Search

Aiming at the problems of poor wearing comfort of current rigid exoskeletons, difficulty in matching exoskeleton joints with human body joints, and many restrictions on human body freedom, a flexible lower limb assisted exoskeleton is designed. The exoskeleton uses a flexible elastic belt energy storage device. When walking, it assists the muscles of the lower limbs of the human body. This study uses the OpenSim software to establish a simulation of man-machine interaction with the flexible exoskeleton. Aiming at realizing its optimal assisting scheme, a multi-joint assisting and single-joint assisting man-machine coupling model is established. The influence of different joint assisting combinations on human assisting and the influence of the man-machine coupling model of exoskeletons with different spring stiffness on knee joints, hip joints and ankle joints are studied. The results show that the single-joint assisting scheme is better than the multi-joint assisting scheme, and the assisting effect of the single-ankle joint assisting scheme is the best when the spring stiffness increases to 20 N/mm. The simulation results show that compared with the situation without wearing the ankle exoskeleton, the overall energy consumption of the human body and the stress on the main movement muscles of the calf during walking are reduced, and the burden on the wearer's muscles is reduced to achieve the purpose of assisting.

Objective: To evaluate the efficacy and safety of the sublingual immunotherapy with dermatophagoides farinae drops on patients with allergic rhinitis., Method: One hundred and twelve cases were collected from adult patients with dust-mite allergic rhinitis of our hospital who could adhere to treatment and regular follow-up. These patients were randomly allocated to receive either sublingual immunotherapy (SLIT group, n = 56) or medical treatment (Control group, n = 56). To evaluate the clinical efficacy by side effects which were registered, symptom and medication scores which were assessed and rhinoconjunctivitis quality of life questionnaire (RQLQ) which was completed in the baseline and two years after treatment., Result: Dropouts after the 2 years' treatment were 5 of SLIT group and 4 of Control group respectively. SLIT group induced the significant reductions on both the symptom scores (7.81 ± 3.14 to 3.89 ± 2.01, P < 0.0 1) and the medication scores (2.86 ± 0.75 to 0.44 ± 0.06, P < 0.01). Meanwhile, Control group induced the reductions on both the symptom scores (8.01 ± 3.32 to 5.20 ± 2.43) and the medication scores (2.95 ± 0.80 to 1.75 ± 0.40). There were significant differences (P< 0. 01) in symptom and medication scores between the two groups after 2-year treatment. The patients in SLIT group had fewer symptoms and lower intake of medication. There were statistically significant differences in RQLQ between SLIT group [19 (15,22)] and Control group [36 (26,47)] after two years treatment (Z = -5. 21, P < 0.01). SLIT group also had significant improvement in RQLQ (Z = -6.10, P < 0.01) between before and after the treatment. There were 4 patients who showed adverse reactions in SLIT group (3 occurred in increment period, and 1 occurred in the maintenance period). The incidence of adverse reactions was 7.14%. No severe systemic side effects were registered., Conclusion: SLIT with standardized dermatophagoides farinae drops in China is safe and effective to patients with allergic rhinitis.