Effect of Soft Abdomen on Quadrupedal Gait Control

The 11th International Symposium on Adaptive Motion of Animals and Machines. Kobe University, Japan. 2023-06-06/09. Adaptive Motion of Animals and Machines Organizing Committee.Poster Session P5

Wireless insole sensor system with real-time pressure and shear force measurement

The 11th International Symposium on Adaptive Motion of Animals and Machines. Kobe University, Japan. 2023-06-06/09. Adaptive Motion of Animals and Machines Organizing Committee.Poster Session P6

Foot Sensor Module of Musculoskeletal Legged Robot for Vertical and Horizontal GRF with Elastic Metacarpophalangeal Joint

The 11th International Symposium on Adaptive Motion of Animals and Machines. Kobe University, Japan. 2023-06-06/09. Adaptive Motion of Animals and Machines Organizing Committee.Poster Session P5

High-speed running quadruped robot with a multi-joint spine adopting a 1DoF closed-loop linkage

Improving the mobility of robots is an important goal for many real-world applications and implementing an animal-like spine structure in a quadruped robot is a promising approach to achieving high-speed running. This paper proposes a feline-like multi-joint spine adopting a one-degree-of-freedom closed-loop linkage for a quadruped robot to realize high-speed running. We theoretically prove that the proposed spine structure can realize 1.5 times the horizontal range of foot motion compared to a spine structure with a single joint. Experimental results demonstrate that a robot with the proposed spine structure achieves 1.4 times the horizontal range of motion and 1.9 times the speed of a robot with a single-joint spine structure

Quasi-quadruped robot with a powerful and compliant musculoskeletal spine

The 9.5th international symposium on Adaptive Motion of Animals and Machines. Ottawa，Canada (Virtual Platform). 2021-06-22/25. Adaptive Motion of Animals and Machines Organizing Committee

Risk of hepatitis B reactivation in patients treated with tumor necrosis factor-α inhibitors

The use of tumor necrosis factor-a (TNF-a) inhibitors has been increasing especially in patients with rheumatoid arthritis (RA). As TNF-a inhibitors are strongly immunosuppressive, the occurrence of hepatitis B virus (HBV) reactivation has recently been observed. Reports suggest a higher risk of complicating HBV reactivation in carriers who are treated with TNF-a inhibitors. Therefore, HBV carriers are recommended to undergo prophylactic administration of nucleos(t)ide analogs (NAs). Our literary analysis uncovered several characteristics of de novo hepatitis B due to TNF-a inhibitors. First, the time between the start of TNF-a inhibitors and the occurrence of de novo hepatitis was longer than one year. Second, patients were usually treated with additional non-biologic agents, which also had immunosuppressive effects. Third, the disease could be fatal. Fourth, several types of TNF-a inhibitors exhibited a risk of developing de novo hepatitis. Although the incidence of de novo hepatitis B varied among reports (05%/year), it is suggested that patients with prior HBV infection are at risk of developing de novo hepatitis due to TNF-a inhibitors. Many reports maintain that regular measurement of HBV DNA is effective in preventing de novo hepatitis. Prophylactic administration of NAs is also considered useful to avoid de novo hepatitis, although the issue of cost-effectiveness needs to be addressed. Lastly, whereas maintenance of circulating anti-HBs titer using HB vaccines may be effective in responders to prevent de novo hepatitis, further studies are required to clarify the utility of HB vaccination