Search Results (1,122)

Automatic speech recognition (ASR) technology faces the dual challenges of model complexity and noise robustness when deployed on terminal devices (e.g., mobile devices, embedded systems). To meet the demand for lightweight and high-performance models in terminal devices, we propose a lightweight end-to-end speech recognition model, OS-Denseformer (Omni-Scale-Denseformer). The core of this model lies in its lightweight design and noise adaptability: multi-scale acoustic features are efficiently extracted through a multi-sampling structure to enhance noise robustness; the proposed OS-Conv module improves local feature extraction capability while significantly reducing the number of parameters, enhancing computational efficiency, and lowering model complexity; the proposed normalization function, ExpNorm, normalizes the model output, facilitating more accurate parameter optimization during model training. Finally, we employ distinct loss functions across different training stages, using Minimum Bayes Risk (MBR) joint optimization to determine the optimal weighting scheme that directly minimizes the character error rate (CER). Experimental results on public datasets such as AISHELL-1 demonstrate that, under a high-noise environment of −15 dB, the CER of the OS-Denseformer model is reduced by 9.95%, 7.97%, and 4.85% compared to the benchmark models Squeezeformer, Conformer, and Zipformer, respectively. Additionally, the model parameter count is reduced by 53.35%, 10.27%, and 27.66%, while the giga floating-point operations per second (GFLOPs) are decreased by 67.51%, 66.51%, and 13.82%, respectively. Deployment on resource-constrained mobile devices demonstrates that, compared to Conformer, OS-Denseformer reduced memory usage by 10.79% and decreased inference latency by 61.62%. Full article

Optimal lower limb biomechanics are crucial for movement efficiency and injury prevention in football players. The single-leg squat serves as a valuable assessment tool for neuromuscular control, providing insight into movement patterns and potential imbalances. Deficits in hip strength, ankle mobility, and foot alignment can significantly influence biomechanics, leading to compensatory movements and increased joint stress. Identifying and addressing these factors through targeted training can enhance performance and reduce the risk of injury. This study aimed to examine the relationship between hip and ankle/foot mobility, strength, and alignment with hip kinematics during the single-leg squat in football players. A cross-sectional study assessed 25 professional football players. Measurements included isometric strength of the hip abductors and external rotators, ankle dorsiflexion range of motion, and shank–forefoot alignment. Hip kinematics during the single-leg squat were analyzed using Inertial Measurement Units, and Pearson’s correlation coefficient was applied (p < 0.05). Shank–forefoot alignment showed moderate to strong correlations with contralateral pelvic drop (r = 0.44; p = 0.035), hip adduction (r = 0.42; p = 0.036), and hip internal rotation (r = 0.51; p = 0.009) during the single-leg squat. These findings highlight the importance of foot alignment in movement control, reinforcing its relevance for injury prevention strategies in football players. Full article

Robot-based rehabilitation emerges as a promise to enhance mobility and improve the rehabilitation outcomes in children with cerebral palsy. The study aimed to evaluate the preliminary effects of a robot-based therapy program with Atlas-2030 on spatiotemporal gait parameters, pelvis kinematics, gross-motor function, quality of life, and joint range-of-motion in children with cerebral palsy receiving care at a specialized rehabilitation center. This is a single-arm, institution-based, quantitative, longitudinal, pilot study with repeated measures. Sixteen sessions of a robot-based therapy program with the Atlas-2030 wearable exoskeleton were applied to all the children from APAC-IAP in Mexico City with cerebral palsy. Pre-intervention, after eight and sixteen sessions, the GMFM-66, the CP QoL-Child, and gait analysis were performed. The results suggest that an Atlas-2030 robot-based therapy program combined with therapeutic stimulation exhibited better scores on the modified Ashworth scale: hip flexors and extensors: 2.0(1.0), knee flexors and extensors: 2.0(2.9), p > 0.0167, and experience enhanced range of motion in hip flexion: 122.5(5) deg, and extension: 11(5) deg and knee extension: 0(5) deg, p < 0.0167, pelvis rotation approached zero on both sides (left: −1.99(14.04, right: 2.22(13.43), p > 0.0167) reducing the difference in laterality, inducing physiological muscle activation patterns, and higher scores in quality of life regarding well-being and acceptance: 17(1.0) and emotional well-being and self-esteem: 14.5 (1.0), p > 0.0167. The limitations of this study include the following: recruitment from a single specialty care center, the absence of a control group, and the adjusted significance level of p < 0.0167, which may lead to false negatives. Full article

Population aging and rising rehabilitation demands highlight the need for advanced assistive devices to improve mobility in individuals with motor impairments. Existing back-support lifting nursing beds often lack adequate human–machine adaptability, safety, and emotional consideration. This study presents a human-centered, data-driven optimization pipeline that integrates behavior–emotion dual recognition, simulation verification, and parameter optimization with user demand mining, biomechanical simulation, and sustainable practices. The design utilizes GreenAI, focusing on low-power algorithms and eco-friendly materials, ensuring energy-efficient AI models and reducing the environmental footprint. A dual-channel data fusion method was developed, combining movement parameters from sit-to-lie transitions with emotional needs extracted from e-commerce reviews using the Term Frequency-Inverse Document Frequency (TF-IDF) and Latent Dirichlet Allocation (LDA) models. The fuzzy Kano model prioritized design objectives, identifying multi-position adjustment, joint protection, armrest optimization, and interaction comfort as key targets. An AnyBody-based human–device model quantified muscle (erector spinae, rectus abdominis, trapezius) and hip joint loads during posture changes. Simulations verified the design’s ability to improve load distribution, reduce joint stress, and enhance comfort. The optimized nursing bed demonstrated improved adaptability across user profiles while maintaining functional reliability. This framework offers a scalable paradigm for intelligent rehabilitation equipment design, with potential extension toward AI-driven adaptive control and clinical validation. This sustainable methodology ensures that the device not only meets rehabilitation goals but also contributes to a more environmentally responsible healthcare solution, aligning with global sustainability efforts. Full article

Background: Children with spastic hand impairments resulting from cerebral palsy or neuromuscular disorders often exhibit a restricted range of motion and diminished functional use. Rehabilitation devices that assist joint mobilization can enhance therapeutic outcomes, yet few solutions target pediatric populations. Methods: This study aimed to design, implement, and preliminarily evaluate a biomechanical device tailored to promote flexo-extension, radial–ulnar deviation, and supination movements in spastic hands of school-aged children. A prototype combining a motor-driven actuation system, adjustable wrist and finger supports, and a MATLAB-based graphical user interface was developed. Two participants (aged 8 and 10) with clinically diagnosed spastic hemiparesis underwent 25-minute sessions over 15 consecutive days. Joint angles were recorded before and after each session using an electro-goniometer. Data normality was assessed via the Shapiro–Wilk test, and pre–post differences were analyzed with the Wilcoxon signed-rank test (α = 0.05). Results: Both participants demonstrated consistent increases in their active range of motion across all measured planes. Median flexo-extension improved by 12.5° (p = 0.001), ulnar–radial deviation by 7.3° (p = 0.002), and supination by 9.1° (p = 0.001). No adverse events occurred, and device tolerance remained high throughout the intervention. Conclusions: The device facilitated statistically significant enhancements in joint mobility in a small pediatric cohort, supporting its feasibility and safety in spastic hand rehabilitation. These preliminary findings warrant larger controlled trials to confirm the device’s efficacy, optimize treatment protocols, and assess its long-term functional benefits. Full article

Robotic mobile fulfillment systems have become an integral part of e-commerce warehouses. The pod repositioning problem, due to its interdependence with robot task allocation strategies, poses a significant challenge that constrains system performance. In this paper, we aim to jointly optimize the two interrelated problems of pod repositioning and task allocation. A multi-objective mixed-integer planning model is developed to minimize the maximum completion time of robots and the deviation between the pod position and the expected position. To tackle the challenges of decision coupling and a vast solution space, an adaptive genetic-neighborhood search algorithm guided by pod heat maps is designed. Additionally, to promptly correct expected layout deviations and avoid layout instability, a progressive storage mechanism is designed to update the expected layout. The numerical experiments show that compared to the staged optimization strategy, the joint optimization strategy proposed in this paper can reduce the maximum completion time by approximately 48%, and that the strategy reduces the maximum completion time by 9% to 16% compared to the nearest allocation strategy, which is commonly used and performs best in practice. Full article

Today, there is a high demand for remote rehabilitation using mobile robotic complexes all over the world. They offer a wide range of options for convenient and effective therapy at home to patients and the elderly, especially those bedridden after musculoskeletal injuries. In this case, modern approaches to the development of exoskeletons for the rehabilitation of the lower extremities are especially relevant for the effective restoration of lost motor functions. Taking into account the advantages and features of robotic rehabilitation, this work is devoted to the development of a prototype exoskeleton for the ankle joint and experimental studies of the remote control module. The proposed new exoskeleton prototype design was integrated with a mobile wireless communication platform, allowing remote control of the position of the exoskeleton foot using a remote control device. As a result of functional testing, the root mean square error (RMSE) was 23.9° for dorsiflexion/plantarflexion movements and 12.8° for inversion and eversion movements, as well as an average signal transmission delay of about 100 ms and packet loss of 0.6%. These results reflect the technical feasibility of remote control at a distance of up to 10 m. The developed system is mobile, autonomous, and easy to use, which confirms its suitability as a laboratory platform for functional verification and testing of module consistency. Full article

With the global ageing population and the increasing prevalence of mobility impairments, the demand for effective and comfortable rehabilitation and assistive solutions has grown rapidly. Soft exoskeletons have emerged as a key direction in the development of wearable rehabilitation devices. This review examines how these systems are designed and controlled, as well as how they differ from the rigid exoskeletons that preceded them. Made from flexible fabrics and lightweight components, soft exoskeletons use pneumatic or cable mechanisms to support movement while keeping close contact with the body. Their compliant structure helps to reduce joint stress and makes them more comfortable for long periods of use. The discussion in this paper covers recent work on lower-limb designs, focusing on actuation, power transmission, and human–robot coordination. It also considers the main technical barriers that remain, such as power supply limits, the wear and fatigue of soft materials, and the challenge of achieving accurate tracking performance, low latency, and resilience to external disturbances. Studies reviewed here show that these systems help users regain functionality and improve rehabilitation, while also easing caregivers’ workload. The paper ends by outlining several priorities for future development: lighter mechanical layouts, better energy systems, and adaptive control methods that make soft exoskeletons more practical for everyday use as well as clinical therapy. Full article

Friction stir-based joining techniques offer a promising route for the integration of highly dissimilar materials into single structures, with potential applications in safety-critical sectors such as hydrogen storage and lightweight mobility systems. Ensuring structural integrity under dynamic loading is crucial for their industrial adoption, particularly given the strong inhomogeneity of metal–polymer interfaces. This study investigates the strain rate sensitivity of lap joints between an AA6082-T6 aluminum alloy, and a glass-fiber-reinforced polymer (Noryl™ GFN2) produced using a friction stir process. Quasi-static and intermediate strain rate (≈3 s⁻¹) tensile tests were performed on the joints, while both base materials were additionally characterized at quasi-static, and intermediate strain rate conditions using a custom accelerated electromechanical testing device. Digital image correlation was employed to monitor deformation. The results reveal that the joints exhibit clear strain rate sensitivity, with ultimate remote stress and bending angle stiffness increasing by approximately 30% and 23%, respectively, from quasi-static to intermediate strain rate loading. Fracture consistently initiated in the polymer, indicating that the joints mechanical performance is limited by the polymeric constituent, although the polymer strain rate hardening impacts the peel/shear mix in the loading scenario of intermediate strain rate loading. Overall, the findings highlight that while friction stir metal–polymer joints benefit from strain rate hardening, their performance envelope remains governed by the polymer base material. Full article

Underwater treadmill (UWTM) therapy is increasingly applied in canine rehabilitation, yet evidence on its effects after multiple sessions on joint mobility remains limited. The aim of this pilot study was to evaluate the impact of a 10-session UWTM programme on passive range of motion (PROM) in dogs with various disorders. Clinical records from 50 dogs were analysed. Each patient completed two 20 min sessions per week over five consecutive weeks. PROM in the carpal, elbow, shoulder, tarsal, stifle, and hip joints was measured using a goniometer before and after the programme. After ten sessions, a significant improvement was observed in all joints, both in flexion and extension. Flexion angles decreased from 2.89% in the tarsal joint to 12.21% in the carpal joint, while extension angles increased from 0.61% in the elbow to 2.55% in the stifle joint. Consequently, overall PROM improved, with median increases ranging from 1.9% in the tarsus to 5.6% in the hip. These improvements were observed consistently across diagnostic groups. No significant correlations were found between age and the degree of PROM improvement. In summary, the findings indicate that a 10-session UWTM programme is associated with measurable improvements in joint mobility and may be a valuable component of multimodal canine rehabilitation. Full article

This paper investigates the joint scheduling problem of unmanned aerial vehicles (UAVs) and trucks for community logistics, where UAVs act as service providers for last-mile delivery and trucks serve as mobile storage platforms for drone deployment. To address the complexity of decision variables, this paper proposes a three-stage solution scheme that divides the problem into the following: (1) UAV mission set generation via clustering, (2) truck-drone route planning, and (3) collaborative scheduling via a Mixed-Integer Linear Programming (MILP) model. The MILP model, solved exactly using Gurobi, optimizes truck movements and drone operations to minimize total delivery time, representing the core contribution. In the experimental section, to verify the correctness and effectiveness of the proposed Mixed-Integer Linear Programming (MILP) model, comparative experiments were conducted against a heuristic algorithm based on empirical intuitive decision-making. The solution results of experiments with different scales indicate that the joint scheduling model outperforms the scheduling strategies based on empirical experience across various scenario sizes. Additionally, multiple experiments conducted under different parameter settings within the same scenario successfully demonstrated that the model can stably be solved without deteriorating results when parameters change. Furthermore, this study observed that the relationship between the increase in the number of drones and the decrease in the total consumed time is not a simple linear relationship. This phenomenon is speculated to be due to the periodic patterns exhibited by the drone scheduling sequence, which align with the average duration of individual tasks. Full article

Background/Objectives: Knee osteoarthritis (OA) is a prevalent degenerative joint disorder associated with pain, impaired proprioception, and reduced physical function. While closed kinetic chain exercises (CKCEs) are commonly prescribed to enhance joint stability, their weight-bearing nature may exacerbate symptoms. Graded weight-bearing exercises (GWBEs) using anti-gravity treadmill training provide a novel approach to reduce joint loading while maintaining functional mobility. This study aimed to evaluate the effectiveness of GWBEs compared with CKCEs and open kinetic chain exercises (OKCEs) on pain, function, proprioception, and quadricep strength in patients with knee OA. Methods: Forty-five adults aged 40–60 years with radiographically confirmed knee OA were randomized into three groups: (1) GWBE + OKCE, (2) CKCE + OKCE, or (3) OKCE alone. Interventions were conducted three times per week for six-weeks. Outcomes included pain (Visual Analogue Scale), physical function (Western Ontario and McMaster Universities Osteoarthritis Index, 6-Minute Walk Test), proprioception (joint repositioning error at 45°), and quadriceps strength (isokinetic peak torque at 60°, 120°, and 180°/s). Results: All groups demonstrated significant improvements in pain and function (p < 0.05). Proprioception improved in the GWBE + OKCE and CKCE + OKCE groups but not in the OKCE group. No significant changes were observed in quadriceps strength across groups. The GWBE + OKCE group showed significantly greater improvements in pain, function, and proprioception compared to both comparator groups (p < 0.05). Conclusions: GWBE combined with OKCE is more effective than CKCE + OKCE and OKCE alone in improving pain, function, and proprioception in patients with knee OA. Full article

This prospective, single-arm, exploratory postmarketing study preliminarily evaluated the clinical response and plasma biomarker changes in 18 client-owned dogs with naturally occurring osteoarthritis (OA) treated with sodium hyaluronate (Bonharen). Patients received intravenous injections of Bonharen Intravenous at a dose of 0.15 mL/kg (1.3–1.6 mg/kg hyaluronic acid once a week for consecutive five weeks). Clinical parameters (lameness, joint pain, mobility, swelling) were assessed weekly and two weeks after the final dose was given via standardized scoring. The plasma concentrations of selected inflammatory, cartilage-related, and oxidative stress biomarkers were measured before treatment and two weeks after the final dose. Clinical improvement in lameness and/or joint pain on palpation was observed in nearly half of the patients. No clinical deterioration was recorded at any time point. Physical activity increased in all patients with reduced baseline activity. Significant decreases in the plasma levels of prostaglandin E₂, Δ17-6-keto prostaglandin F1α, malondialdehyde, and hyaluronan were detected, indicating reduced systemic inflammation and oxidative stress. In addition, an increase in plasma hydroxybutyrate and decrease in the collagen-breakdown marker prolyl-hydroxyproline were observed. No adverse effects were reported. These findings suggest that intravenous hyaluronic acid (Bonharen) may represent a safe and promising component to multimodal OA management in dogs and demonstrate the feasibility of integrating plasma biomarkers in canine OA studies. Full article

Karate is divided into two disciplines, Kata (forms) and Kumite (sparring), both of which are strongly influenced by the function of the tibiotarsal joint. However, the performance model differences between the two have not yet been thoroughly explored. The aim of this study is to evaluate the differences in ankle range of motion between Kata and Kumite, investigating the correlations between joint mobility, elastic strength, and Rate of Force Development (RFD). The sample consisted of 36 athletes, of male sex, evenly split between the two disciplines, who underwent a specific training protocol for three months. Three tests were administered: Weight Bearing Lunge, Counter Movement Jump, and Squat Jump. Data were analysed using Pearson’s correlation. In the Kata group, a moderate negative correlation emerged between ankle ROM and elastic strength (R = −0.521), and between ankle ROM and RFD (R = −0.570). In the Kumite group, the correlations were weakly negative: R = −0.261 for elastic strength and R = −0.257 for RFD. Greater ankle mobility, typical of Kata, appears to be associated with lower explosive capabilities, whereas more limited mobility in Kumite correlates with higher reactive strength and a faster rate of force development. Full article

Osteoarthritis (OA) is one of the most frequent orthopedic disorders and a common cause of chronic pain, which is one of the most important factors in recommending total joint arthroplasty (TJA). Due to a greater need for pain relief and improved mobility in the OA population, TJA procedures are in high demand, and most patients with OA experience long waiting times. Waiting for TJA places a significant burden on patients as a result of worsening pain and functional deterioration. Therefore, optimizing pre-operative circumstances in these patients is essential to target analgesic interventions, preserve post-operative quality of life, and minimize post-operative outcomes such as chronic post-surgical pain. Achieving optimal pain control before surgery remains an unmet need, and it is difficult to devise a one-size-fits-all analgesic regimen. Pain is a challenge for orthopedic healthcare professionals (OHCPs), and orthopedic patients are notably less satisfied than patients undergoing other surgeries in terms of pain management. We reviewed the latest clinical evidence on pain management in patients with OA wait-listed for TJA to help OHCPs effectively manage their pain. Here, we provide actionable suggestions to strengthen orthopedic surgeons’ competency in pain assessment and therapy selection. By integrating the perspectives of an orthopedic surgeon and a pain therapist, we also introduce the concept of “pain prehabilitation” and propose integrating it into standard care protocols during the TJA wait-list period to optimize TJA outcomes and prevent the development of chronic post-surgical pain. Full article