Enass Hassan Flaieh

Exoskeleton knee-assistance (EKA) systems are wearable robotic technologies designed to rehabilitate and improve impaired mobility of the lower limbs. Clinical exercises are conducted on disabled patients based on physically demanding tasks which are prescribed by expert physicians. In order to carry out good tracking of the desired tasks, efficient controllers must be designed. In this study, a novel control framework is introduced to improve the robustness characteristics and tracking precision of EKA systems. The control approach integrates a super-twisting sliding mode controller (STSMC) with a nonlinear disturbance observer (NDO) to ensure robust and precise tracking of the knee joint trajectory. An evaluation of the proposed system is conducted through numerical simulations under the influence of external disturbances. The findings reveal considerable enhancements to trajectory tracking accuracy and disturbance rejection when compared to conventional STSMCs and sliding mode perturbation observer (SMPO)-based STSMCs.

With the increasing use of medical equipment, threads are the catchy choice for medical personnel to solve wound closures. One raw material used in medical surgical threads is polylactic acid (PLA), which is appropriate for its environmentally friendly and biodegradable properties. However, the weakness of PLA is in mechanical properties. This work used extrusion-based three-dimensional (3D) printing (fused deposition modeling) to fabricate medical threads from PLA. The effect of adding seed husk waste powders (SHWPs) to PLA filament (1.75 mm) and its manufacture by the 3D printer was studied. Four types of SHWP waste plants were used: pistachio, coffee, chestnuts, and walnuts crushed and milled by ball-milling after chemical processing and drying. The structural, particle size, and physical properties of the prepared powders were studied. The results of SHWPs show that the particle size is near the nano-size range of NPs and of low density. Different SHWP weight mixing ratios (5–15 wt%) were coated to PLA threads (0.4–0.45 µm) by grafting to study the mechanical (surface hardness and roughness) properties. The result shows that 15 wt% was the best ratio that combined the mechanical properties. The coated layer thickness was less than 5 µm. This ratio was adopted to fabricate grafted PLA and SHWPs/PLA medical threads by 3D printing with a radius of 400 ± 5 µm. The structural and biological properties of the fabricated medical threads were investigated. The results of SHWP-coated PLA show a significant improvement in structural and physical properties besides the mechanical properties. The results adopted this percentage from thread SHWP-coated PLA for medical applications, creating a new benefit for agricultural SHW and accelerated healing.

The search algorithms are characterized by their ability to find the optimal path in a short calculation time. In this study, a comparative analysis has been conducted to perform path planning of planar manipulator for static obstacle avoidance based on graph search algorithms. Four methods have been taken into account to establish a comparison platform; namely, conventional A*, modified A*, Chaos A*, and circulation heuristic search (CHS) algorithms. The performance of comparison is evaluated in terms of length of optimal path and consumption time of calculation. All algorithms have been coded and simulated within the MATLAB software environment. According to computer simulation, the results showed that CHS algorithms outperform the other graph search ones in terms of generated path length, while the Choas A* could give the least calculation time as compared to its counterparts. Index Terms— Path planning, A-Star, Modified A-Star, Chaos A-Star, CHS, Planar manipulator.