Design of a robot-assisted exoskeleton for passive wrist and forearm rehabilitation

This paper presents a new exoskeleton design for wrist and forearm rehabilitation. The contribution of this study is to offer a methodology which shows how to adapt a serial manipulator that reduces the number of actuators used on exoskeleton design for the rehabilitation. The system offered is a combination of end-effector- and exoskeleton-based devices. The passive exoskeleton is attached to the end effector of the manipulator, which provides motion for the purpose of rehabilitation process. The Denso VP 6-Axis Articulated Robot is used to control motion of the exoskeleton during the rehabilitation process. The exoskeleton is designed to be used for both wrist and forearm motions. The desired moving capabilities of the exoskeleton are flexion–extension (FE) and adduction–abduction (AA) motions for the wrist and pronation–supination (PS) motion for the forearm. The anatomical structure of a human limb is taken as a constraint during the design. The joints on the exoskeleton can be locked or unlocked manually in order to restrict or enable the movements. The parts of the exoskeleton include mechanical stoppers to prevent the excessive motion. One passive degree of freedom (DOF) is added in order to prevent misalignment problems between the axes of FE and AA motions. Kinematic feedback of the experiments is performed by using a wireless motion tracker assembled on the exoskeleton. The results proved that motion transmission from robot to exoskeleton is satisfactorily achieved. Instead of different exoskeletons in which each axis is driven and controlled separately, one serial robot with adaptable passive exoskeletons is adequate to facilitate rehabilitation exercises.</p

Effects of kefir on coccidial oocysts excretion and performance of dairy goat kids following weaning

The aim of this study was to investigate effects of kefir, a traditional source of probiotic, on coccidial oocysts excretion and on the performance of dairy goat kids following weaning. Twin kids were randomly allocated to one of two groups at weaning. Kids of the first group received 20 ml of kefir daily for 6 weeks (KEF), while kids in the control group were given a placebo (CON). Individual faecal samples were regularly (n = 18 per kid) taken to quantify the number of coccidial oocysts per gram of faeces (OpG). There were no differences between the groups in terms of body weight development (P > 0.05) and feed consumption. Kids of both groups were not able to consume enough feed to meet their nutrient requirements during the first 3 weeks following weaning. KEF had a lower frequency of OpG positive samples than CON (P = 0.043). Kefir did not affect the maximum oocyst excretion and age of the kids at the highest oocyst excretion (P > 0.05). KEF shed numerically 35% lower coccidial oocysts than the controls, which corresponded to a statistical tendency (P = 0.074) in lowering Log-OpG in comparison to CON. While KEF had a lower frequency of OpG positive samples and tended to shed lower OPG by around one-third, the frequency of diarrhea, level of highest oocyst excretion, and performance of the kids remained unaffected. Therefore, it is concluded that overall effects of kefir do not have a significant impact on sub-clinical infection and performance in weaned kids under relatively high-hygienic farming conditions

Electrosprayed catalyst layers based on graphene-carbon black hybrids for the next-generation fuel cell electrodes

Here, we report a novel electrode structure with graphene and graphene–carbon black hybrids by electrospraying for polymer electrolyte membrane fuel cells. After syntheses of platinum (Pt)/partially reduced graphene oxide (rGO) and Pt/r-GO/carbon black (CB) hybrid electrocatalysts, suspensions of synthesized electrocatalyst inks were prepared with Nafion® ionomer and poly(vinylidene fluoride-co-hexafluoropropylene) and electrosprayed over carbon paper to form electrodes. Electrosprayed catalyst layer exhibited uniform and small size Pt distribution. As the graphene content increases micrometer-sized droplet, pore formation and surface roughness of the electrode increase. Thus, an open porous electrode structure which is favorable for mass transport is achieved by electrospraying. The maximum power densities, 324 mW cm−2 for Pt/rGO and 441 mW cm−2 for Pt/rGO/CB electrosprayed electrodes, were achieved at a relatively low catalyst loading