Series elastic actuators (SEAs) can improve the performance of robots and ensure their safety; therefore, they are widely applied in rehabilitation robots. To effectively exercise muscles in late rehabilitation training, robots utilize different impedance characteristics according to human muscle conditions. In this study, a novel real-time parallel variable-stiffness control method is proposed. The method predicts the muscle stiffness of the human body during the interaction process, and then adjusts the port stiffness of the SEA as needed to improve strength training. The impedance controller is used to meet the port stiffness and stability requirements during interactions. The predictive stiffness control method not only assesses the stiffness of human muscles in real time but also meets the constraint conditions associated with interaction stability, speed, and position. This control structure enables effective and safe strength training. Finally, the experimental results indicate that the stiffness control method based on muscle stiffness prediction can accurately match the port stiffness and provide interaction stability for effective muscle exercise.INDEX TERMS Series elastic actuator, stiffness predictive algorithm, rehabilitation interactive design.

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Migraine is one of the most prevalent and disabling neurological disease. The current treatments are limited. Acupuncture is a promising complementary and replacement therapy, but further clinical evidence is needed. Besides, the influence of acupuncture on migraine is not an immediate effect, the mechanism of this effect is not clear yet. This study is to provide further clinical evidence for the anti-migraine effects of acupuncture and explore the mechanism. Herein, a randomized controlled trial (48 participants in total; 10 normal controls and 38 migraineurs) was performed. The 38 migraine patients were divided into blank control, sham acupuncture, and acupuncture. The baseline characteristics were assessed for 2 weeks before the study. After that, patients were subjected to two courses of treatment, each of which lasted 5 days, with an interval of 1 day between the two courses (11 days in total). Outcome data collection, fMRI measurement, and blood sample collection were performed before and at the end of the treatment period. Effectiveness of treatment was evaluated using pain questionnaire. The fMRI data was analysed. Blood plasma was collected for metabolomics and proteomics studies. Results showed that acupuncture effectively relieves migraine symptoms, and not merely via the placebo effect. The anti-migraine mechanism involves a complex network which is related to regulating the blood oxygen levels, reversing brain energy imbalance and regulating inflammation. Brain regions of migraineurs affected by acupuncture include the limbic system and default mode network, and regions involved in cognitive and emotional processing of pain, sleep, and attention.