No abstract

No abstract

No abstract

Rehabilitation robots have become increasingly popular for stroke rehabilitation. However, the high cost of robots hampers their implementation on a large scale. This paper implements the concept of a modular and reconfigurable robot, reducing its cost and size by adopting different therapeutic end effectors for different training movements using a single robot. The challenge is to increase the robot's portability and identify appropriate kinds of modular tools and configurations. Because literature on the effectiveness of this kind of rehabilitation robot is still scarce, this paper presents the design of a portable and reconfigurable rehabilitation robot and describes its use with a group of post-stroke patients for wrist and forearm training. Seven stroke subjects received training using a reconfigurable robot for 30 sessions, lasting 30 min per session. Post-training, statistical analysis showed significant improvement of 3.29 points (16.20%, p = 0.027) on the Fugl-Meyer assessment scale for forearm and wrist components. Significant improvement of active range of motion was detected in both pronation-supination (75.59%, p = 0.018) and wrist flexion-extension (56.12%, p = 0.018) after the training. These preliminary results demonstrate that the developed reconfigurable robot could improve subjects' wrist and forearm movement.

Polyurethane (PU) materials are extensively used in the construction industry as core material insulation for sandwich panel application, such as wall cladding, structure insulation and roof panel. Demands on PU application have escalated given its significant advantages to reduce energy consumption. Meanwhile, rigid PU (RPU) foams are combustible materials characterized by rapid flame spread, high heat-release rates, and ability to produce large quantities of toxic gases in original form. Thus, flame-retardant (FR) additives are used to improve the thermal properties of PU. However, some commercial additives used today have are hazardous to humans and the environment, and their extensive application is limited by their negative effects on polymer mechanical properties. Accordingly, identifying materials that are environmentally friendly and harmless to humans has become urgent. Some alternative additives that are gaining research interest are clay and fly ash, which are natural and recyclable resources that can enhance the FR properties of other polymers. However, room for improvement is always present as the related technology is continually being developed. This review focuses on studies aiming to enhance the flame retardancy of RPU foam using fly ash and local clay as additives.