Linyong Shen
Shanghai University
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Publication
Featured researches published by Linyong Shen.
ieee international conference on information acquisition | 2007
Xinhua Yi; Jinwu Qian; Linyong Shen; Yanan Zhang; Zhen Zhang
Colonoscopy is now the gold standard method for investigating most colonic symptoms. In the process of diagnosis, it is easy to cause the apex of loop splitting the colonic wall because the shape of colon is invisible for the colonoscopist who only relies on his experience to insert the colonoscope into the body and it brings the patients much pain and danger. So shape sensing technologies for colonoscope become a focus of this research field. At present, one solution is magnetic-based shape sensing system, but this technology must work in a non-metallic operating ambient. This paper presents an innovative way which use base-Fiber Bragg Grating (FBG) senor array to reconstruction the shape of colonoscope while advancing inside the colon. In this paper design and packing of shape sensing sensor is discussed and shape reconstruction principle based on differential geometry is described. Some simulation and model experiments have been done to testify validity of shape sensing.
robotics and biomimetics | 2007
Hongchao Fan; Jinwu Qian; Yanan Zhang; Linyong Shen
This communication reports on a novel intensity based FBG (Fibre Bragg Grating) sensors array. The FBG sensors were packaged on SMA (Shape Memory Alloy) to build a sensor array. The arrays could be embedded into the flexible surface with the technology of the smart materials and structures. Those could test the surface shape and vibration and apple to the health monitoring and damage recognition.
ieee/icme international conference on complex medical engineering | 2007
Xinhua Yi; Jinwu Qian; Yanan Zhang; Zhen Zhang; Linyong Shen
The display of the colonoscope shape inside human body is a new technique under development which helps the doctor to judge visually if the patient colon is in normal situation or tends to twist the colonoscope into an unusual and unsafe shape. This paper presents a real-time shape reconstruction method based on biber Bragg grating (FBG) sensor array and a positioning technique of colonoscopes handle part by means of binocular vision, while the colonoscope inserted into human colon. Detailed analysis include the detecting principles, spatial curve reconstruction algorithm from the information of FBG sensors, and estimation of pose of the handle part of the colonoscope relative to the world frame. Experimental results demonstrate the effectiveness of the proposed techniques. With an accuracy of shape reconstruction to be improved to 4.5 mm compared with earlier research. By adding the pose detecting subsystem for the colonoscopes handle part, the 3D shape display subsystem will work more effectively and become more practical.
robotics and biomimetics | 2007
Zhiguo Feng; Jinwu Qian; Yanan Zhang; Linyong Shen; Zhen Zhang; Qiyuan Wang
Body weight supported treadmill training (BWST) has been confirmed that it can improve walking capabilities in spinal cord-injured and stroke patients. During treadmill training, the leg movements of the patients have to be manually assisted by physiotherapists. The physical capabilities and the individual experience of the therapists usually limit this training. A powered gait orthosis (PGO) is being developed that can move the legs of a patient in a physiological way on the moving treadmill. This paper summarizes the design and analysis of the PGO. The anthropomorphically based PGO has two DOF per leg, which are driven by electric linear actuators. The selection of the DOF and critical component design aspects are discussed.
international conference on bioinformatics and biomedical engineering | 2008
Zhiguo Feng; Jinwu Qian; Yanan Zhang; Linyong Shen; Zhen Zhang; Qiyuan Wang
This paper presents a method for walking planning of rehabilitation robot. Firstly, the simple model of four-links robot walking on the treadmill is introduced. Then, the constraints of swing limb tip and hip motion are formulated in terms of coherent physical characteristics of gait and the compatible hip and swing limb tip trajectories are generated by cubic polynomial interpolation. By varying the values of the constraint parameters, it is easy to produce different motion trajectory. Finally, the joint angle profiles are computed according to hip and limb tip trajectories. The effectiveness of the proposed method is confirmed by computer simulation examples and experimental results.
robotics and biomimetics | 2007
Qiyuan Wang; Jinwu Qian; Yanan Zhang; Linyong Shen; Zhen Zhang; Zhiguo Feng
Body weight supported treadmill training (BWSTT) has been conformed to be an effective gait rehabilitation therapy for patients with locomotor disfunction of the lower limbs. A powered gait orthosis (PGO) is being developed, which can guide the patients legs to move in a preprogrammed physiological gait pattern during BWSTT. This paper proposes a physiological gait trajectory planning method for the PGO. This method is on the basis of clinical gait analysis data and human walking gait cycle. The kinematic model of lower limbs with PGO during BWSTT is constructed and the joint trajectory equations in a gait cycle are derived. The effectiveness of the proposed gait trajectory planning method is confirmed by the simulation examples of three joint trajectories and the stick figure of single leg motion over a gait cycle.
international conference on intelligent computation technology and automation | 2011
Liuling Xu; Linyong Shen; Jinwu Qian; Yanan Zhang; Zhong Wen
To active rehabilitation training, Newton-Euler method is applied to build dynamic models for the powered exoskeleton and the subject. A method to extract the subjects active force is proposed combined with the models. A mechanism for measuring the human-robot coupling force is designed on that basis. Two prototype experiments are proposed, one is an on-line experiment via different mass loadings, the other is the experiment via different forcing at rest positions in one gait cycle. The experimental results show that the mechanism is available for human-robot coupling force measuring. It also provides the feasibility and validity which will be used in subjects on-line extracting of active forces based on the dynamic model during rehabilitation training.
international conference on bioinformatics and biomedical engineering | 2008
Qiyuan Wang; Jinwu Qian; Yanan Zhang; Linyong Shen; Zhen Zhang; Zhiguo Feng; Zeyong Tao
Body weight supported treadmill training (BWSTT) has been confirmed to be an effective gait rehabilitation therapy for patients with locomotor dysfunction of the lower limbs. Powered Gait Orthosis (PGO) is a pair of powered mechanical legs in exoskeleton structure, which can guide the patients legs to move in a preprogrammed physiological gait pattern during BWSTT. A prototype of single-leg PGO has been designed and constructed. It has linear actuators at hip and knee joints; it is also instrumented with sensors and encoders. To realize the physiological gait movement of the single-leg PGO, a control platform, a safe protection device, and a set-point gait motion control method have been developed. The effectiveness of the proposed set-point gait motion control method is confirmed by the preliminary experimental results..
international conference on mechatronics and automation | 2006
Hongchao Fan; Jinwu Qian; Yanan Zhang; Linyong Shen
The sensor network have been designed using fiber bragg grating (FBG) sensors which could inspect the curvature of the multipoint with the technology of spatial-division-multiplexing (SDM) and wavelength-division-multiplexing (WDM). It provides accurate inspected data for surface reconstruction. The distribution for those embedded sensors is based on the strain of thin shell. The sensor is dense if the strain is great but in reverse is sparse. Furthermore the precision of the inspected has been demarcated. The experiment showed that there was a linear relationship between the curvature and the change of the wavelength. The distribution of the sensors is in reason and the precision is high. A novel algorithm also has been introduced to reconstruct a surface based on the curvature information. A dynamical surface composed of thin shell or structure has been completed and visualized in VC++6.0 and OPENGL
2015 International Symposium on Bioelectronics and Bioinformatics (ISBB) | 2015
Shutao Zhang; Jinwu Qian; Linyong Shen; Xi Wu; Xiaowu Hu
The gait kinematics for Parkinsons disease (PD) are usually examined in the time domain and limited to selected points on motion-time graphs. Wavelet analysis allows the examination of the whole waveform and demonstrates a high potential to assess the effects of PD treatment. The purpose of this study was to investigate whether differences existed in gait complexity and the frequency content of foot trajectories during walking between patients with PD and healthy individuals by using wavelet analyses. Fifteen persons with idiopathic PD and eleven healthy age- and height- matched healthy adults (HAs) were recruited. The foot trajectories of each subject during walking were detected by using a three-camera Optotrak Certus motion capture system. The scale wavelet energy raitos and wavelet entropy were computed after seven-scale wavelet decomposition, and the results of the two groups were compared using Wilcoxon rank-sum test with Bonferroni correction for multiple testing. The results showed that, the PD subjects walked with a higher degree of complexity for the foot motion in anteroposterior direction and a lower degree of complexity for the foot motion in vertical direction. Both groups had comparable gait frequency, but the differences in the energy distributed over some frequency bands were significant between the PD and control groups. In addition to previously described gait kinematics in time domain, the parameters of scale wavelet energy ratios and wavelet entropy could be used to provide additional insight into gait changes.