Kinematic design of a two contact points haptic interface for the thumb and index fingers of the hand.

This paper presents an integrated approach to the kinematic design of a portable haptic interface for the thumb and index fingers of the hand. The kinematics of the haptic interface was selected on the basis of constructive reasons, design constraints, and usability issues, and in order to guarantee the best level of performance with the lowest encumbrance and weight over the workspace of the hand. The kinematic dimensioning was the result of a multi-objective optimization of several performance parameters, such as minimum required torque at actuators and maximum reachable workspace, with the simultaneous fulfillment of design constraints, such as satisfactory mechanical stiffness at the end effector, global kinematic isotropy over the workspace, and limited bulk of the device. A geometric interpretation of singularities based on screw theory was formulated to point out both hand postures and movements associated with weaker performance. The results of the paper were used to build the prototype of a new portable haptic interface with two contact points, whose main design features are also specifically presented

One year of Lamivudine therapy for portuguese patients with chronic hepatitis B.

OBJECTIVE: To further verify the efficacy and safety of locally manufactured lamivudine on patients with chronic hepatitis B (CHB). METHODS: 2200 patients with CHB were recruited and received lamivudine orally 100 mg once daily for 12 months. The efficacy assessments included virologic response rate (defined by the absence of serum HBV DNA, HBeAg loss and HBeAg/HBeAb seroconversion), percentage of patients with normalization of alanine aminotransferase (ALT). Meanwhile improvement of quality of life (QOL) measured by mos SF-36 QOL questionnaire and liver histology evaluation were conducted in some patients. The safety assessments included adverse events, serious adverse events and laboratory abnormalities. All 2200 patients received at least one dose of medication and were all included in the safety population. RESULTS: Ninety seven percent of patients (2137/2200) recruited were HBV DNA positive by dot blot (sensitivity GRT or equal to 1.0 pg/ml) at baseline. At the end of 12 months treatment, HBV DNA was undetectable in 80% patients (1538/1920) with HBV DNA positive before treatment. Among the 79%(1744/2200) of the patients recruited had positive HBV DNA accompanied abnormal ALT levels at baseline, 72% patients became ALT normal. And among the 84% (1843/2200) of the patients recruited were HBV DNA and HBeAg positive, anti-HBe negative, 16% (269/1650) patients achieved HBeAg/HBeAb seroconversion after 12 months of lamivudine treatment. The HBeAg/HBeAb seroconversion rate was positive correlation to the ALT level before treatment. A total of 304 patients completed the health-related QOL questionnaire. After 12 months treatment, lamivudine improved both their physical and mental health, especially for their mental health. 133 evaluable, paired liver biopsies were obtained for histological assessment, among whom 115 patients had abnormal ALT levels at baseline. Compared with pre-treatment most of their liver injury got alleviated (51.9%) or no further deterioration (36%), only 12% worsening. During the 12 months treatment, 9% patients withdrew from the study and 17% patients showed at least one adverse event, mild or moderate. There were no obvious difference between this study and the previously reported lamivudine Phase II or III study with regard to the kinds, incidence and severity of adverse events. CONCLUSION: The efficacy and safety profile of the locally manufactured lamivudine 100 mg tablets are similar with those of the previously reported available lamivudine tablets imported in treating Chinese chronic hepatitis B patients

AN EXOSKELETON STRUCTURE FOR PHYSICAL INTERACTION WITH A HUMAN BEING

An exoskeleton robotic device, to be worn on an upper or lower limb, comprising: a base body (120), configured to be fixed substantially integral to a user (10); a first movable body (121), connected to the base body (120) by a first rotational joint (101 ) having a first rotation axis (101 ) substantially orthogonal to the front plane of the user's trunk (155) and passing substantially through the centre (72) of the user's shoulder or hip joint; a second movable body (122), connected to the first movable body (121) by a second rotational joint (102) that has a second rotation axis (102) substantially orthogonal the first rotation axis (101 ) and configured to be incident with the first rotation axis (101) at an intersection point substantially coincident with the centre (72) of the user's shoulder or hip joint;; a third movable body (123), substantially integral to the user's (10) arm or leg and connected to the second movable body (122) by a third rotational joint (103) that has a third rotation axis configured to be substantially parallel to the flexion-extension axis of the user's (10) elbow or knee, substantially orthogonal to the second axis (102) and incident with the second axis (102) at the intersection point substantially coincident with the centre (72) of the user's shoulder or hip joint, wherein the second rotational joint (102) is implemented by the second movable body (122) by means of a remote centre of rotation mechanism that has its own centre at the intersection point (72).; The remote centre of rotation mechanism may comprise a four-bar linkage that comprises two parallelograms whose sides are two-by-two adjacent and are pivotally linked to each other, and are articulated to said first and second movable bodies by means of respective hinges

ACTUATING METHOD AND DEVICE FOR HUMAN INTERACTION MULTI-JOINT MECHANISMS

An actuating device for a multi-joint mechanism that comprises a base portion (S) and a base joint (O) integral to each other, an interaction portion (3) arranged to provide to a user's limb a contact point, at which an interaction force (F) is applied to said limb, a plurality of movable portions (1, 2, 3) that form respective kinematic segments and that are articulated in order to form a serial kinematic chain starting from the base joint (O) up to the contact point. The actuating device further comprises a mirror mechanism (30) comprising at least one mirror joint (Omicron') integral to the base portion (S), a number of mirror movable portions and, respectively, of mirror kinematic segments (1', 2', 3') which is the same number as the movable portions and the same number as the kinematic segments of the multi-joint mechanism (10) articulated to the base portion (S), and have a length that is proportional to the length of the corresponding kinematic segment of the multi-joint mechanism (10), a balance force generation means (k'1, k'2, k'3) for generating a system of balance forces on the mirror kinematic segments (1____ 2', 3'), a transmission means (25) arranged between the multi-joint mechanism (10) and the mirror mechanism (30) configured for keeping the direction of each kinematic segments (1, 2, 3) of the multi-joint mechanism (10); substantially the same as the direction of each mirror kinematic segments (1', 2', 3') for any possible movements of the interaction portion (3) with respect to the base (S) and transmitting the system of balance forces from the mirror mechanism (30) to the multi-joint mechanism (10), in order to balance the interaction force (F)

An exoskeleton structure for physical interaction with a human being

An exoskeleton robotic device, to be worn on an upper or lower limb, comprising: a base body (120), configured to be fixed substantially integral to a user (10); a first movable body (121), connected to the base body (120) by a first rotational joint (101 ) having a first rotation axis (101 ) substantially orthogonal to the front plane of the user's trunk (155) and passing substantially through the centre (72) of the user's shoulder or hip joint; a second movable body (122), connected to the first movable body (121) by a second rotational joint (102) that has a second rotation axis (102) substantially orthogonal the first rotation axis (101 ) and configured to be incident with the first rotation axis (101) at an intersection point substantially coincident with the centre (72) of the user's shoulder or hip joint;; a third movable body (123), substantially integral to the user's (10) arm or leg and connected to the second movable body (122) by a third rotational joint (103) that has a third rotation axis configured to be substantially parallel to the flexion-extension axis of the user's (10) elbow or knee, substantially orthogonal to the second axis (102) and incident with the second axis (102) at the intersection point substantially coincident with the centre (72) of the user's shoulder or hip joint, wherein the second rotational joint (102) is implemented by the second movable body (122) by means of a remote centre of rotation mechanism that has its own centre at the intersection point (72).; The remote centre of rotation mechanism may comprise a four-bar linkage that comprises two parallelograms whose sides are two-by-two adjacent and are pivotally linked to each other, and are articulated to said first and second movable bodies by means of respective hinges

Actuating method and device for human interaction multi-joint mechanisms

An actuating device for a multi-joint mechanism that comprises a base portion (S) and a base joint (O) integral to each other, an interaction portion (3) arranged to provide to a user's limb a contact point, at which an interaction force (F) is applied to said limb, a plurality of movable portions (1, 2, 3) that form respective kinematic segments and that are articulated in order to form a serial kinematic chain starting from the base joint (O) up to the contact point. The actuating device further comprises a mirror mechanism (30) comprising at least one mirror joint (Ο') integral to the base portion (S), a number of mirror movable portions and, respectively, of mirror kinematic segments (1', 2', 3') which is the same number as the movable portions and the same number as the kinematic segments of the multi-joint mechanism (10) articulated to the base portion (S), and have a length that is proportional to the length of the corresponding kinematic segment of the multi-joint mechanism (10), a balance force generation means (k'1, k'2, k'3) for generating a system of balance forces on the mirror kinematic segments (1\ 2', 3'), a transmission means (25) arranged between the multi-joint mechanism (10) and the mirror mechanism (30) configured for keeping the direction of each kinematic segments (1, 2, 3) of the multi-joint mechanism (10) substantially the same as the direction of each mirror kinematic segments (1', 2', 3') for any possible movements of the interaction portion (3) with respect to the base (S) and transmitting the system of balance forces from the mirror mechanism (30) to the multi-joint mechanism (10), in order to balance the interaction force (F)