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  1. Article: Primary nursing intervention can improve the prognosis and postoperative quality of life of patients with hypertensive intracerebral hemorrhage undergoing minimally invasive surgery.

    Wu, Liqian / Liu, Jing / Lai, Jing / Meng, Libo

    American journal of translational research

    2021  Volume 13, Issue 4, Page(s) 2955–2961

    Abstract: Objective: This study aimed to explore the role of primary nursing in patients with hypertensive intracerebral hemorrhage (HICH) undergoing minimally invasive surgery.: Methods: We randomly assigned 106 patients with HICH treated in our hospital to ... ...

    Abstract Objective: This study aimed to explore the role of primary nursing in patients with hypertensive intracerebral hemorrhage (HICH) undergoing minimally invasive surgery.
    Methods: We randomly assigned 106 patients with HICH treated in our hospital to receive routine nursing (54 cases, group A) or primary nursing in addition to routine nursing (52 cases, group B). The scores of negative emotions, incidence of complications, quality of life, and prognosis of all patients were recorded.
    Results: The score of negative emotions and the incidence of complications were lower in group B than in group A (P < 0.05). The scores of quality of life and prognosis were higher in group B than in group A (P < 0.05).
    Conclusion: Primary nursing intervention can improve the prognosis and postoperative quality of life of patients with HICH undergoing minimally invasive surgery.
    Language English
    Publishing date 2021-04-15
    Publishing country United States
    Document type Journal Article
    ZDB-ID 2471058-1
    ISSN 1943-8141
    ISSN 1943-8141
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  2. Article ; Online: High-precision dynamic torque control of high stiffness actuator for humanoids.

    Liu, Yaliang / Chen, Xuechao / Yu, Zhangguo / Yu, Han / Meng, Libo / Yokoi, Hiroshi

    ISA transactions

    2023  Volume 141, Page(s) 401–413

    Abstract: The high stiffness actuator (HSA), applied to each joint of an electrical driven humanoid robot, can directly affect the motion performance of the torque-controlled humanoid robots. For high control performance of HSA, a high-precision dynamic torque ... ...

    Abstract The high stiffness actuator (HSA), applied to each joint of an electrical driven humanoid robot, can directly affect the motion performance of the torque-controlled humanoid robots. For high control performance of HSA, a high-precision dynamic torque control (HDTC) is proposed. The HDTC consists of two phases: (1) A novel dynamic current control is used to linearize high stiffness actuator torque control system, which can estimate and compensate the nonlinear coupling parts; (2) An enhanced internal model control is designed to ensure high tracking accuracy in the system containing noisy torque signal and even numerical differentiation signals. Benefitting from dynamic current control and the enhanced internal model control, the proposed HDTC is accurate and adaptable. Finally, the superiority of the HDTC is verified with comparative experiments.
    Language English
    Publishing date 2023-07-03
    Publishing country United States
    Document type Journal Article
    ZDB-ID 2012746-7
    ISSN 1879-2022 ; 0019-0578
    ISSN (online) 1879-2022
    ISSN 0019-0578
    DOI 10.1016/j.isatra.2023.06.031
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  3. Article: Upright and Crawling Locomotion and Its Transition for a Wheel-Legged Robot.

    Qiu, Xuejian / Yu, Zhangguo / Meng, Libo / Chen, Xuechao / Zhao, Lingxuan / Huang, Gao / Meng, Fei

    Micromachines

    2022  Volume 13, Issue 8

    Abstract: To face the challenge of adapting to complex terrains and environments, we develop a novel wheel-legged robot that can switch motion modes to adapt to different environments. The robot can perform efficient and stable upright balanced locomotion on flat ... ...

    Abstract To face the challenge of adapting to complex terrains and environments, we develop a novel wheel-legged robot that can switch motion modes to adapt to different environments. The robot can perform efficient and stable upright balanced locomotion on flat roads and flexible crawling in low and narrow passages. For passing through low and narrow passages, we propose a crawling motion control strategy and methods for transitioning between locomotion modes of wheel-legged robots. In practical applications, the smooth transition between the two motion modes is challenging. By optimizing the gravity work of the body, the optimal trajectory of the center of mass (CoM) for the transition from standing to crawling is obtained. By constructing and solving an optimization problem regarding the posture and motion trajectories of the underactuated model, the robot achieves a smooth transition from crawling to standing. In experiments, the wheel-legged robot successfully transitioned between the crawling mode and the upright balanced moving mode and flexibly passed a low and narrow passage. Consequently, the effectiveness of the control strategies and algorithms proposed in this paper are verified by experiments.
    Language English
    Publishing date 2022-08-04
    Publishing country Switzerland
    Document type Journal Article
    ZDB-ID 2620864-7
    ISSN 2072-666X
    ISSN 2072-666X
    DOI 10.3390/mi13081252
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  4. Article ; Online: Design and Dynamic Locomotion Control of Quadruped Robot with Perception-Less Terrain Adaptation.

    Wang, Lei / Meng, Libo / Kang, Ru / Liu, Botao / Gu, Sai / Zhang, Zhihao / Meng, Fei / Ming, Aiguo

    Cyborg and bionic systems (Washington, D.C.)

    2022  Volume 2022, Page(s) 9816495

    Abstract: In this paper, a parallel quadrupedal robot was designed that is capable of versatile dynamic locomotion and perception-less terrain adaptation. Firstly, a quadrupedal robot with a symmetric legs and a powerful actuator was implemented for highly dynamic ...

    Abstract In this paper, a parallel quadrupedal robot was designed that is capable of versatile dynamic locomotion and perception-less terrain adaptation. Firstly, a quadrupedal robot with a symmetric legs and a powerful actuator was implemented for highly dynamic movement. Then, a fast and reliable method based on generalized least square was proposed for estimating the terrain parameters by fusing the body, leg, and contact information. On the basis of virtual model control (VMC) with the quadratic program (QP) method, the optimal foot force for terrain adaptation was achieved. Finally, the results obtained by simulation and indoor and outdoor experiments demonstrate that the robot can achieve a robust and versatile dynamic locomotion on uneven terrain, and the rejection of disturbances is reliable, which proves the effectiveness and robustness of this proposed method.
    Language English
    Publishing date 2022-02-22
    Publishing country United States
    Document type Journal Article
    ISSN 2692-7632
    ISSN (online) 2692-7632
    DOI 10.34133/2022/9816495
    Database MEDical Literature Analysis and Retrieval System OnLINE

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