The lower limb rehabilitation robot is an application of robotic technology for stroke people with lower limb disabilities. A new applicable and effective sitting/lying lower limb rehabilitation robot (LLR-Ro) is proposed, which has the mechanical limit protection, the electrical limit protection, and the software protection to prevent the patient from the secondary damage. Meanwhile, as a new type of the rehabilitation robots, its hip joint rotation ranges are different in the patient sitting training posture and lying training posture. The mechanical leg of the robot has a variable workspace to work in both training postures. So, if the traditional mechanical limit and the electrical limit cannot be used in the hip joint mechanism design, a follow-up limit is first proposed to improve the compatibility of human-machine motion. Besides, to eliminate the accident interaction force between the patient and LLR-Ro in the process of the passive training, an amendment impedance control strategy based on the position control is proposed to improve the compliance of the LLR-Ro. A simulation experiment and an experiment with a participant show that the passive training of LLR-Ro has compliance.
Biobased ω-hydroxytetradecanoic acid prepared via an efficient yeast-catalyzed ω-hydroxylation reaction was converted by a onestep reaction to the polymerizable surfactants ω-acryltetradecanoic acid (MA-1) and ω-maleate tetradecanoic acid (MA-2). MA-1 is a single polarheaded surfactant, whereas MA-2 is a bolaamphiphile with carboxylic acid polar groups at both chain ends. MA-1 gave a distinct critical micelle concentration (cmc) at 253 mg/L, whereas for MA-2, the surface tension decreased monotonically and a distinct cmc was not observed even up to 1800 mg/L. Experimental determination of the reactivity ratios for MA-1 and MA-2 with styrene showed that for MA-1 copolymers that approximate random structures were formed while MA-2 tends to form copolymers with an alternating nature. Emulsion polymerizations conducted with varying amounts of MA-1 and MA-2 (1−10 wt % with respect to styrene) gave colloidally stable latexes with particle sizes ranging from 52 to 155 nm. In emulsion polymerizations using either MA-1 or MA-2 at more than 5 wt % to monomer, a linear increase in latex particle volume with conversion was observed and the particle number remained constant, establishing that the polymerizations proceeded without significant aggregation or secondary particle nucleation. Potentiometric titration and 1 H NMR were used to measure MA-1 and MA-2 conversions during polymerization as well as how the surfactants were distributed between the particle surface, aqueous phase, and particle interior. Observed differences were rationalized based on the comparative structures of MA-1 and MA-2 and their corresponding partitioning behavior.
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