The rehabilitation evaluation of Parkinson’s disease has always been the research focus of human assistive systems. It is a research hotspot to objectively and accurately evaluate the gait condition of Parkinson’s disease patients, thereby adjusting the actuators of the human–machine system and making rehabilitation robots better adapt to the recovery process of patients. The rehabilitation evaluation of Parkinson’s disease has always been the research focus of rehabilitation robots. It is a research hotspot to be able to objectively and accurately evaluate the recovery of Parkinson’s disease patients, thereby adjusting the driving module of the human–machine collaboration system in real time, so that rehabilitation robots can better adapt to the recovery process of Parkinson’s disease. The gait task in the Unified Parkinson’s Disease Rating Scale (UPDRS) is a widely accepted standard for assessing the gait impairments of patients with Parkinson’s disease (PD). However, the assessments conducted by neurologists are always subjective and inaccurate, and the results are determined by the neurologists’ observation and clinical experience. Thus, in this study, we proposed a novel machine learning-based method of automatically assessing the gait task in UPDRS with wearable sensors as a more convenient and objective alternative means for PD gait assessment. In the design, twelve gait features, including three spatial–temporal features and nine kinematic features, were extracted and calculated from two shank-mounted IMUs. A novel nonlinear model is developed for calculating the score of gait task from the gait features. Twenty-five PD patients and twenty-eight healthy subjects were recruited for validating the proposed method. For comparison purpose, three traditional models, which have been used in previous studies, were also tested by the same dataset. In terms of percentages of participants, 84.9%, 73.6%, 73.6%, and 66.0% of the participants were accurately assigned into the true level with the proposed nonlinear model, the support vector machine model, the naive Bayes model, and the linear regression model, respectively, which indicates that the proposed method has a good performance on calculating the score of the UPDRS gait task and conformance with the rating done by neurologists.

Noncontact vital sign monitoring based on radar has attracted great interest in many fields. Heart Rate Variability (HRV), which measures the fluctuation of heartbeat intervals, has been considered as an important indicator for general health evaluation. This paper proposes a new algorithm for HRV monitoring in which frequency-modulated continuous-wave (FMCW) radar is used to separate echo signals from different distances, and the beamforming technique is adopted to improve signal quality. After the phase reflecting the chest wall motion is demodulated, the acceleration is calculated to enhance the heartbeat and suppress the impact of respiration. The time interval of each heartbeat is estimated based on the smoothed acceleration waveform. Finally, a joint optimization algorithm was developed and is used to precisely segment the acceleration signal for analyzing HRV. Experimental results from 10 participants show the potential of the proposed algorithm for obtaining a noncontact HRV estimation with high accuracy. The proposed algorithm can measure the interbeat interval (IBI) with a root mean square error (RMSE) of 14.9 ms and accurately estimate HRV parameters with an RMSE of 3.24 ms for MEAN (the average value of the IBI), 4.91 ms for the standard deviation of normal to normal (SDNN), and 9.10 ms for the root mean square of successive differences (RMSSD). These results demonstrate the effectiveness and feasibility of the proposed method in emotion recognition, sleep monitoring, and heart disease diagnosis.

Prosthetic hands hold significant potential in aiding amputees to regain their manipulative abilities, instill confidence, and improve their quality of life. Nonetheless, the lack of compatibility between prosthetic devices and residual limbs could lead to secondary injuries, such as skin pressure ulcers caused by prolonged high-pressure states and restricted upper limb movements while using. These issues contribute to a high device abandonment rate among individuals with disabilities. In this study, a wearable monitoring system was initially designed and presented. Subsequently, multiindicators comprising motion deviation ( $\eta _{q}$ ), pressure distribution ( ${\eta _{p}}$ ), and proximity to pain pressure ( ${\eta _{\bar P}}$ ) were proposed, which were correspondingly derived from clinical criteria, pressure, and motion information. Then, a comprehensive assessment approach was proposed to evaluate the adaptability of prosthetic hands. Moreover, the proposed adaptability assessment approach based on the wearable monitoring system underwent testing on seven forearm amputees conducted under three loading conditions. The results were compared with a standard clinical scale, demonstrating a favorable evaluation performance (RMSE = 3.30, $R^{2} = 0.6019$ ). This research work enables quantitative adaptability evaluation of prosthetic hands and has the potential to aid in the optimization of prosthetic design.

Gait recognition and rehabilitation has been a research hotspot in recent years due to its importance to medical care and elderly care. Active intelligent rehabilitation and assistance systems for lower limbs integrates mechanical design, sensing technology, intelligent control, and robotics technology, and is one of the effective ways to resolve the above problems. In this review, crucial technologies and typical prototypes of active intelligent rehabilitation and assistance systems for gait training are introduced. The limitations, challenges, and future directions in terms of gait measurement and intention recognition, gait rehabilitation evaluation, and gait training control strategies are discussed. To address the core problems of the sensing, evaluation and control technology of the active intelligent gait training systems, the possible future research directions are proposed. Firstly, different sensing methods need to be proposed for the decoding of human movement intention. Secondly, the human walking ability evaluation models will be developed by integrating the clinical knowledge and lower limb movement data. Lastly, the personalized gait training strategy for collaborative control of human–machine systems needs to be implemented in the clinical applications.

In this study we propose a “hand gesture + face expression” human machine interaction technique, and apply this technique to bedridden rehabilitation robot. “Hand gesture + Facial expression” interactive technology combines the input mode of gesture and facial expression perception. It involves seven basic facial expressions that can be used to determine a target selecting task, while hand gestures are used to control a cursor’s location. A controlled experiment was designed and conducted to evaluate the effectiveness of the proposed hybrid technology. A series of target selecting tasks with different target widths and layouts were designed to examine the recognition accuracy of hybrid control gestures. An interactive experiment applied to a rehabilitation robot is designed to verify the feasibility of this interactive technology applied to rehabilitation robots. The experimental results show that the “hand + facial expression” interactive gesture has strong robustness, which can provide a novel guideline for designing applications in VR interfaces, and it can be applied to the rehabilitation robots.