Optical gap energy study of poly(thienylene-2,5-dialkoxyphenylene) in solid-state films

Optical gap energy (E_gap) in luminescent π-conjugated polymers presents several difficulties in its determination, particularly when using CW conventional optical spectroscopy, absorption and emission. This happens due to several physicochemical parameter's dependence. Among others, the molecular conformation, intramolecular interactions, structural defects, polymer processability and solvent interaction stand out. In addition, there is a distribution of conjugated segments along the polymeric main chains that differentiate optical absorption transition from emission processes. In other words, these processes do not necessarily occur in the same conjugated segment owing to the very efficient ratios of energy transfer or charge migration in these materials. In this work we present a systematic study of the determination of E_gap for the polymer poly(thienylene-2,5-dialkoxyphenylene). We present a comparison between the solution and solid-state film, clearly showing the presence of a polymer-polymer interaction as aggregate species. The goal of this paper is to isolate and aggregate the contribution determination of each species through systematic analysis of optical spectra, as well as to obtain, even on film, the E_gap of the isolated polymer which is very similar to the polymer solution at about 2.37 eV. The intersection theory and the voltammetry methods corroborate the experiment and the discussion of the results obtained.

Design and evaluation of a modular lower limb exoskeleton for rehabilitation

This paper deals with the evaluation of an exoskeleton designed for assisting individuals to rehabilitate compromised lower limb movements resulting from stroke or incomplete spinal cord injury. The exoskeleton is composed of lightweight tubular structures and six free joints that provide a modular feature to the system. This feature allows the exoskeleton to be adapted to assist the movement of one or more patient joints. The actuation of the exoskeleton is also modular, and can be performed passively, by means of springs and dampers, or actively through actuators. In addition, its telescopic tubular links, developed to adjust the size of the links in order to align the joints of the exoskeleton with patient joints, allows the exoskeleton to be adjustable to fit different patients. Experiments considering the interaction between a healthy subject and the exoskeleton are performed to evaluate the influence of the exoskeleton structure on kinematic and muscular activity profiles during walking.

Global Kalman filter approaches to estimate absolute angles of lower limb segments

Background

In this paper we propose the use of global Kalman filters (KFs) to estimate absolute angles of lower limb segments. Standard approaches adopt KFs to improve the performance of inertial sensors based on individual link configurations. In consequence, for a multi-body system like a lower limb exoskeleton, the inertial measurements of one link (e.g., the shank) are not taken into account in other link angle estimations (e.g., foot). Global KF approaches, on the other hand, correlate the collective contribution of all signals from lower limb segments observed in the state-space model through the filtering process. We present a novel global KF (matricial global KF) relying only on inertial sensor data, and validate both this KF and a previously presented global KF (Markov Jump Linear Systems, MJLS-based KF), which fuses data from inertial sensors and encoders from an exoskeleton. We furthermore compare both methods to the commonly used local KF.

Results

The results indicate that the global KFs performed significantly better than the local KF, with an average root mean square error (RMSE) of respectively 0.942° for the MJLS-based KF, 1.167° for the matrical global KF, and 1.202° for the local KFs. Including the data from the exoskeleton encoders also resulted in a significant increase in performance.

Conclusion

The results indicate that the current practice of using KFs based on local models is suboptimal. Both the presented KF based on inertial sensor data, as well our previously presented global approach fusing inertial sensor data with data from exoskeleton encoders, were superior to local KFs. We therefore recommend to use global KFs for gait analysis and exoskeleton control.

Electronic supplementary material

The online version of this article (doi:10.1186/s12938-017-0346-7) contains supplementary material, which is available to authorized users.