This paper presents the modeling design method for a novel hybrid-driven compliant hand exoskeleton based on the human-machine coupling model for the patients who have requirements on training and assisting. Firstly, the human-machine coupling model is established based on the kinematics characteristics of human fingers and the Bernoulli beam formula. On this basis, the variable stiffness flexible hinge (VSFH) is used to drive the finger extension and the cable-driven mechanism is used to implement the movement of the finger flexion. Here, a hand orthosis is designed in the proposed hand exoskeleton to act as the base and maintain the function position of the hand for patients with hand dysfunction. Then, a final design prototype is fabricated to evaluate the proposed modeling method. In the end, a series of experiments based on the prototype is proceeded to evaluate its capabilities on stretching force for extension, bio-imitability, finger flexion capability, and fingertip force. The results show that the prototype has a significant improvement in all aspects of the ability mentioned above, and has good bionics. The proposed design method can be utilized to implement the rapid design of the hybrid-driven compliant hand exoskeleton with the changed requirements. The novel modeling method can be easily applied in personalized design in rehabilitation engineering.

Existing ankle rehabilitation robots are large, difficult to move, and mostly designed for seated use, which cannot meet the early bedridden rehabilitation goals of stroke patients. To address these issues, a supine ankle rehabilitation robot (S-ARR) specifically designed for early bedridden rehabilitation of stroke patients has been proposed. The S-ARR is designed to be easily movable and adaptable to different heights. It features a variable workspace with mechanical limiters at the rotating joints. A kinematic model has been constructed, and the kinematic simulation of the S-ARR has been analyzed. A control system scheme for the S-ARR has been proposed. Additionally, experiments have been conducted on the prototype to measure joint range of motion and perform rehabilitation exercises. The simulation and experimental results demonstrate that the S-ARR has a feasible workspace and a relatively smooth motion process, enabling it to achieve supine ankle rehabilitation training. This indicates that the design of the supine ankle rehabilitation robot is reasonable, capable of meeting the requirements for ankle joint rehabilitation training, and has practical utility.

This paper presents the mechanical design and test of a portable hand-elbow combination linkage upper limb rehabilitation robot, which can realize the joint movement of the hand joint and elbow joint and reproduce the complete grasping action. The joints that need bionic support are determined according to the characteristics of human upper limbs and hands, and the overall bionic mechanism is designed. The Motion module in SolidWorks is used to simulate and analyze the rehabilitation robot. The measurement experiment and grasping experiment of joint mobility are carried out on the experimental prototype. As a result, the angular displacement and linear displacement curves obtained via the simulation results are smooth. The measurement experiment of the joint range of motion confirms that the joint range of motion is also within the range of the normal joint angle of the human body, and the grasping experiment shows that the exoskeleton can grasp and lift a 1.801-kg cylindrical object and other daily necessities of different shapes. This result shows that the design of the portable hand-elbow combination linkage upper limb rehabilitation robot is reasonable, can satisfy the rehabilitation training requirements of the hand and upper limb, and has some ability to assist users in daily life.

The development of instruments for medical diagnosis and treatment involves in biomedical problem and engineering. In order to assist the student who is major in biomedical engineering to understand and dispose mechanics questions, this paper employs two medical equipment projects as training programs in the engineering mechanics teaching because of their medicine engineering's characteristics. So those student would further step in specialty in advance in practice teaching besides studying the academic knowledge about engineering mechanics. Consequently, they could directly solve project question. By this training and practice, the application ability of student to analyze and resolve problems in engineering practice would be cultivated.

With the development of medical-engineering integration technology and the growing clinical rehabilitation demands, intelligent rehabilitation robots have emerged as a prominent area of research in stroke rehabilitation. The application of exoskeleton rehabilitation robots holds significant potential to alleviate the pressure on rehabilitation resources in China. These robots offer high-intensity, high-repetition rehabilitation training for stroke patients, helping to restore limb motor function, improve daily living independence, and contribute to neuroplasticity. As such, they are becoming an essential treatment modality for patients with motor function disorders. In this review, we first categorize ankle-foot rehabilitation robots based on the interaction methods between the robot and the user, detailing their structural characteristics and application scenarios. Additionally, we classify existing control strategies, including admittance control, impedance control, electromyography control, trajectory tracking control, and Proportional-Integral-Derivative control, based on the rehabilitation needs at various stages of recovery. Each control method is summarized, and their current research status is analyzed. Besides, current research status of key technologies in rehabilitation robots, both domestically and internationally are also summarized in this paper. Finally, the key challenges in the development of ankle-foot rehabilitation robots and future research directions are discussed, providing a reference for the research and design of these robots.

Medical laboratory instruments have become an important means of clinical diagnosis in modern medicine. They play an important role in disease diagnosis, disease monitoring, health evaluation and so on. Therefore, there are more and more employees in medical laboratory equipment, and the requirements are higher and higher. The course of Medical Laboratory...