Search Results (8,417)

Stroke often results in impaired hand motor function, making effective hand rehabilitation essential for restoring activities of daily living (ADLs). Motor rehabilitation and neurorehabilitation are two major pathways to functional recovery. Rehabilitation gloves have proven to be effective tools for motor rehabilitation, and among them, soft robotic gloves (SRGs) have emerged as a research focus due to their lightweight design and inherent safety. Functional electrical stimulation (FES), which applies electrical currents to muscles and nerves, shows promise in promoting motor neural reorganization and restoring muscle strength in the hands of stroke survivors. The technologies applied to hand rehabilitation must possess the characteristics of safety, comfort, and practicality, while overcoming critical challenges such as portability, user-friendliness, and wearability. Motivated by the rehabilitation needs of post-stroke patients, this paper reviews recent advances in SRGs, FES, and hybrid hand rehabilitation systems (HHRSs) for hand rehabilitation, systematically examining progress in actuation strategies, intention sensing, and control algorithms across these three technologies. Furthermore, the limitations and technical challenges of current HHRSs are analyzed and four key future research directions are identified to pave the way for further development in this field. Full article

This paper deals with the control of two five-phase permanent magnet synchronous motors (PMSMs), which are connected in series and operating at different speeds and torques. The topology under study is intended for use in an electrical naval propulsion system. The backstepping control strategy, which uses the Lyapunov stability concept, is employed to control the speed of the two machines considering the series connection of the PMSM stator windings. A comparative study, with respect to classical Vector Control (VC) using PI regulators, is provided to demonstrate the robustness of the proposed control strategies in both healthy and faulty conditions. Typically, dual PMSMs in series cannot operate in the degraded mode in the event of faults. This study optimizes their operation by adapting to such modes, including faults caused by symmetrical parameter changes or by an asymmetrical High Resistance Connection (HRC) in the stator windings, thereby ensuring continuity of service. The HRC is investigated and verified in one stator phase, in two adjacent stator phases and in two non-adjacent stator phases, as well as in a symmetrical HRC fault across all phases. Matlab-based simulation results validate the control design to achieve the desired performance and prove the effectiveness and the asymptotic stability of backstepping control for two series-connected 5-Ф PMSMs, thereby providing redundancy for the naval electric propulsion system. Full article

To improve solar energy utilization efficiency, address control precision issues in solar panel tracking systems, and strengthen the sustainable supply capacity of clean renewable energy, this study proposes an innovative variable universe fuzzy adaptive PID control algorithm for high-precision solar tracking systems. Based on this algorithm, a fusion scheme combining a high-precision four-quadrant detector and GPS positioning is employed to achieve real-time and precise positioning of the tracking system. The azimuth and elevation angle deviations between the real-time solar rays and the system’s actual position are calculated and used as input signals for the tracking control system. These deviations are dynamically corrected by the variable universe fuzzy adaptive PID controller, which drives a stepper motor to achieve high-precision solar tracking. The results demonstrate that, under ideal operating conditions, the proposed algorithm reduces the steady-state error by 3.5–4.9°, shortens the settling time by 4.4–5.8 s, decreases the rise time by 0.6 s, lowers the overshoot by 18–19%, and reduces the disturbance recovery time by 1.3 s. These improvements significantly enhance tracking accuracy and dynamic response efficiency. Under complex operating conditions, the algorithm reduces the steady-state error by 3.2–5.9°, shortens the settling time by 5.4–6.2 s, decreases the rise time by 0.7 s, lowers the overshoot by 17.5–19%, and reduces the disturbance recovery time by 1.5 s, thereby ensuring stable and efficient solar tracking and maintaining continuous energy capture. By quantitatively optimizing multiple performance metrics, this algorithm significantly enhances the control precision of solar panel tracking and improves solar energy utilization efficiency. It holds substantial significance for promoting the transition of the energy structure toward cleaner and more sustainable sources. Full article

Background. The rapid expansion of esports within higher education, accelerated by the COVID-19 pandemic, has raised important questions regarding their impact on students’ physical and psychological development. While traditional sports are well known for their benefits on motor and physical skills, esports primarily engage cognitive processes through sustained interaction with digital environments. This study compares motor skills and cognitive performance among higher education male students participating in esports and traditional sports in a post-pandemic context. Methods. The present study employs a quantitative, comparative, cross-sectional design to examine differences in motor skills (using standardized physical tests) and cognitive performance (focused attention, short-term memory, and information processing speed) between higher education male students engaged in esports and those participating in traditional sports. Results. Male students engaged in traditional sports demonstrated superior motor outcomes, particularly in muscle strength and postural control. Cognitive performance was comparable between groups, with a slight advantage for traditional sports participants in focused attention and processing speed. Conclusions. Although esports may support certain aspects of cognitive performance to a degree comparable with traditional sports, they do not provide equivalent benefits in terms of motor and postural development. These results highlight the importance of maintaining physical activity within university settings and suggest that esports should complement rather than replace traditional sports in higher education programs. Full article

Background: Motor as well as attentional skills are deficient in children with attention deficit hyperactivity disorder (ADHD). The aim of the present study was to explore whether a short immersive rehabilitation therapy could improve motor and visuo-attentional capabilities in children with ADHD. Methods: Forty children with ADHD participated in this study; IQ-, sex- and age-matched children were splitted in two groups (G1 and G2) of twenty. An unpredictable random sequence was used to allocate a child to group G1 (trained group) or G2 (control group). Oculomotor and postural performance for both groups of children were objectively assessed twice (before and after 16 min) by using an eye tracker and platform. Group G1 only underwent 16 min of immersive rehabilitation therapy, while the control group (G2) had 16 min of resting. The immersive therapy consisted of performing physical movement while training visual discrimination, attention and spatial orientation skills. Results: After 16 min, significant improvements in the fixation area (p = 0.008) and in the number of catch-up saccades during pursuit eye movements (p < 0.001), as well as a smaller postural instability index (PII) (p < 0.001), were observed for the trained group (G1) only. Conclusions: These findings suggest that children with ADHD could benefit from a short immersive therapy to improve both visual–attention and motor performances. This new immersive therapy is a useful tool allowing a better integration of both visual and motor sensory inputs via the cortico/cerebellar network. Follow-up studies on a larger number of children with ADHD will be necessary to explore the eventual possible persistence of such a training effect and imaging works will help to understand where such adaptive mechanisms take place. Full article

This paper presents an open-architecture mechatronic drive platform for operating a three-phase BLDC servomotor in an industrial robotic axis. A sequential and iterative mechatronic design methodology is adopted, integrating electronic design, digital control, mechanical development, and experimental prototyping, with emphasis on open-loop operation. The electronic circuit was designed using schematics and a PCB and validated in Proteus Design Suite 8.15 (Labcenter Electronics Ltd., London, UK) to verify switching sequences and inverter behavior. The power stage is based on a six-switch insulated-gate bipolar transistor (IGBT) inverter module, complemented by an independent snubber protection board and a dedicated digital gate-drive control board. The mechanical enclosure was designed using computer-aided design (CAD), CAD software tools (Shapr3D, version 5.911.0 (9224), Shapr3D Zrt., Budapest, Hungary), and fabricated via 3D printing. Switching behavior was simulated in Octave using parameters from a real industrial BLDC servomotor (Yaskawa SGMAH series) extracted from a Motoman robotic axis. The contribution is design-oriented in a mechatronic engineering sense, emphasizing accessibility, openness, and experimental enablement of industrial drive hardware rather than control-performance optimization. An industrial Yaskawa BLDC servomotor from the Motoman robot is used to determine switching sequences and safe operating parameters. Experimental open-loop tests were conducted by directly commanding the six inverter switching sectors, resulting in the stable synchronous rotation of the motor on the developed electromechanical platform. Full article

Background: Parkinson’s disease (PD) is a progressive neurodegenerative disorder characterised by motor and non-motor symptoms. Several studies have reported varying prevalence of Carpal Tunnel Syndrome (CTS) among individuals with PD. Objective: This study aimed to estimate the pooled prevalence of CTS in people with PD and explore any potential association between the two conditions. Methods: This systematic review and meta-analysis was conducted and reported in accordance with the PRISMA 2020 guidelines. A systematic search was performed across PubMed, the Cochrane Central Register of Controlled Trials (CENTRAL), Web of Science (WoS), Scopus, and EMBASE from inception to April 2024. Studies reporting CTS prevalence data in individuals with PD were included. Methodological quality was assessed using the National Institutes of Health (NIH) quality assessment tool. Pooled prevalence estimates were calculated using a random-effects model. Risk difference (RD) and risk ratio (RR) were calculated to assess the association between PD and CTS compared with control groups. Results: A total of 7 studies involving 411 participants (343 with PD and 68 controls) met the inclusion criteria, with 679 wrists assessed. The pooled prevalence of CTS in PD was estimated at 15% (95% CI: 0.07–0.28) with significant heterogeneity (p < 0.001, I² = 91%). The RD was 10% (95% CI: 0.04–0.16, p = 0.002), with low heterogeneity (p = 0.29, I² = 19%). The RR of CTS in PD compared with controls was 3.31 (95% CI: 0.60–18.42, p = 0.17), with moderate heterogeneity (p = 0.13, I² = 52%). Conclusions: This meta-analysis provides preliminary pooled estimates indicating a potentially increased prevalence of carpal tunnel syndrome in individuals with PD. Although the findings suggest a possible association, clinicians should maintain increased vigilance for CTS symptoms in patients with PD presenting with upper-limb sensory or motor complaints. From a biomechanical and functional perspective, these findings highlight the importance of routine upper-limb screening and the implementation of rehabilitation strategies targeting hand use, dexterity, and sensorimotor control within physiotherapy practice. Further high-quality studies with larger, well-characterised samples are required to confirm this relationship and clarify its clinical and functional implications. Full article

There has been a surge in interest in and implementation of motion capture (MoCap)-based lessons in animation, creative education, and performance training, leading to an increasing number of studies on this topic. While recent studies have summarized these developments, few have been conducted that synthesize existing findings into a theoretical framework. Building upon the Cognitive Affective Model of Immersive Learning (CAMIL), this study proposes the Cognitive Affective Model of Motion Capture Training (CAMMT) as a theoretical and research-based framework for explaining how MoCap fosters creative cognition in computer animation practice. The model identifies six affective and cognitive constructs: Control and Active Learning, Reflective Thinking, Perceptual Motor Skills, Emotional Expressive, Artistic Innovation, and Collaborative Construction that describe how MoCap’s technological affordances of immersion and interactivity support creativity in animation practice. The findings indicate that instructional and design methods from less immersive media can be effectively adapted to MoCap environments. Although originally developed for animation education, CAMMT contributes to broader theories of creative design processes by linking cognitive, affective, and performative dimensions of embodied interaction. This study offers guidance for researchers and designers exploring creative and embodied interaction across digital performance and design contexts. Full article

Viticulture is facing growing economic and environmental pressures that demand a transition toward intelligent and autonomous crop management systems. Phytopathologies remain one of the most critical threats, causing substantial yield losses and reducing grape quality, while regulatory restrictions on agrochemicals and sustainability goals are driving the development of precision agriculture solutions. In this context, early disease detection is crucial; however, current visual inspection methods are hindered by subjectivity, cost, and delayed symptom recognition. This study presents a fully autonomous robotic platform developed within the Agrimet project, enabling continuous, high-frequency monitoring in vineyard environments. The system integrates a tracked mobility base, multimodal sensing using RGB-D and thermal cameras, an AI-based perception framework for leaf localisation, and a compliant six-axis manipulator for biological sampling. A custom control architecture bridges standard autopilot PWM signals with industrial CANopen motor drivers, achieving seamless coordination among all subsystems. Field validation in a Sicilian vineyard demonstrated the platform’s capability to navigate autonomously, acquire multimodal data, and perform precise georeferenced sampling under unstructured conditions. The results confirm the feasibility of holistic robotic systems as a key enabler for sustainable, data-driven viticulture and early disease management. The YOLOv10s detection model achieved good precision and F1-score for leaf detection, while the integrated Kalman filtering visual servoing system demonstrated low spatial tolerance under field conditions despite foliage sway and vibrations. Full article

Introduction: Neurological injuries significantly impair quality of life by disrupting neural transmission. Traditional implantable stimulators often rely on internal batteries, which limit device longevity and necessitate repeated surgical interventions. Objective: This study presents the experimental validation of a battery-free, RFID-powered neural platform for peripheral nerve signal acquisition and stimulation, targeting TRL-6 validation. Methods: The prototype incorporates an adjustable analog front-end with gains up to 93 dB and a biphasic current-controlled stimulator. Validation was performed through benchtop testing, biological tissue assessments using porcine tissue, and functional in vivo trials in adult Wistar rats (n = 3) over a three-month period. Results: Benchtop evaluation confirmed gain accuracy with errors below 2.2 dB and precise stimulation timing. The system maintained a stable 3.3 V wireless power link through 20 mm of biological tissue using RFID. In vivo experiments indicated a 100% functional success rate (51/51 trials) in eliciting gross motor responses via wireless stimulation. Thermal safety was confirmed, with a maximum operating temperature of 28 °C, remaining well below physiological limits. Conclusions: The results demonstrate the functional feasibility of a battery-free, RFID-powered neural interface for wireless signal acquisition and stimulation, supporting system-level validation of this architecture. Full article

Squirrel-cage induction generators often perform better without a mechanical speed sensor. Eliminating an encoder or resolver removes one of the most fragile and failure-prone components, while modern control algorithms can estimate speed with sufficient accuracy. Shaft-mounted sensors are vulnerable to heat, vibration, dust, moisture, and electrical noise; they require precise mounting and additional cabling and typically fail long before the machine itself. In many industrial and marine applications, unplanned shutdowns are more often caused by damaged sensors or cables than by the generator. Unlike sensorless speed-detection methods developed for motoring operation, the proposed approach targets the generator mode, where both phase currents and the DC-link voltage are measured. It uses two indicators: the magnitude and sign of the active current, and the instantaneous rise in DC-link voltage when the converter output frequency matches the machine’s shaft speed. Because active current remains negative over a wide frequency range during start-up, its sign change alone cannot uniquely identify the synchronization point. In generator operation, however, the DC-link capacitor voltage provides an additional criterion: the speed at which power reverses sign, indicated by a change in the sign of the DC-voltage derivative. As the inverter frequency approaches the machine rotational frequency from below, the DC voltage increases, reaches a maximum at maximum slip, and then decreases once the inverter frequency exceeds the machine speed. The article demonstrates how these signals can be used in practice to identify the rotational speed of a squirrel-cage generator. Full article

While the Internal Model Principle (IMP) and Disturbance Observer (DOB) are fundamental to robust control, their systematic equivalence within a unified framework has received limited attention. IMP-based control achieves robustness through the structural inclusion of signal generators, whereas DOB-based methods rely on extended state representations for disturbance estimation. This paper bridges this gap by designing a state-space Reduced-Order Disturbance Observer (RODOB)-based controller that achieves systematic equivalence with an IMP-based transfer function controller. As a design example, an IMP-based controller is synthesized using a Linear Quadratic Regulator (LQR) for an augmented system in error space, with reference inputs directly integrated into the RODOB structure to eliminate the need for additional filters. Simulations and hardware experiments on a Brushless DC (BLDC) motor verify that both structures exhibit consistent control input and output characteristics, significantly outperforming conventional cascade and PID strategies. Numerical stability during digital implementation is ensured via partial fraction expansion. Furthermore, a method for estimating equivalent disturbances—encompassing both external loads and model uncertainties—is proposed by leveraging RODOB states. These findings suggest significant potential for future applications in fault diagnosis and real-time condition monitoring. Full article

Adaptive locomotion requires the integration of cognitive and motor processes and is challenged in neurological disorders. Dual-task (DT) training may improve cognitive–motor coordination, but its feasibility across heterogeneous clinical populations is uncertain. This pilot study aimed to understand if the effects of a secondary motor or cognitive task added to a walking task depend on the functional walking abilities of the subjects. We enrolled 30 participants with neurological disorders not related to traumatic events, 5 for each one of the following groups: healthy young subjects (HeY), healthy control subjects (HeC), subjects with stroke (ictus, IC), Parkinson’s disease (PD), multiple sclerosis (MS), and Long-COVID sequelae (LC). Spatiotemporal gait parameters were recorded using a wearable inertial magnetic unit, and subjective workload was assessed with the visual analog scale (VAS) and NASA-Task Load Index. Regression models revealed strong baseline–DT coupling for stride duration (slopes 1.11–1.37; R² 0.85–0.97), stride length (slopes 0.93–0.94; R² 0.86–0.93), walking speed (slopes 0.87–0.98; R² 0.78–0.93), and gait ratio (stance/swing, slopes 0.38–0.60; R² 0.21–0.52). Mixed-effects analyses identified significant group effects for walking speed (F(5) = 7.218, p < 0.001), stride length (F(5) = 4.834, p = 0.001), gait cycle duration (F(5) = 5.630–5.664, p < 0.001), Walking Quality (F(5) = 4.340–4.373, p = 0.001), and propulsion index (F(5) = 5.668–6.843, p < 0.001). The incongruent DT condition was the most sensitive in differentiating clinical groups. NASA-TLX indicated higher perceived workload in IC and MS compared with non-clinical groups. The protocol was completed by all participants without adverse events, supporting the feasibility of the procedure in this pilot sample. Its predictable scaling across baseline gait metrics supports its use as a personalized rehabilitation tool for diverse neurological populations. (ClinicalTrials.gov NCT07254377). Full article

This study focuses on the design and control system of a rotating nozzle for 3D construction printers. The development of a rotating nozzle is motivated by the need to enhance control over extrusion direction and material alignment, thereby improving the mechanical performance of printed structures by the use of non-circular nozzles. The typical 3D construction printer is equipped only with a stationary circular nozzle, which prevents the use of a non-circular nozzle due to the printer’s lack of a rotational mechanical system. This, in turn, limits the opportunity to enhance mechanical properties such as tensile and compressive strengths effectively. The proposed design is developed through computer-aided design (CAD) software, and the printer’s configuration is adjusted for integration of the rotational mechanism’s control system. This design includes a full description of the rotational mechanism and integration steps for the 3D printer. Besides the main motor of the 3D printer, an additional motor is installed next to the nozzle and controlled by a new axis (parameter), which is added into the G-code. A new axis, called “U”, is responsible for the rotation of the nozzle itself. For the development of this axis design, the cosine law is applied. The calculation is based on the three consecutive points in the G-code to obtain an accurate degree of rotation for the nozzle. The effectiveness of the system was confirmed by evaluating the compressive strength depending on printhead type. Based on testing results, one trowel printhead had the highest flexural strength of 5 MPa, and a trapezoidal printhead with teeth had the highest compressive strength of 8 MPa, compared to a circular default nozzle head with 6 MPa and 2 MPa for compressive and flexural strengths, respectively. The new optimized nozzle design is implemented in existing 3D printers, which allows it not only to develop its capability in the printing process but also to make sustainable contributions in the 3D construction industry. Full article

Charcot–Marie–Tooth disease (CMT), caused by dominant loss-of-function mutations in DNM2, encoding the GTPase dynamin-2, impairs motor and sensory function. However, the respective contributions of muscle and nerve pathology, and the therapeutic potential of increasing DNM2 expression, remain unresolved. We evaluated tissue-targeted and systemic approaches to increase DNM2 in a mouse model carrying the common K562E-CMT mutation. Muscle-specific DNM2 overexpression from embryogenesis in Dnm2^K562E/+ mice ameliorated desmin and integrin mislocalization, membrane trafficking defects, mitochondrial abnormalities, and fibrosis in skeletal muscle, resulting in improved locomotor coordination despite persistent muscle atrophy. Conversely, systemic postnatal AAV delivery of human DNM2 increased DNM2 in muscle but failed to transduce nerves and paradoxically worsened the muscle pathology, producing centronuclear myopathy-like features. These findings reveal a primary pathogenic impact of DNM2-CMT mutation within skeletal muscle, independent of nerve involvement. Collectively, they underscore that precise DNM2 dosage is critical for neuromuscular homeostasis and reveal a narrow therapeutic window for safe and effective therapeutic intervention. This paradox, in which efforts to compensate for a loss-of-function neuropathy risk inducing a gain-of-function myopathy, highlights the need for tightly controlled modulation of DNM2 activity in future therapeutic strategies. Full article