Person transfer is a major problem for nursing in home and clinical, and this problem is becoming more prominent with the development of aging society and the change of population structure. In this article, a novel person transfer assist system named E-Pat (Easy-Patient Transfer), which can meet the transfer needs of the patient between beds, has been designed and analyzed. The importance and originality of this study are that it explores a theoretical design method for device to enhance patient comfortably when transferred, and put it into practice. The main tasks completed in this article include: (1) a prototype of the device is designed based on the principle of relative static contact point theory. In addition, the corresponding relationship between the human body pressure and the insertion angle is proposed, which provides a theoretical basis for the optimization of the mechanism; (2) based on STM32 (STMicroelectronics 32-bits Microcontroller) chip, the hardware circuit part of the device is designed. According to the transfer environment requirements of the device, the synchronization control algorithm of the device is designed and the experiment is carried out; (3) the performance evaluation of the device is carried out by means of Analytic Hierarchy Process (AHP), through the research of a group of 30 volunteers, the performance of the system has been evaluated accurately, which provides a reference for the industrialization of the prototype. The whole research of this article proves that this kind of person transfer assist system has good performance, it can also reduce the burden of caregivers.

For stroke patients with upper limb motor dysfunction, rehabilitation training with the help of rehabilitation robots is a social development trend. Existing upper limb rehabilitation robots have difficulty fully fitting the complex motion of the human shoulder joint and have poor human–robot compatibility. In this paper, based on the anatomical structure of the human upper limb, an equivalent mechanism model of the human upper limb is established. The configuration synthesis of the upper limb rehabilitation mechanism was carried out, a variety of shoulder joint man–machine closed-chain Θ_s and shoulder elbow human–machine closed-chain Θ_se configuration combinations were synthesized, and the configuration model with compatibility and reduced moment conduction attenuation was selected from them. Two configurations, 2P_a1P3R_a and 5R_a1P, are proposed for the generalized shoulder joint mechanism of the robot. The closed-chain kinematic models of the two configurations are established, and the velocity Jacobian matrix is obtained. Motion performance analysis, condition reciprocal analysis and operability ellipsoid analysis of different configuration design schemes were carried out in different operation planes. The results show that in the normal upper limb posture of the human body, the 5R_a1P configuration of the shoulder joint has better kinematic performance. Finally, on this basis, an upper limb rehabilitation robot prototype with good human–computer compatibility is developed, and its moving space was verified.

Carrying out the immediate rehabilitation interventional therapy will better improve the curative effect of rehabilitation therapy, after the condition of bedridden stroke patients becomes stable. A new lower limb rehabilitation training module, as a component of a synchronous rehabilitation robot for bedridden stroke patients’ upper and lower limbs, is proposed. It can electrically adjust the body shape of patients with a different weight and height. Firstly, the innovative mechanism design of the lower limb rehabilitation training module is studied. Then, the mechanism of the lower limb rehabilitation module is simplified and the geometric relationship of the human–machine linkage mechanism is deduced. Next, the trajectory planning and dynamic modeling of the human–machine linkage mechanism are carried out. Based on the analysis of the static moment safety protection of the human–machine linkage model, the motor driving force required in the rehabilitation process is calculated to achieve the purpose of rationalizing the rehabilitation movement of the patient’s lower limb. To reconstruct the patient’s motor functions, an active training control strategy based on the sandy soil model is proposed. Finally, the experimental platform of the proposed robot is constructed, and the preliminary physical experiment proves the feasibility of the lower limb rehabilitation component.

Deep reinforcement learning (DRL) provides a new solution for rehabilitation robot trajectory planning in the unstructured working environment, which can bring great convenience to patients. Previous researches mainly focused on optimization strategies but ignored the construction of reward functions, which leads to low efficiency. Different from traditional sparse reward function, this paper proposes two dense reward functions. First, azimuth reward function mainly provides a global guidance and reasonable constraints in the exploration. To further improve the efficiency, a process-oriented aspiration reward function is proposed, it is capable of accelerating the exploration process and avoid locally optimal solution. Experiments show that the proposed reward functions are able to accelerate the convergence rate by 38.4% on average with the mainstream DRL methods. The mean of convergence also increases by 9.5%, and the percentage of standard deviation decreases by 21.2%–23.3%. Results show that the proposed reward functions can significantly improve learning efficiency of DRL methods, and then provide practical possibility for automatic trajectory planning of rehabilitation robot.

应力发光材料具有应力-光转换特性，能在机械应力下产生发光，从而在光学信息显示方面具有很高的应用价值。本文通过改变铁电基体K_xNa_1-xNbO₃：0.5% Pr³⁺（K_xNNOP）的K⁺/Na⁺比来调节材料的晶体结构和缺陷分布，系统研究了K⁺含量对光致发光和应力发光性能的影响。研究结果表明，K⁺含量的增加使晶体对称性提高，导致K_xNNOP样品的光致发光强度降低。值得注意的是，在450 nm的光激发下，在K⁺含量较高的组分中出现了Pr³⁺电子³P₁→³H₅和³P₀→³H₅能级跃迁引起的发射峰，这归因于Pr³⁺和Nb⁵⁺之间距离的变化导致Pr-O-Nb内价电子电荷转移态（IVCT）的能级位置不同。在压缩应力下，K_xNNOP （x=0，0.01，0.02，0.1）组分展现出明亮的红色应力发光，且应力发光强度随K⁺含量的增加而增大，其中K_0.1NNOP组分表现出最高的强度发射。特别的是，其应力发光行为具有可重复性和可恢复性的特征。通过热释光曲线研究了K_xNNOP样品中的陷阱能级，揭示了K_0.1NNOP中应力发光的增强可能与K⁺含量变化引起的陷阱密度和陷阱深度的差异有关。基于这些结果，建立了一个模型来阐述K_xNNOP中可能的应力发光机理。