Upper limb soft robotic wearable devices: a systematic review

Introduction: Soft robotic wearable devices, referred to as exosuits, can be a valid alternative to rigid exoskeletons when it comes to daily upper limb support. Indeed, their inherent flexibility improves comfort, usability, and portability while not constraining the user’s natural degrees of freedom. This review is meant to guide the reader in understanding the current approaches across all design and production steps that might be exploited when developing an upper limb robotic exosuit. Methods: The literature research regarding such devices was conducted in PubMed, Scopus, and Web of Science. The investigated features are the intended scenario, type of actuation, supported degrees of freedom, low-level control, high-level control with a focus on intention detection, technology readiness level, and type of experiments conducted to evaluate the device. Results: A total of 105 articles were collected, describing 69 different devices. Devices were grouped according to their actuation type. More than 80% of devices are meant either for rehabilitation, assistance, or both. The most exploited actuation types are pneumatic (52%) and DC motors with cable transmission (29%). Most devices actuate 1 (56%) or 2 (28%) degrees of freedom, and the most targeted joints are the elbow and the shoulder. Intention detection strategies are implemented in 33% of the suits and include the use of switches and buttons, IMUs, stretch and bending sensors, EMG and EEG measurements. Most devices (75%) score a technology readiness level of 4 or 5. Conclusion: Although few devices can be considered ready to reach the market, exosuits show very high potential for the assistance of daily activities. Clinical trials exploiting shared evaluation metrics are needed to assess the effectiveness of upper limb exosuits on target users

Development and Evaluation of a Self-induces Walking Assist Device Using Artificial Muscles for Gait Improvement in Patients with Parkinson\u27s Disease

九州工業大学博士学位論文 学位記番号：生工博甲第386号 学位授与年月日：令和2年9月25日第1章 序章|第2章 提案手法|第3章 被験者|第4章 実験|第5章 指標および解析手法|第6章 結果|第7章 考察|第8章 結論九州工業大学令和2年

Stepper microactuators driven by ultrasonic power transfer

Advances in miniature devices for biomedical applications are creating ever-increasing requirements for their continuous, long lasting, and reliable energy supply, particularly for implanted devices. As an alternative to bulky and cost inefficient batteries that require occasional recharging and replacement, energy harvesting and wireless power delivery are receiving increased attention. While the former is generally only suited for low-power diagnostic microdevices, the latter has greater potential to extend the functionality to include more energy demanding therapeutic actuation such as drug release, implant mechanical adjustment or microsurgery. This thesis presents a novel approach to delivering wireless power to remote medical microdevices with the aim of satisfying higher energy budgets required for therapeutic functions. The method is based on ultrasonic power delivery, the novelty being that actuation is powered by ultrasound directly rather than via piezoelectric conversion. The thesis describes a coupled mechanical system remotely excited by ultrasound and providing conversion of acoustic energy into motion of a MEMS mechanism using a receiving membrane coupled to a discrete oscillator. This motion is then converted into useful stepwise actuation through oblique mechanical impact. The problem of acoustic and mechanical impedance mismatch is addressed. Several analytical and numerical models of ultrasonic power delivery into the human body are developed. Major design challenges that have to be solved in order to obtain acceptable performance under specified operating conditions and with minimum wave reflections are discussed. A novel microfabrication process is described, and the resulting proof-of-concept devices are successfully characterized.Open Acces

Code of Practice on Safety and Health in Agriculture

This document is part of a digital collection provided by the Martin P. Catherwood Library, ILR School, Cornell University, pertaining to the effects of globalization on the workplace worldwide. Special emphasis is placed on labor rights, working conditions, labor market changes, and union organizing.ILO_CodeofPracticeonSafetyandHealthinAgriculture.pdf: 159 downloads, before Oct. 1, 2020

Biopharmaceutical Process – Contract Development Organization: Startup

Due to their high specificity and the wide range of treatments they can provide, monoclonal antibodies (MAbs) from mammalian cell cultures have gained increasing popularity in therapeutics. As a result, treatments have become cheaper and easier to manufacture while maintaining their natural effectiveness, further increasing their appeal. Building MAb manufacturing facilities can be costly for biopharmaceutical companies, especially smaller biotech firms, and current production capacities are limited. As a result, there is an everincreasing demand for contract development organizations (CDOs). The CDO being proposed targets demand within this regime specific to MAbs entering clinical trials. It has the capability to screen clones, grow MAb-producing cells up to a 2500 L culture, and purify the MAb to clinical standards. By employing the newest technology available, the facilities will provide flexibility necessary for producing a myriad of different MAb therapeutics in Chinese Hamster Ovary (CHO) cells. Microbioreactors can screen dozens of clones at the millileter scale, saving time and money. Disposable bioreactors in the upstream process allow for variance in the production capacity due to the range of sizes they are available in. Finally, the purification process has been designed to allow for flexibility depending on the size and needs of every client’s product to maximize value to the costumer as well as the company. The current market for MAb production has an astounding worldwide value of approximately $27.5 billion and continues to expand as the number of MAbs entering clinical trials increases (Cowen 2006). It is estimated that within the next four years that the worldwide market value will reach$50 billion (“Preclinical Development”, 2010). The profitability of this proposal is based on running 39 batches a year at 4.326 kg MAb/batch or 168.71 kg MAb/year. By charging a reasonable average of $1,125,000/kg MAb, a profitability profile can be created. Assuming a 70$111,907,800 and 52.96% respectively. However, using a 70% production capacity also leaves room for even higher profit margins. The plant design also has space allotted for future expansion within the mammalian suite as well as room for a future microbial suite

Industrial-Scale Manufacture of Oleosin 30G for Use as Contrast Agent in Echocardiography

In ultrasound sonography, microbubbles are used as contrasting agents to improve the effectiveness of ultrasound imaging. Monodisperse microbubbles are required to achieve the optimal image quality. In order to achieve a uniform size distribution, microbubbles are stabilized with surfactant molecules. One such molecule is Oleosin, an amphiphilic structural protein found in vascular plant oil bodies that contains one hydrophobic and two hydrophilic sections. Controlling the functionalization of microbubbles is a comprehensive and versatile process using recombinant technology to produce a genetically engineered form of Oleosin called Oleosin 30G. With the control of a microfluidic device, uniformly-sized and resonant microbubbles can be readily produced and stored in stable conditions up to one month. Currently, Oleosin microbubbles are limited to the lab-scale; however, through development of an integrated batch bioprocessing model, the overall product yield of Oleosin 30G can be increased to 7.39 kg/year to meet needs on the industrial-scale. An Oleosin-stabilized microbubble suspension as a contrast agent is in a strong position to take a competitive share of the current market, capitalizing on needs unmet by current market leader, Definity®. Based on market dynamics and process logistics, scaled-up production of Oleosin 30G for use as a contrast agent is expected to be both a useful and profitable venture

SUITE an Innovative Bioreactor Platform for in vitro Experiments

In-vitro cell cultures are a fundamental step in preclinical drug testing and are of great interest to the pharmaceutical industry. The most common method for culturing cells is in cell culture incubators. These are large and cumbersome and all mechanical stimuli are absent. They are nevertheless used ubiquitously and their results quoted as "standards" of in-vitro protocols. Several alternative culture methods have been proposed, and many systems are currently available commercially. Indeed, systems and devices for maintaining cells and tissues in controlled physical conditions, or bioreactors, have become an important tool in many areas of research. This is not only due to the growing interest in tissue engineering but also because it is now being increasingly recognised that cells respond not only to their biochemical, but also to their physical environment, and both cues are necessary to create a biomimetic habitat. However most bioreactors for cell culture and tissue engineering are cumbersome and only provide a few cues such as flow or strain, allowing limited control and flexibility. Since drug testing involves a large number of tests on identical cell cultures, a single well culture is inadequate and costly both in time and money. The High Throughput Screening (HTS), is a methodology for scientific experimentation widely used in drug discovery, based on a brute-force approach to collect a large amount of experimental data in less time and using less animals. The parallel nature of HTS makes it possible to collect a large amount of data from a small number of experiments and in a very short time. HTS, however, suffers from a significant problem that may affect the relevance of tests: the environment discrepancy problem. Another problem related with the actual drug testing and tissue engineering experiments is the enormous number of animals that have to be scarified every year. The aim of this study was to develop a generic platform or SUITE (Supervising Unit for In-vitro TEsting) for cell, tissue and organ culture composed of two main components: a universal control unit and an array of bioreactor chambers. The platform provides a biomimetic habitat to cells and tissues since the environment in the chambers is controlled and regulated to provide biomechanical and biophysical stimuli similar to those found in-vivo. In this work I describe how a new concept of cell culture bioreactor was developed by integrating different technologies and research fields. The data extracted using this new cell culture approach is more predictive of the in vivo response with respect to the multi-well approach, particularly for drug related studies. The starting point was a thorough analysis of currently used in-vitro methods; their pros and cons were assessed to exploit their advantages and overcome or circumvent their disadvantages. As far as the culture chamber is concerned, the approach was to use the methods and materials commonly employed in microfluidic fabrication, but at scales compatible with classical culture systems such as petri-dishes and multiwells. This renders the bioreactors more amenable to use by biologists and enables the use of cell densities comparable with classic systems as well as the use of conventional assaying techniques. In most cases, the cell culture chambers are thus made out of PDMS (Polydimethylsiloxane), using soft-moulding with micro- or mini-machined masters, or what we call Soft Milli-molding. A system on a plate Multi Compartmental Modular Bioreactor (MCmB) was developed using this technology. The MCmB is a modular chamber for high throughput multi compartmental bioreactor experiments. It is designed to be used in a wide range of applications and with various cell types. A precise stimulus application is also very important to better understand the correlation between physical variables and pathologies allowing a more accurate study of the tissue physiology and pathologies. For this reason in these thesis three additional stimulation chambers for vascular and articular cartilage stimulation respectively were also designed and tested. The control system was developed to be user-friendly, flexible and expandable to include new stimuli and was based on modular components, including motors and sensors. Importantly a single software interface was designed to allow data acquisition and monitoring of several chambers in series or in parallel. Using SUITE, high throughput experiments can be performed in an in vivo-like simulated environment for a long time to simulate different physiological or pathological scenarios or for toxicity testing of cells, tissues or in-vitro organ models

Optimization of Oleosin 30G Production for Echocardiography

Provided they are uniform in size, monodisperse microbubbles behave as contrast agents to enhance echocardiographic imaging. Compounds like Oleosin 30G with surfactant-like properties help stabilize microbubbles - thereby ensuring their uniform size. Designed herein is an industrial-scale plant to produce medical-grade Oleosin 30G with a process consisting of three steps: 1) upstream production via recombinant E. coli in an integrated batch bioprocessing model, 2) downstream purification, and 3) processing by microfluidic manifolds. Ultimately Oleosin 30G-coated microbubbles are manufactured, ready for injection within one month. Owing to its unique properties and cost-effective production, Oleosin 30G has the potential to outcompete current market leader Definity®. Altogether, overall yield of Oleosin 30G constitutes 7.39 kg/year to provide for 100% market saturation. Financial analysis indicates pursuing Oleosin 30G for echocardiography applications is very profitable with a 296% return on investment and holds potential for production expansion should the market demand increase

Cone Penetration Testing 2022

This volume contains the proceedings of the 5th International Symposium on Cone Penetration Testing (CPT’22), held in Bologna, Italy, 8-10 June 2022. More than 500 authors - academics, researchers, practitioners and manufacturers – contributed to the peer-reviewed papers included in this book, which includes three keynote lectures, four invited lectures and 169 technical papers. The contributions provide a full picture of the current knowledge and major trends in CPT research and development, with respect to innovations in instrumentation, latest advances in data interpretation, and emerging fields of CPT application. The paper topics encompass three well-established topic categories typically addressed in CPT events: - Equipment and Procedures - Data Interpretation - Applications. Emphasis is placed on the use of statistical approaches and innovative numerical strategies for CPT data interpretation, liquefaction studies, application of CPT to offshore engineering, comparative studies between CPT and other in-situ tests. Cone Penetration Testing 2022 contains a wealth of information that could be useful for researchers, practitioners and all those working in the broad and dynamic field of cone penetration testing