Grasping Strategy and Control Algorithm of Two Robotic Fingers Equipped with Optical Three-Axis Tactile Sensors

AbstractThis paper presents grasping strategy of robot fingers based on tactile sensing information acquired by optical three-axis tactile sensor. We developed a novel optical three-axis tactile sensor system based on an optical waveguide transduction method capable of acquiring normal and shearing forces. The sensors are mounted on fingertips of two robotic fingers. To enhance the ability of recognizing and manipulating objects, we designed the robot control system architecture comprised of connection module, thinking routines, and a hand/finger control modules. We proposed tactile sensing-based control algorithm in the robot finger control system to control fingertips movements by defining optimum grasp pressure and perform re-push movement when slippage was detected. Verification experiments were conducted whose results revealed that the finger's system managed to recognize the stiffness of unknown objects and complied with sudden changes of the object's weight during object manipulation tasks

Current Trends in Targeted Therapies for Glioblastoma Multiforme

Glioblastoma multiforme (GBM) is one of the most frequently occurring tumors in the central nervous system and the most malignant tumor among gliomas. Despite aggressive treatment including surgery, adjuvant TMZ-based chemotherapy, and radiotherapy, GBM still has a dismal prognosis: the median survival is 14.6 months from diagnosis. To date, many studies report several determinants of resistance to this aggressive therapy: (1) O6-methylguanine-DNA methyltransferase (MGMT), (2) the complexity of several altered signaling pathways in GBM, (3) the existence of glioma stem-like cells (GSCs), and (4) the blood-brain barrier. Many studies aim to overcome these determinants of resistance to conventional therapy by using various approaches to improve the dismal prognosis of GBM such as modifying TMZ administration and combining TMZ with other agents, developing novel molecular-targeting agents, and novel strategies targeting GSCs. In this paper, we review up-to-date clinical trials of GBM treatments in order to overcome these 4 hurdles and to aim at more therapeutical effect than conventional therapies that are ongoing or are about to launch in clinical settings and discuss future perspectives

Poliovirus trafficking toward central nervous system via human poliovirus receptor-dependent and -independent pathway

In humans, paralytic poliomyelitis results from the invasion of the central nervous system (CNS) by circulating poliovirus (PV) via the blood–brain barrier (BBB). After the virus enters the CNS, it replicates in neurons, especially in motor neurons, inducing the cell death that causes paralytic poliomyelitis. Along with this route of dissemination, neural pathway has been reported in humans, monkeys, and PV-sensitive human PV receptor (hPVR/CD155)-transgenic (Tg) mice. We demonstrated that a fast retrograde axonal transport process is required for PV dissemination through the sciatic nerve of hPVR-Tg mice and that intramuscularly inoculated PV causes paralysis in a hPVR-dependent manner. We also showed that hPVR-independent axonal transport of PV exists in hPVR-Tg and non-Tg mice, indicating that several different pathways for PV axonal transport exist in these mice. Circulating PV after intravenous inoculation in mice cross the BBB at a high rate in a hPVR-independent manner. We will implicate an involvement of a new possible receptor for PV to permeate the BBB based on our recent findings

Sensitivity-enhancing All-in-type Optical Three-axis Tactile Sensor Mounted on Articulated Robotic Fingers

AbstractIn a previous study, we developed an all-in-type optical three-axis tactile sensor to address two issues: the first is to be able to use external devices such as a CCD camera and light source; the other is the insensible zone. We miniaturized its whole structure through adoption of a CMOS board camera equipped with LEDs. Since a USB is installed in the CMOS camera as an interface, an additional image processing board is not required. Furthermore, it is equipped with a rubber dome including a sensing element array to remove the insensible zone because rubber is filled in between the sensing elements. However, even if it accepted under around 1-N force, no output of brightness appeared. In this paper, we enhance the characteristic in the low level applied force through improvement of image processing. Furthermore, the present sensor showed higher output level of normal and tangential forces through a series of experiments comparing the present and ordinal three-axis tactile sensors