Development of a Compliant Gripper Driven by 3 DOF Soft Robot

Industrial robots are moving toward automation, which makes it increasingly necessary to replace the functions traditionally performed by humans with robotics. Pick and place operation is a prime example of such automation. Robots that pick up and place objects mimic the human action of picking an object up and placing it in a targeted location. It has led to the development of robotic end-effectors that have a human-like feel. Grippers can be articulated in various ways depending on their application area and well-defined desired tasks. As compliant and soft links deflect more under the same load than their rigid body counterparts, they serve as excellent candidates for use in the design and development of grippers for handling delicate objects. This study presents the design, development, and experimental testing of a single piece designed compliant gripper manipulated by a 3 DOF soft robot. The manipulator consists of two soft links. While the bottom arm is 2 DOF and is tendon driven by two servo motors, the upper arm is a single degree of freedom and is tendon driven by a servo motor. The two-finger-designed compliant gripper is also actuated by a servo motor. The base holds the motors and the soft manipulator. The MATLAB Simscape model of the robot is created to perform deformation and motion analysis of the gripper and soft manipulator. OpenCV is used to see the real-time environment and object analysis. Through this, data will be captured to allow some sense of environmental understanding. Since the soft manipulator and the compliant gripper were designed monolithically, the robot was 3D printed as a single piece using thermoplastic polyurethane (TPU). The gripper is tested for its grasping and lifting performance while recording the applied forces by the gripper using a Flex sensor

Effects of plyometric jump training on vertical jump height of volleyball players : a systematic review with meta-analysis of randomized-controlled trial

This meta-analysis aimed to assess the effects of plyometric jump training (PJT) on volleyball players' vertical jump height (VJH), comparing changes with those observed in a matched control group. A literature search in the databases of PubMed, MEDLINE, Web of Science, and SCOPUS was conducted. Only randomized-controlled trials and studies that included a pre-to-post intervention assessment of VJH were included. They involved only healthy volleyball players with no restrictions on age or sex. Data were independently extracted from the included studies by two authors. The Physiotherapy Evidence Database scale was used to assess the risk of bias, and methodological quality, of eligible studies included in the review. From 7,081 records, 14 studies were meta-analysed. A moderate Cohen's effect size (ES = 0.82, p 8 weeks, ES = 0.79 vs. 0.87, respectively), frequency (≤2 vs. >2 sessions/week, ES = 0.83 vs. 0.78, respectively), total number of sessions (≤16 vs. >16 sessions, ES = 0.73 vs. 0.92, respectively), sex (female vs. male, ES = 1.3 vs. 0.5, respectively), age (≥19 vs. 2,000 vs. <2,000 jumps, ES = 0.76 vs. 0.79, respectively). In conclusion, PJT appears to be effective in inducing improvements in volleyball players' VJH. Improvements in VJH may be achieved by both male and female volleyball players, in different age groups, with programs of relatively low volume and frequency. Though PJT seems to be safe for volleyball players, it is recommended that an individualized approach, according to player position, is adopted with some players (e.g. libero) less prepared to sustain PJT loads. [Abstract copyright: © Journal of Sports Science and Medicine.

Kinematic and neuromuscular measures of intensity during drop jumps in female volleyball players

The aim of this study was to assess drop jump (DJ) performance variables (jump height, contact time, and reactive strength index) concomitant to surface electromyography (sEMG) of lower limb muscles during DJs from different drop heights (intensities). The eccentric and concentric phase sEMG from the gastrocnemius medialis, biceps femoris, and vastus medialis muscles were assessed during all tests, with sEMG activity normalized to maximal voluntary isometric contraction (MVIC). In a cross-sectional, study, 10 amateur female volleyball players (age 22.1 ± 1.8 years; body mass 72.9 ± 15.2 kg; height 1.70 ± 0.08 m) completed DJs from six heights [15–90 cm (DJ15 to DJ90)]. During DJs there was no jump-target box to rebound on to. Results of one-way analysis of variance (ANOVA) showed that the jump height, contact time, and reactive strength index were not significantly (p > 0.05) different between drop heights. Mean biceps femoris eccentric and concentric sEMG ranged from 27 to 50%, although without significant differences between drop heights. Mean gastrocnemius medialis eccentric and concentric sEMG remained relatively constant (∼60–80% MVIC) across DJs heights, although eccentric values reached 90–120% MVIC from DJ75 to DJ90. Mean variations of ∼50–100% MVIC for eccentric and ∼50–70% MVIC for concentric sEMG activations were observed in the vastus medialis across DJs heights. The biceps femoris eccentric/concentric sEMG ratio during DJ45 (i.e., 1.0) was lower (p = 0.03) compared to the ratio observed after DJ90 (i.e., 3.2). The gastrocnemius medialis and vastus medialis eccentric/concentric sEMG ratio were not significantly different between drop heights. In conclusion, jumping performance and most neuromuscular markers were not sensitive to DJ height (intensity) in amateur female volleyball athletes

The Relevance of Fatalism in the Study of Latinas’ Cancer Screening Behavior: A Systematic Review of the Literature

# The Author(s) 2010. This article is published with open access at Springerlink.com Background Fatalism has been identified as a dominant belief among Latinos and is believed to act as a barrier to cancer prevention. However, controversy exists over the utility of the construct in explaining health disparities experienced by disadvantaged populations above the influence of structural barriers such as low socioeconomic status (SES) and limited access to health care. Purpose This paper reviews the empirical research on fatalism and Latinas ’ participation in cancer screening in an attempt to determine whether fatalism predicts participation in cancer screening after accounting for structural barriers

Global Retinoblastoma Treatment Outcomes Association with National Income Level

Purpose: To compare metastasis-related mortality, local treatment failure, and globe salvage after retinoblastoma in countries with different national income levels. Design: International, multicenter, registry-based retrospective case series. Participants: Two thousand one hundred ninety patients, 18 ophthalmic oncology centers, and 13 countries on 6 continents. Methods: Multicenter registry-based data were pooled from retinoblastoma patients enrolled between January 2001 and December 2013. Adequate data to allow American Joint Committee on Cancer staging, eighth edition, and analysis for the level, as defined by the 2017 United Nations World Population Prospects, and included high-income countries (HICs), upper middle-income countries (UMICs), and lower middle-income countries (LMICs). Patient survival was estimated with the Kaplan-Meier method. Logistic and Cox proportional hazards regression models were used to determine associations between national income and treatment outcomes. Main Outcome Measures: Metastasis-related mortality and local treatment failure (defined as use of secondary enucleation or external beam radiation therapy). Results: Most (60%) study patients resided in UMICs and LMICs. The global median age at diagnosis was 17.0 months and higher in UMICs (20.0 months) and LMICs (20.0 months) than HICs (14.0 months; P < 0.001). Patients in UMICs and LMICs reported higher rates of disease-specific metastasis-related mortality and local treatment failure. As compared with HICs, metastasis-related mortality was 10.3-fold higher for UMICs and 9.3-fold higher for LMICs, and the risk for local treatment failure was 2.2-fold and 1.6-fold higher, respectively (all P < 0.001). Conclusions: This international, multicenter, registry-based analysis of retinoblastoma management revealed that lower national income levels were associated with significantly higher rates of metastasis-related mortality, local treatment failure, and lower globe salvage. (C) 2020 by the American Academy of Ophthalmology.Peer reviewe

Pretreatment carcinoembryonic antigen level is a risk factor for para-aortic lymph node recurrence in addition to squamous cell carcinoma antigen following definitive concurrent chemoradiotherapy for squamous cell carcinoma of the uterine cervix

<p>Abstract</p> <p>Background</p> <p>To identify pretreatment carcinoembryonic antigen (CEA) levels as a risk factor for para-aortic lymph node (PALN) recurrence following concurrent chemoradiotherapy (CCRT) for cervical cancer.</p> <p>Methods</p> <p>From March 1995 to January 2008, 188 patients with squamous cell carcinoma (SCC) of the uterine cervix were analyzed retrospectively. No patient received PALN irradiation as the initial treatment. CEA and squamous cell carcinoma antigen (SCC-Ag) were measured before and after radiotherapy. PALN recurrence was detected by computer tomography (CT) scans. We analyzed the actuarial rates of PALN recurrence by using Kaplan-Meier curves. Multivariate analyses were carried out with Cox regression models. We stratified the risk groups based on the hazard ratios (HR).</p> <p>Results</p> <p>Both pretreatment CEA levels ≥ 10 ng/mL and SCC-Ag levels < 10 ng/mL (<it>p </it>< 0.001, HR = 8.838), SCC-Ag levels ≥ 40 ng/mL (<it>p </it>< 0.001, HR = 12.551), and SCC-Ag levels of 10-40 ng/mL (<it>p </it>< 0.001, HR = 4.2464) were significant factors for PALN recurrence. The corresponding 5-year PALN recurrence rates were 51.5%, 84.8%, and 27.5%, respectively. The 5-year PALN recurrence rate for patients with both low (< 10 ng/mL) SCC and CEA was only 9.6%. CEA levels ≥ 10 ng/mL or SCC-Ag levels ≥ 10 ng/mL at PALN recurrence were associated with overall survival after an isolated PALN recurrence. Pretreatment CEA levels ≥ 10 ng/mL were also associated with survival after an isolated PALN recurrence.</p> <p>Conclusions</p> <p>Pretreatment CEA ≥ 10 ng/mL is an additional risk factor of PALN relapse following definitive CCRT for SCC of the uterine cervix in patients with pretreatment SCC-Ag levels < 10 ng/mL. More comprehensive examinations before CCRT and intensive follow-up schedules are suggested for early detection and salvage in patients with SCC-Ag or CEA levels ≥ 10 ng/mL.</p