Kinematic Analysis of a Flexible Tensegrity Robot

Conference Paper presented at The Joint International Conference of the XII International Conference on Mechanisms and Mechanical Transmissions (MTM) and the XXIII International Conference on Robotics (Robotics ’16)In the field of parallel kinematics few designs use highly deformable elements to obtain the end effector movement. Most compliant mechanisms rely on notches or shape changes to simulate a standard kinematic joint. In this work a kinematic model of a simple parallel continuum mechanism that combines a deformable element and cable is presented. The kinematic model is used to study the workspace of the manipulator and is validated by experimental measurements of a prototype.The authors wish to acknowledge the financial support received from the Spanish Government through the Ministerio de Economía y Competitividad (Project DPI2015-64450-R) and the Regional Government of the Basque Country through the Departamento de Educación, Universidades e Investigación (Project IT445-10) and UPV/EHU under program UFI 11/29

Kinematic Analysis of a Continuum Parallel Robot

Conference Paper presented at EUCOMES 2016 held in Nantes, France, from 20 to 23 September 2016Continuum Parallel Robots are mechanical devices with closed loops where kinematic pairs have been eliminated and motion is obtained by large deformations of certain elements. Most compliant mechanisms use notches in thick elements to produce the effect of kinematic pairs. A few are designed so that slender elements can deform and produce the desired motion. Some microelectromechanical systems have used this principle to create bistable planar mechanisms. The purpose of this work is to extend such principle in the field of macro mechanisms for manipulation. The aim is to design the counterparts to some classical parallel manipulators solving the corresponding kinematic problems. In doing this, the authors will have to work out the most efficient way to solve a position problem where geometry and forces are involved. Such compliant mechanisms could be combined in the future with tensegrity systems to enhance the available workspace. In this first report, we will focus on the simplest planar parallel mechanism of two degrees of freedomThe authorswish to acknowledge the financial support received fromthe Spanish Government through theMinisterio de Economía y Competitividad (Project DPI2015-64450-R) and the Regional Government of the Basque Country through the Departamento de Educación, Universidades e Investigación (Project IT445-10) and UPV/EHU under program UFI 11/29. Also, the support of ERASMUS program is gratefully acknowledged by the fourth autho

Radio-frequency heating of the cornea: theoretical model and in vitro experiments

[EN] We present a theoretical model for the study of cornea heating with radio-frequency currents. This technique is used to reshape the cornea to correct refractive disorders. Our numerical model has allowed the study of the temperature distributions in the cornea and to estimate the dimensions of the lesion. The model incorporates a fragment of cornea, aqueous humor, and the active electrode placed on the cornea surface. The finite element method has been used to calculate the temperature distribution in the cornea by solving a coupled electric-thermal problem. We analyzed by means of computer simulations the effect of: a) temperature influence on the tissue electrical conductivity; b) the dispersion of the biological characteristics; c) the anisotropy of the cornea thermal conductivity; d) the presence of the tear film; and e) the insertion depth of the active electrode in the cornea, and the results suggest that these effects have a significant influence on the temperature distributions and thereby on the lesion dimensions. However, the cooling of the aqueous humor in the endothelium or the realistic value of the cornea curvature did not have a significant effect on the temperature distributions. An experimental model based on the lesions created in rabbit eyes has been used in order to compare the theoretical and experimental results. There is a tendency toward the agreement between experimental and theoretical results, although we have observed that the theoretical model overestimates the lesion dimension.Berjano, E.; Saiz Rodríguez, FJ.; Ferrero Corral, JM. (2002). Radio-frequency heating of the cornea: theoretical model and in vitro experiments. IEEE Transactions on Biomedical Engineering. 49(3):196-205. doi:10.1109/10.983453S19620549

Analysis of prognostic factors associated with longitudinally extensive transverse myelitis

Abstract Objective: The aim of this study is to report the clinical profile and outcome of longitudinally extensive transverse myelitis (LETM). Methods: We prospectively studied adult patients who presented with LETM from January 2008 to December 2011. Information on demographic, clinical course, magnetic resonance imaging (MRI) and outcome was collected. HLA-DRB1 genotype was compared with those of 225 normal controls and patients with MS (228) and neuromyelitis optica (NMO) (22). Results: In total, 23 patients (16 female) with a median age of 44.5 years (range: 20–77 years) were included. Most (74%) had moderate–severe disability at nadir (48% non-ambulatory), normal/non-multiple sclerosis (MS) brain MRI (96%) and a median MRI cord lesion of 5 vertebral segments (range: 3–19). Laboratory analysis showed cerebrospinal fluid pleocytosis (45%), NMO-IgG (9%), antinuclear antibodies (70%), and genotype HLA-DRB1*13 (57%). The frequency of DRB1*13 genotype was higher compared with controls (p=0.002), MS (p=0.001) and NMO (p= 0.003) patients. After a median follow-up of 32 months, one patient converted to MS, two had relapsing LETM with NMO-IgG, and 20 remained as idiopathic with recurrences in four (20%). Twelve (52%) patients recovered with minimal disability (Expanded Disability Status Scale (EDSS) <2.5) and three (13%) remained wheelchair dependent. Disability at nadir was associated with the final outcome and extension of the spinal cord lesion with risk of recurrence. Recurrence was not associated with worse outcome. Conclusions: Inflammatory LETM is mostly idiopathic with a good outcome. It includes a relatively homogenous group of patients with an overrepresentation of the HLA-DRB1*13 genotype. EDSS at nadir is a predictor of the final outcome and extension of the myelitis of the recurrence risk

Treatment with tocilizumab or corticosteroids for COVID-19 patients with hyperinflammatory state: a multicentre cohort study (SAM-COVID-19)

Objectives: The objective of this study was to estimate the association between tocilizumab or corticosteroids and the risk of intubation or death in patients with coronavirus disease 19 (COVID-19) with a hyperinflammatory state according to clinical and laboratory parameters. Methods: A cohort study was performed in 60 Spanish hospitals including 778 patients with COVID-19 and clinical and laboratory data indicative of a hyperinflammatory state. Treatment was mainly with tocilizumab, an intermediate-high dose of corticosteroids (IHDC), a pulse dose of corticosteroids (PDC), combination therapy, or no treatment. Primary outcome was intubation or death; follow-up was 21 days. Propensity score-adjusted estimations using Cox regression (logistic regression if needed) were calculated. Propensity scores were used as confounders, matching variables and for the inverse probability of treatment weights (IPTWs). Results: In all, 88, 117, 78 and 151 patients treated with tocilizumab, IHDC, PDC, and combination therapy, respectively, were compared with 344 untreated patients. The primary endpoint occurred in 10 (11.4%), 27 (23.1%), 12 (15.4%), 40 (25.6%) and 69 (21.1%), respectively. The IPTW-based hazard ratios (odds ratio for combination therapy) for the primary endpoint were 0.32 (95%CI 0.22-0.47; p < 0.001) for tocilizumab, 0.82 (0.71-1.30; p 0.82) for IHDC, 0.61 (0.43-0.86; p 0.006) for PDC, and 1.17 (0.86-1.58; p 0.30) for combination therapy. Other applications of the propensity score provided similar results, but were not significant for PDC. Tocilizumab was also associated with lower hazard of death alone in IPTW analysis (0.07; 0.02-0.17; p < 0.001). Conclusions: Tocilizumab might be useful in COVID-19 patients with a hyperinflammatory state and should be prioritized for randomized trials in this situatio

Devices for gait and balance rehabilitation: General classification and a narrative review of end effector-based manipulators

Gait and balance have a direct impact on patients’ independence and quality of life. Due to a higher life expectancy, the number of patients suffering neurological disorders has increased exponentially, with gait and balance impairments being the main side effects. In this context, the use of rehabilitation robotic devices arises as an effective and complementary tool to recover gait and balance functions. Among rehabilitation devices, end effectors present some advantages and have shown encouraging outcomes. The objective of this study is twofold: to propose a general classification of devices for gait and balance rehabilitation and to provide a review of the existing end effectors for such purposes. We classified the devices into five groups: treadmills, exoskeletons, patient-guided systems, perturbation platforms, and end effectors. Overall, 55 end effectors were identified in the literature, of which 16 were commercialized. We found a disproportionate number of end effectors capable of providing both types of rehabilitation (2/55) and those focused on either balance (21/55) or gait (32/55). The analysis of their features from a mechanical standpoint (degrees of freedom, topology, and training mode) allowed us to identify the potential of parallel manipulators as driving mechanisms of end effector devices and to suggest several future research directions.This research received financial support for the project PID2019-105262RB-I00 funded by MCIN/AEI/10.13039/501100011033 and for the project PDC2022-133787-I00 funded by MCIN/AEI/10.13039/501100011033 and by the European Union Next Generation EU/PRTR. This research was also funded by the Basque Government for the project 2018222013 and PhD grant PRE_2023_2_0168

Analysis of prognostic factors associated with longitudinally extensive transverse myelitis

Abstract Objective: The aim of this study is to report the clinical profile and outcome of longitudinally extensive transverse myelitis (LETM). Methods: We prospectively studied adult patients who presented with LETM from January 2008 to December 2011. Information on demographic, clinical course, magnetic resonance imaging (MRI) and outcome was collected. HLA-DRB1 genotype was compared with those of 225 normal controls and patients with MS (228) and neuromyelitis optica (NMO) (22). Results: In total, 23 patients (16 female) with a median age of 44.5 years (range: 20–77 years) were included. Most (74%) had moderate–severe disability at nadir (48% non-ambulatory), normal/non-multiple sclerosis (MS) brain MRI (96%) and a median MRI cord lesion of 5 vertebral segments (range: 3–19). Laboratory analysis showed cerebrospinal fluid pleocytosis (45%), NMO-IgG (9%), antinuclear antibodies (70%), and genotype HLA-DRB1*13 (57%). The frequency of DRB1*13 genotype was higher compared with controls (p=0.002), MS (p=0.001) and NMO (p= 0.003) patients. After a median follow-up of 32 months, one patient converted to MS, two had relapsing LETM with NMO-IgG, and 20 remained as idiopathic with recurrences in four (20%). Twelve (52%) patients recovered with minimal disability (Expanded Disability Status Scale (EDSS) <2.5) and three (13%) remained wheelchair dependent. Disability at nadir was associated with the final outcome and extension of the spinal cord lesion with risk of recurrence. Recurrence was not associated with worse outcome. Conclusions: Inflammatory LETM is mostly idiopathic with a good outcome. It includes a relatively homogenous group of patients with an overrepresentation of the HLA-DRB1*13 genotype. EDSS at nadir is a predictor of the final outcome and extension of the myelitis of the recurrence risk

Rapidity and transverse momentum dependence of inclusive J/ψ production in pp collisions at √s=7 TeV

The ALICE experiment at the LHC has studied inclusive J/ψ production at central and forward rapidities in pp collisions at √s=7 TeV. In this Letter, we report on the first results obtained detecting the J/ψ through the dilepton decay into e+e− and μ+μ− pairs in the rapidity ranges |y|<0.9 and 2.5<y<4, respectively, and with acceptance down to zero pT. In the dielectron channel the analysis was carried out on a data sample corresponding to an integrated luminosity Lint=5.6 nb−1 and the number of signal events is NJ/ψ=352±32(stat.)±28(syst.); the corresponding figures in the dimuon channel are Lint=15.6 nb−1 and NJ/ψ=1924±77(stat.)±144(syst.). The measured production cross sections are σJ/ψ(|y|<0.9)=10.7±1.0(stat.)±1.6(syst.)−2.3+1.6(syst.pol.)μb and σJ/ψ(2.5<y<4)=6.31±0.25(stat.)±0.76(syst.)−1.96+0.95(syst.pol.)μb. The differential cross sections, in transverse momentum and rapidity, of the J/ψ were also measured

Suppression of charged particle production at large transverse momentum in central Pb–Pb collisions at √sNN=2.76 TeV

Inclusive transverse momentum spectra of primary charged particles in Pb–Pb collisions at √sNN=2.76 TeV have been measured by the ALICE Collaboration at the LHC. The data are presented for central and peripheral collisions, corresponding to 0–5% and 70–80% of the hadronic Pb–Pb cross section. The measured charged particle spectra in |η|<0.8 and 0.3<pT<20 GeV/c are compared to the expectation in pp collisions at the same sNN, scaled by the number of underlying nucleon–nucleon collisions. The comparison is expressed in terms of the nuclear modification factor RAA. The result indicates only weak medium effects (RAA≈0.7) in peripheral collisions. In central collisions, RAA reaches a minimum of about 0.14 at pT=6–7 GeV/c and increases significantly at larger pT. The measured suppression of high-pT particles is stronger than that observed at lower collision energies, indicating that a very dense medium is formed in central Pb–Pb collisions at the LHC