Advancing the Underactuated Grasping Capabilities of Single Actuator Prosthetic Hands

The last decade has seen significant advancements in upper limb prosthetics, specifically in the myoelectric control and powered prosthetic hand fields, leading to more active and social lifestyles for the upper limb amputee community. Notwithstanding the improvements in complexity and control of myoelectric prosthetic hands, grasping still remains one of the greatest challenges in robotics. Upper-limb amputees continue to prefer more antiquated body-powered or powered hook terminal devices that are favored for their control simplicity, lightweight and low cost; however, these devices are nominally unsightly and lack in grasp variety. The varying drawbacks of both complex myoelectric and simple body-powered devices have led to low adoption rates for all upper limb prostheses by amputees, which includes 35% pediatric and 23% adult rejection for complex devices and 45% pediatric and 26% adult rejection for body-powered devices [1]. My research focuses on progressing the grasping capabilities of prosthetic hands driven by simple control and a single motor, to combine the dexterous functionality of the more complex hands with the intuitive control of the more simplistic body-powered devices with the goal of helping upper limb amputees return to more active and social lifestyles. Optimization of a prosthetic hand driven by a single actuator requires the optimization of many facets of the hand. This includes optimization of the finger kinematics, underactuated mechanisms, geometry, materials and performance when completing activities of daily living. In my dissertation, I will present chapters dedicated to improving these subsystems of single actuator prosthetic hands to better replicate human hand function from simple control. First, I will present a framework created to optimize precision grasping – which is nominally unstable in underactuated configurations – from a single actuator. I will then present several novel mechanisms that allow a single actuator to map to higher degree of freedom motion and multiple commonly used grasp types. I will then discuss how fingerpad geometry and materials can better grasp acquisition and frictional properties within the hand while also providing a method of fabricating lightweight custom prostheses. Last, I will analyze the results of several human subject testing studies to evaluate the optimized hands performance on activities of daily living and compared to other commercially available prosthesis

Diagnosing Mild Traumatic Brain Injury Using Saliva RNA Compared to Cognitive and Balance Testing

BACKGROUND: Early, accurate diagnosis of mild traumatic brain injury (mTBI) can improve clinical outcomes for patients, but mTBI remains difficult to diagnose because of reliance on subjective symptom reports. An objective biomarker could increase diagnostic accuracy and improve clinical outcomes. The aim of this study was to assess the ability of salivary noncoding RNA (ncRNA) to serve as a diagnostic adjunct to current clinical tools. We hypothesized that saliva ncRNA levels would demonstrate comparable accuracy for identifying mTBI as measures of symptom burden, neurocognition, and balance. METHODS: This case‐control study involved 538 individuals. Participants included 251 individuals with mTBI, enrolled ≤14 days postinjury, from 11 clinical sites. Saliva samples (n = 679) were collected at five time points (≤3, 4‐7, 8‐14, 15‐30, and 31‐60 days post‐mTBI). Levels of ncRNAs (microRNAs, small nucleolar RNAs, and piwi‐interacting RNAs) were quantified within each sample using RNA sequencing. The first sample from each mTBI participant was compared to saliva samples from 287 controls. Samples were divided into testing (n = 430; mTBI = 201 and control = 239) and training sets (n = 108; mTBI = 50 and control = 58). The test set was used to identify ncRNA diagnostic candidates and create a diagnostic model. Model accuracy was assessed in the naïve test set. RESULTS: A model utilizing seven ncRNA ratios, along with participant age and chronic headache status, differentiated mTBI and control participants with a cross‐validated area under the curve (AUC) of .857 in the training set (95% CI, .816‐.903) and .823 in the naïve test set. In a subset of participants (n = 321; mTBI = 176 and control = 145) assessed for symptom burden (Post‐Concussion Symptom Scale), as well as neurocognition and balance (ClearEdge System), these clinical measures yielded cross‐validated AUC of .835 (95% CI, .782‐.880) and .853 (95% CI, .803‐.899), respectively. A model employing symptom burden and four neurocognitive measures identified mTBI participants with similar AUC (.888; CI, .845‐.925) as symptom burden and four ncRNAs (.932; 95% CI, .890‐.965). CONCLUSION: Salivary ncRNA levels represent a noninvasive, biologic measure that can aid objective, accurate diagnosis of mTBI

The deteriorating effect of plasma density fluctuations on microwave beam quality

Turbulent plasma edge density fluctuations can broaden a traversing microwave beam degrading its quality. This can be a problem for scenarios relying on a high spatial localization of the deposition of injected microwave power, like controlling MHD instabilities. Here we present numerical estimations of the scattering of a microwave beam by density fluctuations over a large parameter range, including extrapolations to ITER. Two codes are used, the full-wave code IPF-FDMC and the wave kinetic equation solver WKBeam. A successful comparison between beam broadening obtained from DIII-D experiments and corresponding full-wave simulations is shown