Polycarboxylate superplasticizer (PCE) is a widely used water-reducing agent that can reduce significantly the water demand of concrete, which reduces the porosity and enhances the strength and durability of the concrete. (The PCE consists of a single backbone with many long PEO side chains.) Generally, aggregate occupies >70 wt.% of concrete; clay minerals are ubiquitous in nature and are difficult to avoid in mined aggregates. Clay minerals in aggregate often render the PCE ineffective and give rise to rapid loss of the fluidity of the concrete; this phenomenon is referred to as ‘poor clay tolerance of PCE.’ Though the poor clay tolerance of PCE is known widely, the relationship between the clay tolerance and the molecular structure of the PCE, in particular the effect of the side-chain structures, on clay tolerance is not understood completely. The objective of the present study was to determine the effect of different grafting densities of polyethylene oxide (PEO) side chains on the clay tolerance of PCE. The raw materials included mainly PCE, which was synthesized using acrylic acid and isopentenol polyoxyethylene ether, and a natural montmorillonite (Mnt), one of the most common clay minerals. The loss of fluidity of the cement paste was tested to assess the clay tolerance; total organic carbon was used to measure the amount of PCE adsorbed; X-ray diffraction, transmission electron microscopy, Fourier-transform infrared spectroscopy, and thermogravimetric analysis were used to investigate the microstructure of the intercalated Mnt. The results showed that preventing the superficially adsorbed PCE from being intercalated into Mnt was of great importance in terms of the improvement in clay tolerance of PCE, which increased with greater grafting density of PEO in the side chain of the PCE. The results also suggested the possibility that polymers which intercalate preferentially into the Mnt could improve significantly the clay tolerance of the PCE system.

This study presents novel robotic therapy control algorithms for upper-limb rehabilitation, using newly developed passive and progressive resistance therapy modes. A fuzzy-logic based proportional-integral-derivative (PID) position control strategy, integrating a patient's biomechanical feedback into the control loop, is proposed for passive movements. This allows the robot to smoothly stretch the impaired limb through increasingly rigorous training trajectories. A fuzzy adaptive impedance force controller is addressed in the progressive resistance muscle strength training and the adaptive resistive force is generated according to the impaired limb's muscle strength recovery level, characterized by the online estimated impaired limb's bio-damping and bio-stiffness. The proposed methods are verified with a custom constructed therapeutic robot system featuring a Barrett WAM™ compliant manipulator. Twenty-four recruited stroke subjects were randomly allocated in experimental and control groups and enrolled in a 20-week rehabilitation training program. Preliminary results show that the proposed therapy control strategies can not only improve the impaired limb's joint range of motion but also enhance its muscle strength.

Clinical outcomes have shown that robot-assisted rehabilitation is potential of enhancing quantification of therapeutic process for patients with stroke. During robotic rehabilitation exercise, the assistive robot must guarantee subject's safety in emergency situations, e.g., sudden spasm or twitch, abruptly severe tremor, etc. This paper presents a hierarchical control strategy, which is proposed to improve the safety and robustness of the rehabilitation system. The proposed hierarchical architecture is composed of two main components: a high-level safety supervisory controller (SSC) and low-level position-based impedance controller (PBIC). The high-level SSC is used to automatically regulate the desired force for a reasonable disturbance or timely put the emergency mode into service according to the evaluated physical state of training impaired limb (PSTIL) to achieve safety and robustness. The low-level PBIC is implemented to achieve compliance between the robotic end-effector and the impaired limb during the robot-assisted rehabilitation training. The results of preliminary experiments demonstrate the effectiveness and potentiality of the proposed method for achieving safety and robustness of the rehabilitation robot.