Frequency Domain Analysis of Nonlinear Series Elastic Actuator via Describing Function

Nonlinear stiffness SEAs (NSEAs) inspired by biological muscles offer promise in achieving adaptable stiffness for assistive robots. While assistive robots are often designed and compared based on torque capability and control bandwidth, NSEAs have not been systematically designed in the frequency domain due to their nonlinearity. The describing function, an analytical concept for nonlinear systems, offers a means to understand their behavior in the frequency domain. This paper introduces a frequency domain analysis of nonlinear series elastic actuators using the describing function method. This framework aims to equip researchers and engineers with tools for improved design and control in assistive robotics.Comment: accepted by 2023 IEEE ROBIO conferenc

Long-term results of a randomized controlled trial comparing neoadjuvant Adriamycin, cisplatin, and 5-fluorouracil vs docetaxel, cisplatin, and 5-fluorouracil followed by surgery for esophageal cancer (OGSG1003)

Sugimura, K, Yamasaki, M, Yasuda, T, et al. Long‐term results of a randomized controlled trial comparing neoadjuvant Adriamycin, cisplatin, and 5‐fluorouracil vs docetaxel, cisplatin, and 5‐fluorouracil followed by surgery for esophageal cancer (OGSG1003). Ann. Gastroenterol. Surg. 2020; 00: 1– 8. https://doi.org/10.1002/ags3.12388

Field Effect of Alcohol, Cigarette Smoking, and Their Cessation on the Development of Multiple Dysplastic Lesions and Squamous Cell Carcinoma: A Long-term Multicenter Cohort Study

[Background and Aims] Multiple developments of squamous dysplasia and squamous cell carcinoma (SCC) in the upper aerodigestive tract have been explained by field cancerization phenomenon and were associated with alcohol and cigarette use. Second primary SCC development after curative treatment impairs patients’ quality of life and survival; however, how these consumption and cessation affect field cancerization is still unknown. [Methods] This is a multicenter cohort study including 331 patients with superficial esophageal SCC (ESCC) treated endoscopically and pooled data from 1022 healthy subjects for comparison. Physiological condition in the background esophageal mucosa was classified into 3 groups based on the number of Lugol-voiding lesions (LVLs) per endoscopic view: grade A, 0; grade B, 1–9; or grade C, ≥10 LVLs. Lifestyle surveys were conducted using a self-administered questionnaire. Patients were counseled on the need for alcohol and smoking cessation by physicians and were endoscopically surveyed every 6 months. [Results] LVL grades were positively associated with alcohol drinking intensity, flushing reactions, smoking, and high-temperature food and were negatively associated with eating green and yellow vegetables and fruit. Second primary ESCC and head/neck SCC were significantly more prevalent in the grade C LVL (cumulative 5-y incidences 47.1%, 95% confidence interval [CI] = 38.0–57.2 and 13.3%, 95% CI = 8.1–21.5, respectively). Alcohol and smoking cessation significantly reduced the development of second primary ESCC (adjusted hazard ratios 0.47, 95% = CI 0.26–0.85 and 0.49, 95% CI = 0.26–0.91, respectively). [Conclusion] Alcohol drinking, smoking, flushing reaction, and high-temperature food were closely associated with field cancerization, and cessation of alcohol and smoking significantly reduced the risk of development of second primary cancer. UMIN Clinical Trials Registry ID:UMIN000001676

Design, Modeling, and Parametric Analysis of a Syringe Pump for Soft Pneumatic Actuators

Syringe pump has been applied to actuate soft pneumatic robots. Most previous works focus on designs of the syringe pump, its applications, and improvement of its problems such as leaking air, inefficient motions, etc. This paper introduces dynamical modeling and parametric analysis of a syringe pump. The syringe pump is made of a commercial syringe and a linear actuator. The dynamic equation is derived from the motions of the linear actuator, the air dynamics in the syringe, and the airflow inside the soft actuator. Because of the high-elastic materials, the volume of the soft actuator is a time-varying parameter. Therefore, the variation of volume is estimated by the Kalman filter instead of relying on the traditional design method. The dynamic model is also utilized to select optimal parameters which are verified by the experiments for the syringe pump. Two system controllers are designed with and without consideration of the pressure dynamics. The controller considering pressure dynamics outperforms. This work shows the benefits of pressure dynamic of the syringe pump for both system design and advanced controller design