Patients who suffer from stroke have motion function disorders. They need rehabilitation training guided by doctors and trainers. Nowadays, robots have been introduced to help the patients regain their motion function in rehabilitation training. In this paper, a novel multi degree of freedom (DOF) exoskeleton robot, with light weight, including (6[Formula: see text]1) DOFs, named as Rehab-Arm, is proposed and developed for upper limb rehabilitation. The joints of the robot are equipped with micro motors which are capable of actuating each DOF respectively and simultaneously. The medial/lateral rotation of shoulder is realized by a semi-circle guide mechanism for convenience consideration and safety. The robot is used in sitting posture which is attached to a custom made chair. Hence, the robot can be used to assist patients in passive movement with 7 DOFs of the upper limb for rehabilitation. Five adult healthy male subjects participated in the experiment to test the joint movement accuracy of the robot. Finally, subjects can wear Rehab-Arm and move their upper limb, led by micro motors of the robot, to perform task assigned with specific trajectory.

Experimental tests and calibration error analysis showed that the proposed sensor has high accuracy, appropriate range, and played a role in promoting the application of force feedback technology in MIS.

-Concentric magnetic gear (CMG) is a transmission gear with a novel structure and a promising prospect. However, the calculation of its electromagnetic field is more complicated. In this paper, an exact analytical method is used to calculate the magnetic field distribution and electromagnetic torque. The genetic algorithm optimization toolbox of matlab (GAOT) provides a good tool for its optimization design. The optimization results show that the genetic algorithm is practicable and effective, and provide a new approach for the analysis and design of the concentric magnetic gear. It is significant for the research and application of the concentric magnetic gear.

Multisequences over finite fields play an important role in applications that related to parallelization, such as word-based stream ciphers and pseudorandom vector generators. It is interesting to study complexity measures for multisequences. In this paper, we propose three constructions of multisequences over finite fields from rational function fields and Hermitian function fields. We also analyze the joint nonlinear complexity of these multisequences. Moreover, the length and dimension of these multisequences are flexible.

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