Real-time human motion analysis and grasping force using the OptiTrack system and Flexi-force sensor

Biologically inspired robotic hands have important applications in industry and biomedical robotics. The grasping capacity of robotic hands is crucial for a robotic system. This paper presents an experimental study on the finger force and movements of a human hand during the grasping operation in real-time. It focuses on two topics; measuring grasping force using Flexi-force sensors and analysing human hand action during grasping operation. The findings show that lifting required higher forces compared with grasp force in the static phase

Feasibility of Rehabilitation Training With a Newly Developed Wearable Robot for Patients With Limited Mobility

ObjectiveTo investigate the feasibility of rehabilitation training with a new wearable robot.DesignBefore-after clinical intervention.SettingUniversity hospital and private rehabilitation facilities.ParticipantsA convenience sample of patients (N=38) with limited mobility. The underlying diseases were stroke (n=12), spinal cord injuries (n=8), musculoskeletal diseases (n=4), and other diseases (n=14).InterventionsThe patients received 90-minute training with a wearable robot twice per week for 8 weeks (16 sessions).Main Outcome MeasuresFunctional ambulation was assessed with the 10-m walk test (10MWT) and the Timed Up & Go (TUG) test, and balance ability was assessed with the Berg Balance Scale (BBS). Both assessments were performed at baseline and after rehabilitation.ResultsThirty-two patients completed 16 sessions of training with the wearable robot. The results of the 10MWT included significant improvements in gait speed, number of steps, and cadence. Although improvements were observed, as measured with the TUG test and BBS, the results were not statistically significant. No serious adverse events were observed during the training.ConclusionsEight weeks of rehabilitative training with the wearable robot (16 sessions of 90min) could be performed safely and effectively, even many years after the subjects received their diagnosis

Minimal information for studies of extracellular vesicles (MISEV2023): From basic to advanced approaches

Extracellular vesicles (EVs), through their complex cargo, can reflect the state of their cell of origin and change the functions and phenotypes of other cells. These features indicate strong biomarker and therapeutic potential and have generated broad interest, as evidenced by the steady year-on-year increase in the numbers of scientific publications about EVs. Important advances have been made in EV metrology and in understanding and applying EV biology. However, hurdles remain to realising the potential of EVs in domains ranging from basic biology to clinical applications due to challenges in EV nomenclature, separation from non-vesicular extracellular particles, characterisation and functional studies. To address the challenges and opportunities in this rapidly evolving field, the International Society for Extracellular Vesicles (ISEV) updates its 'Minimal Information for Studies of Extracellular Vesicles', which was first published in 2014 and then in 2018 as MISEV2014 and MISEV2018, respectively. The goal of the current document, MISEV2023, is to provide researchers with an updated snapshot of available approaches and their advantages and limitations for production, separation and characterisation of EVs from multiple sources, including cell culture, body fluids and solid tissues. In addition to presenting the latest state of the art in basic principles of EV research, this document also covers advanced techniques and approaches that are currently expanding the boundaries of the field. MISEV2023 also includes new sections on EV release and uptake and a brief discussion of in vivo approaches to study EVs. Compiling feedback from ISEV expert task forces and more than 1000 researchers, this document conveys the current state of EV research to facilitate robust scientific discoveries and move the field forward even more rapidly

<症例>肝原発性悪性線維組織球腫の1例

Malignant fibrous histiocytoma (MFH) is a rare disease. We describe a 68-year-old man admitted to the hospital because of malaise. On admission, hematologic and serum chemical examinations showed no abnormalities. A tumor measuring 6.0×6.0×5.5 cm was found in segment S6 of the right lobe of the liver. A computed tomographic scan of the abdomen revealed a mass surrounded by a capsule-like region with a nonuniform shadow at its margin. The mass contained a nonuniform low density area. A magnetic resonance imaging scan showed low intensity on T1-weighted images and high intensity on T2-weighted images. An angiograrn of the abdomen revealed a tumor with a darkly stained margin during the venous phase. Partial resection of the liver, including S6 and part of S7, was performed. On histopathological examination, this case was characterized by a storiform pattern. The inside of the tumor showed a storiform-pleomorphic pattern with inflammatory cell infiltration and partial mucinous degeneration. On immunohistochemical studies, the tumor cells stained positively for CD6. The diagnosis was MFH.肝原発の悪性線維性組織球（MFH）はまれな疾患である. 患者は68歳の男性. 主訴は倦怠感. 入院時検査では血液検査で異常を認めなかった. 腫瘍は肝右葉 S6 にあり大きさは 6.0×6.0×5.5cm 大であった. 腹部CT検査で辺縁部は不均一な造影効果を伴う被膜状のものを認め, 内部は不均一な low density area であった. MRI検査ではT1強調画像で low intensity, T2 強調画像で high intensity として描出された. 腹部血管造影は, 辺縁が静脈相で濃染される腫瘍像を認めた. S6 と S7 の一部を含む肝部分切除を施行した. 病理組織学的検査は, 線維芽細胞様細胞と組織球様細胞とからなる特徴的な storiform pattern （花むしろ模様）が見られ, 腫瘍内には炎症性細胞浸潤や一部粘液変性を伴う storiform pleomorphic type （花むしろ多形型）であった. 免疫組織化学的検査は CD68 に陽性を示したことより MFH と診断した