stroke Cognitive Impairment in Rats.","authors":"Liu Yang, Yajuan Gao, Leonor Serrano Lopes, Jingge Lian, Wanyi Fu, Hanbo Tan, Shuangfeng Yang, Zhaoheng Xie, Yixing Huang, Jicong Zhang, Yanye Lu, Hao Tang, Bo Xiong, Xunbin Wei, Lide Xie, Yun Peng, Xinyu Liu, Hongbin Han","doi":"10.34133/cbsystems.0262","DOIUrl":"https://doi.org/10.34133/cbsystems.0262","url":null,"abstract":"Ischemic stroke exacts a heavy toll in death and disability worldwide. After ischemic stroke, the accumulation of pathobiomolecules in the brain extracellular space (ECS) will exacerbate neurological damage and cognitive impairment. Photobiomodulation (PBM) has been demonstrated to improve cognitive function in Alzheimer's disease mouse models by accelerating molecular transportation in the brain ECS. This suggests that PBM may have a potential role in the accumulation of pathobiomolecules in the brain ECS following ischemic stroke. In this study, we developed a PBM therapy apparatus with custom parameters. By evaluating the treatment effect, we identified that 755 nm was the optimal light wavelength for ischemic stroke in rats with transient middle cerebral artery occlusion/reperfusion. Extracellular diffusion and interstitial fluid (ISF) drainage were measured using a tracer-based magnetic resonance imaging method. Our results showed that PBM accelerated molecular transportation in the brain ECS and ISF drainage, promoting the clearance of pro-inflammatory cytokines and reducing the deposition of pathological proteins. Consequently, the infarct volume decreased and neurological cognitive function was improved. Besides, the acceleration of ISF drainage was achieved by reducing expression and restoring polarization of aquaporin 4 (AQP4) in the peri-infarct area. In summary, we demonstrated that PBM could alleviate ischemia-reperfusion injury and prevent post-stroke cognitive impairment by accelerating molecular transportation in the brain ECS, paving a pathway for ischemic stroke treatment via the light-ECS interaction.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"6 ","pages":"0262"},"PeriodicalIF":10.5,"publicationDate":"2025-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12053100/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144051754","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Electrode Arrays for Detecting and Modulating Deep Brain Neural Information in Primates: A Review. 用于检测和调制灵长类动物深部脑神经信息的电极阵列：综述。

IF 10.5

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2025-05-02 eCollection Date: 2025-01-01 DOI: 10.34133/cbsystems.0249

Siyu Zhang, Yilin Song, Shiya Lv, Luyi Jing, Mingchuan Wang, Yu Liu, Wei Xu, Peiyao Jiao, Suyi Zhang, Mixia Wang, Juntao Liu, Yirong Wu, Xinxia Cai

{"title":"Electrode Arrays for Detecting and Modulating Deep Brain Neural Information in Primates: A Review.","authors":"Siyu Zhang, Yilin Song, Shiya Lv, Luyi Jing, Mingchuan Wang, Yu Liu, Wei Xu, Peiyao Jiao, Suyi Zhang, Mixia Wang, Juntao Liu, Yirong Wu, Xinxia Cai","doi":"10.34133/cbsystems.0249","DOIUrl":"https://doi.org/10.34133/cbsystems.0249","url":null,"abstract":"Primates possess a more developed central nervous system and a higher level of intelligence than rodents. Detecting and modulating deep brain activity in primates enhances our understanding of neural mechanisms, facilitates the study of major brain diseases, enables brain-computer interactions, and supports advancements in artificial intelligence. Traditional imaging methods such as magnetic resonance imaging, positron emission computed tomography, and scalp electroencephalogram are limited in spatial resolution. They cannot accurately capture deep brain signals from individual neurons. With the progress of microelectromechanical systems and other micromachining technologies, single-neuron level detection and stimulation technology in rodents based on microelectrodes has made important progress. However, compared with rodents, human and nonhuman primates have larger brain volume that needs deeper implantation depth, and the test object has higher safety and device preparation requirements. Therefore, high-resolution devices suitable for long-term detection in the brains of primates are urgently needed. This paper reviewed electrode array devices used for electrophysiological and electrochemical detections in primates' deep brains. The research progress of neural recording and stimulation technologies was introduced from the perspective of electrode type and device structures, and their potential value in neuroscience research and clinical disease treatments was discussed. Finally, it is speculated that future electrodes will have a lot of room for development in terms of flexibility, high resolution, deep brain, and high throughput. The improvements in electrode forms and preparation process will expand our understanding of deep brain neural activities, and bring new opportunities and challenges for the further development of neuroscience.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"6 ","pages":"0249"},"PeriodicalIF":10.5,"publicationDate":"2025-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12046227/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144047588","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robotic Ultrasound Scanning End-Effector with Adjustable Constant Contact Force. 具有可调恒定接触力的机器人超声扫描末端执行器。

IF 10.5

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2025-05-02 eCollection Date: 2025-01-01 DOI: 10.34133/cbsystems.0251

Zehao Wu, Xianli Wang, Yuning Cao, Weijian Zhang, Qingsong Xu

{"title":"Robotic Ultrasound Scanning End-Effector with Adjustable Constant Contact Force.","authors":"Zehao Wu, Xianli Wang, Yuning Cao, Weijian Zhang, Qingsong Xu","doi":"10.34133/cbsystems.0251","DOIUrl":"https://doi.org/10.34133/cbsystems.0251","url":null,"abstract":"In modern medical treatment, ultrasound scanning provides a radiation-free medical imaging method for the diagnosis of soft tissues via skin contact. However, the exerted contact force heavily relies on the skill and experience of the operator, which poses great inspection instability. This article reports on a robotic ultrasound scanning system with a constant-force end-effector. Its uniqueness is the introduction of a hybrid active-passive force control approach to maintaining a constant contact force between the ultrasound probe and the continually changing surface. In particular, the passive constant-force mechanism provides strong buffering to the force variation. The active force control system improves flexibility and provides long-stroke positioning. Experimental tests on both silicone models and human volunteers demonstrate the capability of the proposed robotic ultrasound scanning system for obtaining qualified ultrasound images with high repeatability. Moreover, the ease of operation of the robotic US scanning system is verified. This work provides a promising method to assist doctors in conducting better and cushier ultrasound scanning imaging.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"6 ","pages":"0251"},"PeriodicalIF":10.5,"publicationDate":"2025-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12046132/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144029684","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Lateral Walking Gait Recognition and Hip Angle Prediction Using a Dual-Task Learning Framework. 基于双任务学习框架的侧行步态识别和髋角预测。

IF 10.5

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2025-05-01 eCollection Date: 2025-01-01 DOI: 10.34133/cbsystems.0250

Mingxiang Luo, Meng Yin, Jinke Li, Ying Li, Worawarit Kobsiriphat, Hongliu Yu, Tiantian Xu, Xinyu Wu, Wujing Cao

{"title":"Lateral Walking Gait Recognition and Hip Angle Prediction Using a Dual-Task Learning Framework.","authors":"Mingxiang Luo, Meng Yin, Jinke Li, Ying Li, Worawarit Kobsiriphat, Hongliu Yu, Tiantian Xu, Xinyu Wu, Wujing Cao","doi":"10.34133/cbsystems.0250","DOIUrl":"https://doi.org/10.34133/cbsystems.0250","url":null,"abstract":"Lateral walking exercise is beneficial for the hip abductor enhancement. Accurate gait recognition and continuous hip joint angle prediction are essential for the control of exoskeletons. We propose a dual-task learning framework, the \"Twin Brother\" model, which fuses convolutional neural network (CNN), long short-term memory (LSTM), neural networks (NNs), and the squeezing-elicited attention mechanism to classify the lateral gait stage and estimate the hip angle from electromyography (EMG) signals. The EMG signals of 6 muscles from 10 subjects during lateral walking were collected. Four gait phases were recognized, and the hip angles of both legs were continuously estimated. The sliding window length of 250 ms and the sliding increment of 3 ms were determined by the requirements of response time and recognition accuracy of the real-time system. We compared the performance of CNN-LSTM, CNN, LSTM, support vector machine, NN, K-nearest neighbor, and the \"Twin Brother\" models. The \"Twin Brother\" model achieved a recognition accuracy (mean ± SD) of 98.81% ± 0.14%. The model's predicted root mean square error (RMSE) for the left and right hip angles are 0.9183° ± 0.024° and 1.0511° ± 0.027°, respectively, where the R 2 are 0.9853 ± 0.006 and 0.9808 ± 0.008. The accuracy of recognition and estimation are both better than comparative models. For gait phase percentage prediction, RMSE and R 2 predicted by the model can reach 0.152° ± 0.014° and 0.986 ± 0.011, respectively. These results demonstrate that the method can be applied to lateral walking gait recognition and hip joint angle prediction.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"6 ","pages":"0250"},"PeriodicalIF":10.5,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12044219/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144013801","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0