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

The development of a SmartAbility Framework to enhance multimodal interaction for people with reduced physical ability.

Assistive technologies are an evolving market due to the number of people worldwide who have conditions resulting in reduced physical ability (also known as disability). Various classification schemes exist to categorise disabilities, as well as government legislations to ensure equal opportunities within the community. However, there is a notable absence of a process to map physical conditions to technologies in order to improve Quality of Life for this user group. This research is characterised primarily under the Human Computer Interaction (HCI) domain, although aspects of Systems of Systems (SoS) and Assistive Technologies have been applied. The thesis focuses on examples of multimodal interactions leading to the development of a SmartAbility Framework that aims to assist people with reduced physical ability by utilising their abilities to suggest interaction mediums and technologies. The framework was developed through a predominantly Interpretivism methodology approach consisting of a variety of research methods including state- of-the-art literature reviews, requirements elicitation, feasibility trials and controlled usability evaluations to compare multimodal interactions. The developed framework was subsequently validated through the involvement of the intended user community and domain experts and supported by a concept demonstrator incorporating the SmartATRS case study. The aim and objectives of this research were achieved through the following key outputs and findings: - A comprehensive state-of-the-art literature review focussing on physical conditions and their classifications, HCI concepts relevant to multimodal interaction (Ergonomics of human-system interaction, Design For All and Universal Design), SoS definition and analysis techniques involving System of Interest (SoI), and currently-available products with potential uses as assistive technologies. - A two-phased requirements elicitation process applying surveys and semi-structured interviews to elicit the daily challenges for people with reduced physical ability, their interests in technology and the requirements for assistive technologies obtained through collaboration with a manufacturer. - Findings from feasibility trials involving monitoring brain activity using an electroencephalograph (EEG), tracking facial features through Tracking Learning Detection (TLD), applying iOS Switch Control to track head movements and investigating smartglasses. - Results of controlled usability evaluations comparing multimodal interactions with the technologies deemed to be feasible from the trials. The user community of people with reduced physical ability were involved during the process to maximise the usefulness of the data obtained. - An initial SmartDisability Framework developed from the results and observations ascertained through requirements elicitation, feasibility trials and controlled usability evaluations, which was validated through an approach of semi-structured interviews and a focus group. - An enhanced SmartAbility Framework to address the SmartDisability validation feedback by reducing the number of elements, using simplified and positive terminology and incorporating concepts from Quality Function Deployment (QFD). - A final consolidated version of the SmartAbility Framework that has been validated through semi-structured interviews with additional domain experts and addressed all key suggestions. The results demonstrated that it is possible to map technologies to people with physical conditions by considering the abilities that they can perform independently without external support and the exertion of significant physical effort. This led to a realisation that the term ‘disability’ has a negative connotation that can be avoided through the use of the phrase ‘reduced physical ability’. It is important to promote this rationale to the wider community, through exploitation of the framework. This requires a SmartAbility smartphone application to be developed that allows users to input their abilities in order for recommendations of interaction mediums and technologies to be provided

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

Cyclotron production of short-lived radionuclides and labelled compounds for use in biomedical research and clinical diagnosis

The works submitted in this thesis cover the development of methods for the production in a cyclotron of a variety of radionuclides and their incorporation in radio-labelled compounds for use in biomedical research. In addition, papers are included which describe biomedical applications of such radio-tracers. My co-authorship of these publications reflects my interest in the design and execution of experiments in the realm of interdisciplinary research. The original contributions to science embodied in the publications submitted include examples of novel radiochemistry applied in the areas of cyclotron production of short half-life radionuclides and their radiochemical purification. In many cases the use of these radionuclides in biomedical research has added new information to the body of medical scientific Toiowledge. Novel radiolabelling strategies using very short half-life radionuclides are included. These have necessitated the development of rapid radio-organic syntheses, several of which have been achieved using automated microchemical engineering process plants of my design. I have also developed novel systems for the administration of radionuclies and radio-labelled compounds of pharmaceutical quality, widely acknowledged to be "World Firsts." My invention of the (^81)Kr(^m) radionuclide generator resulted in publications covering a wide range of medical applications. These are included with the thesis. The device is now produced in many countries around the world for use both in routine clinical diagnosis and in research, particularly in lung disease. More recently, I have created an automated bedside infuser of H(_2)(^15)O, which has revolutionised measurements of regional cerebral blood flow using the technique of Positron Emission Tomography for in vivo regional mapping of brain activity

The Sweet River: A collection of short stories

Herein is a book-length collection of short stories entitled The Sweet River. The stories in this collection follow a self-discovered structural paradigm found in the works of influential short story writers. This paradigm comprises four sequential stages: situation, tension through a series of patient complications, catharsis or reversal and double reversal, and epiphany. Thematically, the stories feature a protagonist adrift from conformist society, in search of transcendence amid the age-old dichotomy between the self and the other, and ultimately facing a moral crucible. Stylistically, the stories rely heavily on the external landscape as a means of avoiding sentimentality while still preserving emotional resonance

Bowdoin Orient v.135, no.1-25 (2005-2006)

https://digitalcommons.bowdoin.edu/bowdoinorient-2000s/1006/thumbnail.jp

The Music Sound

A guide for music: compositions, events, forms, genres, groups, history, industry, instruments, language, live music, musicians, songs, musicology, techniques, terminology , theory, music video. Music is a human activity which involves structured and audible sounds, which is used for artistic or aesthetic, entertainment, or ceremonial purposes. The traditional or classical European aspects of music often listed are those elements given primacy in European-influenced classical music: melody, harmony, rhythm, tone color/timbre, and form. A more comprehensive list is given by stating the aspects of sound: pitch, timbre, loudness, and duration. Common terms used to discuss particular pieces include melody, which is a succession of notes heard as some sort of unit; chord, which is a simultaneity of notes heard as some sort of unit; chord progression, which is a succession of chords (simultaneity succession); harmony, which is the relationship between two or more pitches; counterpoint, which is the simultaneity and organization of different melodies; and rhythm, which is the organization of the durational aspects of music

Technology and Aging in America

A report by the Office of Technology Assessment (OTA) that "discusses five chronic conditions that severely affect older persons-osteoarthritis, dementia, osteoporosis, hearing impairments, and urinary incontinence" (p. iii)