5 research outputs found
The Hand of the DLR Hand Arm System: Designed for Interaction
Physical human–robot interaction implies the intersection of human and robot workspaces and intrinsically favors collision. The robustness of the most exposed parts, such as the hands, is crucial for effective and complete task execution of a robot. Considering the scales, we think that the robustness can only be achieved by the use of energy storage mechanisms, e.g. in elastic elements. The use of variable stiffness drives provides a low-pass filtering of impacts and allows stiffness adjustments depending on the task. However, using these drive principles does not guarantee the safety of the human due to the dramatically increased dynamics of such system. The design methodology of an antagonistically tendon-driven hand is explained. The resulting hand, very close to its human archetype in terms of size, weight, and, in particular, grasping performance, robustness, and dynamics, is presented. The hyper-actuated hand is a research platform that will also be used to investigate the importance of mechanical couplings and, in future projects, be the basis of a simplified hand that would still perform daily manipulation tasks
Treatment decisions in a man with Hodgkin lymphoma and Guillian-Barré syndrome: a case report
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Use of Chimeric Antigen Receptor T Cell Therapy in Clinical Practice for Relapsed/Refractory Aggressive B Cell Non-Hodgkin Lymphoma: An Expert Panel Opinion from the American Society for Transplantation and Cellular Therapy
Axicabtagene ciloleucel (YESCARTA; Kite Pharma, a Gilead Company, Los Angeles CA) and tisagenlecleucel (KYMRIAH; Novartis Pharmaceuticals Corp., Basel, Switzerland) are two CD19-directed chimeric antigen receptor (CAR) T cell products currently approved by the US Food and Drug Administration; the European Medicines Agency; Health Canada; Ministry of Health, Labor and Welfare (Japan); and Therapeutic Goods Administration (Australia) for treatment of specific subtypes of relapsed/refractory aggressive B cell non-Hodgkin lymphoma (NHL). Although this approval has been transformative in the use of cellular immunotherapy in lymphoma, there are concerns regarding appropriate use of this novel therapy and of short- and long-term toxicities. To address these issues, representatives of the American Society of Transplantation and Cellular Therapy convened to recognize and address key issues surrounding the clinical application of CD19 CAR T cell therapy in B cell lymphomas, in collaboration with worldwide experts. The aim of this article is to provide consensus opinion from experts in the fields of hematopoietic cell transplantation, cellular immunotherapy, and lymphoma regarding key clinical questions pertinent to the use of CD19 CAR T cell products for the treatment of NHL. As the clinical practice using CAR T cells grows worldwide, we anticipate that this guidance will be relevant for hematology/oncology physicians who care for patients with lymphomas