Definizione, acquisizione sperimentale ed elaborazione di traiettorie di riferimento della mano umana per la sintesi di architetture protesiche di arto superiore

This paper reports an essential part of a wider research activity, which entails the development of a procedure for the Determination of the Optimal Prosthesis Architecture (DOPA) for a given upper limb amputee. A fundamental algorithm of the DOPA procedure performs the kinematic analysis of several prosthetic arm models (also with less than the six degrees of freedom normally required to correctly execute a generic manipulation task). The algorithm must simulate the execution of important daily living activities performed by a prosthesis and thus it requires reference trajectories of the hand. By means of experimental analysis, 59 trajectories of the hand of an able-bodied subject were acquired to identify a modality to correctly perform the corresponding tasks. This paper illustrates in detail the stages of task analysis, experimental acquisition and data processing in order to define the required reference trajectories. The obtained reference trajectories are a temporal succession of the hand pose (position and orientation). A customized algorithm automatically selects the most relevant poses to be considered for the definition of the reference trajectory. The hand pose is reported in the Cartesian Space by means of Natural Coordinates. In order to correctly execute a given task the pose error admitted for the end-effector of the different architectures is associated to each trajectory. In particular, the critical problem to express the orientation error is solved by means of the use of Spherical Rotation Coordinates

New spatial mechanisms for the kinematic analysis of the tibiotalar joint

In virtually unloaded conditions, the tibiotalar (ankle) joint behaves as a single degree-of-freedom system, and two fibres within the calcaneal-fibular and tibio-calcaneal ligaments remain nearly isometric throughout the flexion arc. A relevant theoretical model also showed that three articular surfaces and two ligaments act together as a mechanism to control the passive kinematics. Two equivalent spatial parallel mechanisms were formulated, with ligament fibres assumed isometric and articulating surfaces assumed rigid, either as three sphere-plane contacts, or as a single spherical pair. Predicted and measured motion in three specimens compared fairly well. Important enhancement of this previous work is here presented, with more accurate experimental data, more anatomical model surfaces, and a more robust mathematical model

HR-MAS NMR spectroscopy in the characterization of human tissues: Application to healthy gastric mucosa

The HR-MAS is an ideal technique for the investigation of intact tissue specimens (10-50 mg) and permits the obtainment of spectra with a resolution comparable to that observed in solution in a time that does not exceed a half of an hour for a routine analysis. The potentialities of HR-MAS NMR spectroscopy in the identification of the metabolites characterizing the healthy gastric mucosa are here presented. The direct 1D H-1 NMR spectra enables only few metabolites to be confidently assigned, and the use of selected 2D experiments strongly amplify the analytical effectiveness of the technique

Compliant actuation based on dielectric elastomers for a force-feedback device: modeling and experimental evaluation

Thanks to their large power densities, low costs and shock-insensitivity, Dielectric Elastomers (DE)seem to be a promising technology for the implementation of light and compact force-feedback devices such as,for instance, haptic interfaces. Nonetheless, the development of these kinds of DE-based systems is not trivialowing to the relevant dissipative phenomena that affect the DE when subjected to rapidly changingdeformations. In this context, the present paper addresses the development of a force feedback controller foran agonist-antagonist linear actuator composed of a couple of conically-shaped DE films and a compliantmechanism behaving as a negative-rate bias spring. The actuator is firstly modeled accounting for the viscohyperelasticnature of the DE material. The model is then linearized and employed for the design of a forcecontroller. The controller employs a position sensor, which determines the actuator configuration, and a forcesensor, which measures the interaction force that the actuator exchanges with the environment. In addition, anoptimum full-state observer is also implemented, which enables both accurate estimation of the time-dependentbehavior of the elastomeric material and adequate suppression of the sensor measurement noise. Preliminaryexperimental results are provided to validate the proposed actuator-controller architectur

Neurotensin receptor 1 immunoreactivity in the peripheral ganglia and carotid body

In the present study we investigated, through immunohistochemistry, the presence and location of neurotensin receptor 1 (NTR1) in the peripheral ganglia and carotid body of 16 humans and 5 rats. In both humans and rats, NTR1 immunostained ganglion cells were found in superior cervical ganglia (57.4±11.6% and 72.4±11.4%, respectively, p<0.05), enteric ganglia (51.9±10.4% and 64.6±6.1%, p<0.05), sensory ganglia (69.2±10.7% and 73.0±13.1%, p>0.05) and parasympathetic ganglia (52.1±14.1% and 59.4±14.0%, p>0.05), supporting a modulatory role for NT in these ganglia. Positivity was also detected in 45.6±9.2% and 50.8±6.8% of human and rat type I glomic cells, respectively, whereas type II cells were negative. Our findings suggest that NT produced by type I cells acts in an autocrine or paracrine way on the same cell type, playing a modulatory role on chemoception

Makna Hidup Pada Penyandang Disabilitas Daksa Di BBRSBD PROF. DR. Soeharso Surakarta

Become the sunatullah every life journey experienced by humans is sometimes pleasant and unpleasant. This as a test for humans aims to see the quality of their human beings. A pleasant experience may not be a problem, but how about unpleasant experiences such as tragic accidents, bomb explosions, and other calamities that result in disability, certain issues become a problem for the victims. This study aims to understand and describe how the meaning of life for people with disabilities and how dynamics get the meaning of life. The research method used is qualitative phononology where data collection is obtained from semi-structured interviews with the selection of informants using purposive sampling. Criteria for informants in this study were persons with physical disabilities due to accidents and willing to be research informants as evidenced by informed consent. The meaning of life to be a person with a disability can be seen from the feeling of being meaningful and happy and trying to improve worship because it is still given life and is grateful for the present life. After becoming a disabled person who initially lacked confidence became more confident, ridiculing, empathizing with others who were worse than himself, honing his potential or abilities and thinking about the future and feeling his life meant. Keywords: Meaning of life, people with disabilities, physical disabilit

Steroid therapy in an alpha-dystroglycanopathy due to GMPPB gene mutations : A case report

Alpha-dystroglycanopathies are a group of progressive and untreatable neuromuscular disorders, due to aberrant alpha-dystroglycan glycosylation. We describe the effects of a short-term cycle of corticosteroid therapy in a 9-year-old boy, affected by an alpha-dystroglycanopathy due to GMPPB gene mutations. The patient was affected by a congenital progressive muscular dystrophy since the first month of life, associated with psychomotor delay, seizures, and congenital bilateral cataracts. Despite physical therapy he had a progressive motor impairment. At the age of 9 years, he was treated with 0.75 mg/kg/day of prednisone for 3 months and showed improvements in muscle strength and function scores and creatine kinase reduction. When steroid therapy was discontinued he showed again clinical and biochemical deterioration. These data suggest that corticosteroid may be considered as a treatment for patients with alpha-dystroglycanopathies due to GMPPB mutations. (C) 2018 Elsevier B.V. All rights reserved.Peer reviewe

Effect of orthopedic and functional orthodontic treatment in children with obstructive sleep apnea: A systematic review and meta-analysis

Orthodontic treatment is suggested in growing individuals to correct transverse maxillary deficiency and mandibular retrusion. Since, as a secondary effect, these orthodontic procedures may improve pediatric obstructive sleep apnea (OSA), this systematic review assessed their effects on apnea-hypopnea index (AHI) and oxygen saturation (SaO2). Twenty-five (25) manuscripts were included for qualitative synthesis, 19 were selected for quantitative synthesis. Five interventions were analyzed: rapid maxillary expansion (RME, 15 studies), mandibular advancement (MAA, five studies), myofunctional therapy (MT, four studies), and RME combined with MAA (one study). RME produced a significant AHI reduction and minimum SaO2 increase immediately after active treatment, at six and 12 months from baseline. A significant AHI reduction was also observed six and 12 months after the beginning of MAA treatment. MT showed positive effects, with different protocols. In this systematic review and meta-analysis of data from mainly uncontrolled studies, interceptive orthodontic treatments showed overall favorable effects on respiratory outcomes in pediatric OSA. However, due to the low to very low level of the body evidence, this treatment cannot be suggested as elective for OSA treatment. An orthodontic indication is needed to support this therapy and a careful monitoring is required to ensure positive improvement in OSA parameters