Optimization and design of a cable driven upper arm exoskeleton

This paper presents the design of a wearable upper arm exoskeleton that can be used to assist and train arm movements of stroke survivors or subjects with weak musculature. In the last ten years, a number of upper-arm training devices have emerged. However, due to their size and weight, their use is restricted to clinics and research laboratories. Our proposed wearable exoskeleton builds upon our extensive research experience in wire driven manipulators and design of rehabilitative systems. The exoskeleton consists of three main parts: (i) an inverted U-shaped cuff that rests on the shoulder, (ii) a cuff on the upper arm, and (iii) a cuff on the forearm. Six motors, mounted on the shoulder cuff, drive the cuffs on the upper arm and forearm, using cables. In order to assess the performance of this exoskeleton, prior to use on humans, a laboratory test-bed has been developed where this exoskeleton is mounted on a model skeleton, instrumented with sensors to measure joint angles and transmitted forces to the shoulder. This paper describes design details of the exoskeleton and addresses the key issue of parameter optimization to achieve useful workspace based on kinematic and kinetic models.</jats:p

The promise of stem cell therapy for eye disorders

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Labor force participation of rural women and the household’s nutrition: Panel data evidence from SAT India

This paper investigates the role of women’s labor force participation in the household’s dietary diversity and the value of home-production. Using unique household panel data from Semi-Arid tropics of India, empirical estimations from a household fixed effects model reveal a positive significant effect of workdays of women on dietary diversity (overall and home-produced) and home-production. Our findings highlight a significant heterogeneity in the effect by type of work—paid and unpaid. The results for paid work are driven by a greater decision-making power emanating from labor force participation of women. Unpaid work, on the other hand, operates through the self-consumption of home-produced goods. We show that correcting for endogenous labor force participation of women leaves our conclusions unchanged. The results suggest that interventions boosting female labor force participation in paid activities are nutrition enhancing for the household and work towards improving women’s bargaining power within the household. Moreover, we rule out deleterious effects on health indicators of women despite increased time burden

UTERUS DIDELPHYS IN NULLIPAROUS AND MULTIPAROUS WOMEN – A RARE ENTITY

Uterus didelphys is a rare congenital uterine abnormality in which the embryogenetic fusion of the Mullerian ducts fails to occur. It will lead to the formation of a double uterus with two separate cervices and most often a double vagina with a longitudinal septum as well. Here, we present two different cases of uterus didelphys with varied presentations. The first case is a nulliparous woman presented with post-coital bleeding. On examination, two cervical openings with a longitudinal complete vaginal septum were found, conservative management was done. Findings of didelphys uterus were confirmed on USG. The patient was counseled and discharged. The second case is a multiparous woman with previous cesarean delivery, rupture of membranes, and meconium in this pregnancy with term pregnancy taken up for emergency cesarean section. Dense adhesions and a mass on the right side of uterus were found intraoperatively, which on further inspection confirmed to be patent right horn of uterus. Diagnosis of uterus didelphys was made after doing per speculum and per vaginal examination post-cesarean

Hypercalcemia associated with a parathyroid cyst.

Parathyroid cysts are rare. When they do occur they usually have no demonstrable endocrine function, but may cause respiratory distress by tracheal compression or may be mistakenly diagnosed as thyroid carcinomas or adenomas. We report a case of a parathyroid cyst which presented with hypercalcemia. CASE REPORT: A fifty eight year old man undergoing routine investigations was found to have hypercalcaemia. His calcium level was elevated to 3.63 mmol/l and the serum parathyroid hormone level was 18.4 pmol/l (normal range 1.0- 5.3). Serum alkaline phosphatase was at the upper limit of normal at 1 1 3U/1. X-ray of the renal tract revealed no evidence of calcification. He was asymptomatic and had no palpable neck mass. Ultrasound examination revealed a 3 cm cyst-like structure inferior and posterior to the left lobe of the thyroid, with a well defined wall approximately 2 mm thick. Exploration of the neck revealed a large cyst (6.5 x 5 x 3 cm), which was removed and found to weigh 57 g. Three other parathyroid glands with a normal appearance were found. Macroscopic examination of the removed specimen showed a smooth lined cyst containing greasy, pearly material. Histology revealed a fibrous lined cyst, containing several islands of parathyroid tissue with clear cell cytology and moderate nuclear pleomorphism. Post-operatively serum calcium returned to normal. The patient was discharged on the fourth post-operative day. DISCUSSION Many theories have been advanced regarding the aetiology of parathyroid cysts. Goris1 was the first to report a case. Nylander2 has suggested that they arise from remnants of the third or fourth pharangeal pouch or are vestigia

Combining ability analysis for seed yield and component traits in Indian mustard [Brassica juncea (L.) Czern & Coss.]

The present investigation on combining ability analysis for seed yield and itscomponent characters in Indian mustard was carried out under two differentenvironments i.e. timely sown (E1) and late sown (E2) which revealed that both additiveand non-additive variances were present for the expression of all the characters studied inboth the environments and the former playing major role. The study of GCA indicatedthat the genotypes namely RH-9617, RH-9806 RH-9615 and were good combiners forearliness, siliqua length, 1000-seed weight, number of seeds/siliqua, primarybranches/plant and oil content. Hence, these parents could be used in crossingprogrammes for achieving further improvement. The study of SCA indicated that thecross combinations namely RH-9710 x RH-9806 and RH-9707 x RH-9806 should beexploited through heterosis breeding or should be used in recombination breeding forobtaining higher seed yield

Outcome of pterygium surgery: analysis over 14 years

Aim: To report the outcome of pterygium surgery performed at a tertiary eye care centre in South India. Methods: Retrospective analysis of medical records of 920 patients (989 eyes) with primary and recurrent pterygia operated between January 1988 and December 2001. The demographic variables, surgical technique (bare sclera, primary closure, amniotic membrane transplantation (AMT), conjunctival autograft (CAG), conjunctival-limbal autograft (CLAG), or surgical adjuvants), recurrences and postoperative complications were analysed. Results: A total of 496 (53.9%) were male and 69 (7.5%) had bilateral pterygia. Bare sclera technique was performed in 267 (27.0%) eyes, primary conjunctival closure in 32 (3.2%), AMG in 123 (12.4%), CAG in 429 (43.4%), and CLAG in 70 (7.1%). Adjuvant mitomycin C was used in 44 (4.4%) cases. The mean duration of follow-up was 8.917.0 and 5.98.8 months for unilateral primary and recurrent pterygia, respectively. The overall recurrence rate was 178 (18.0%). Following primary and recurrent unilateral pterygium excision respectively, recurrences were noted in 46 (19.4%) and 1 (33.3%) eyes after bare sclera technique, five (16.7%) and 0 after primary closure, 28 (26.7%) and 0 with AMG, 42 (12.2%) and five (31.3%) with CAG, and nine (17.3%) and two (40%) with CLAG. Recurrences were significantly more in males with primary (23.3 vs10.7%, P&lt;0.0001) and recurrent (26.7 vs0%, P=0.034) pterygia, and in those below 40 years (25.2 vs14.8%, P=0.003). Conclusion: CAG appears to be an effective modality for primary and recurrent pterygia. Males and patients below 40 years face greater risk of recurrence. Bare sclera technique has an unacceptably high recurrence. Prospective studies comparing CAG, CLAG, and AMG for primary and recurrent pterygia are needed