The mixture powders were designed by adding 0 wt.%~1.0 wt.% CeO₂ into the 2205 duplex stainless steel (DSS) powders. The 2205 DSS cladding layer was prepared on the surface of Q345 steel by plasma arc cladding technology. The effects of different CeO₂ contents on the macro-morphology, microstructure composition, and corrosion resistance of the cladding layer were studied. The action mechanism of CeO₂ in the cladding layer was also discussed. The results showed that the addition of CeO₂ modified the appearance and decreased the defect of the cladding layer. Also, the austenite grains were refined, and the austenite proportion was increased under the action of CeO₂. When the CeO₂ content was 0.5 wt.%, the appearance of the cladding layer was optimum; the austenite proportion in the upper cladding layer and the lower cladding layer reached up to 52.6% and 55.5%, respectively, and the crystal changed from columnar to equiaxed. CeO₂ decomposes into Ce element and O element under the action of the plasma arc, after which Ce element is easily absorbed at the grain boundary to reduce the surface tension and improve the fluidity of the liquid metal so as to modify the appearance of the cladding layer. Meanwhile, Ce element primarily reacts with O, S, Al, and Si elements to form low-melting-point oxygen sulfides and are then removed, which eliminates the defect of the cladding layer. Moreover, the high melting point of CeO₂ acts as heterogeneous nucleation sites during solidification, thus improving the value of nucleation rate/growth rate of the grain and promoting the transformation from ferrite to austenite. According to the electrochemical corrosion testing result, Ce element inhibited the enrichment of Cr element at grain boundaries and promoted the formation of Cr₂O₃, which improved the corrosion resistance of the 2205 DSS cladding layer. It was optimum with the CeO₂ content of 0.5 wt.%.

Lumbar disc herniation is one of the primary causes of lower back pain, and its incidence has significantly increased with the development of industrialization. To assist in rehabilitation therapy, this paper proposes a flexible exoskeleton for active lumbar rehabilitation based on a 4-SPU/SP biomimetic parallel mechanism. By analyzing the anatomical structure and movement mechanisms of the lumbar spine, a four degree of freedom parallel mechanism was designed to mimic the three-axis rotation of the lumbar spine around the coronal, sagittal, and vertical axes, as well as movement along the z-axis. Using a 3D motion capture system, data on the range of motion of the lumbar spine was obtained to guide the structural design of the exoskeleton. Using the vector chain method, the display equations for the drive joints of the mechanism were derived, and forward and inverse kinematic models were established and simulated to verify their accuracy. The dynamic characteristics of the biomimetic parallel mechanism were analyzed and simulated to provide a theoretical basis for the design of the exoskeleton control system. A prototype was fabricated and tested to evaluate its maximum range of motion and workspace. Experimental results showed that after wearing the exoskeleton, the lumbar spine’s range of motion could still reach over 83.5% of the state without the exoskeleton, and its workspace could meet the lumbar spine movement requirements for daily life, verifying the rationality and feasibility of the proposed 4-SPU/SP biomimetic parallel mechanism design.