Modeling and sensory feedback control for space manipulators

The positioning control problem of the endtip of space manipulators whose base are uncontrolled is examined. In such a case, the conventional control method for industrial robots based on a local feedback at each joint is not applicable, because a solution of the joint displacements that satisfies a given position and orientation of the endtip is not decided uniquely. A sensory feedback control scheme for space manipulators based on an artificial potential defined in a task-oriented coordinates is proposed. Using this scheme, the controller can easily determine the input torque of each joint from the data of an external sensor such as a visual device. Since the external sensor is mounted on the unfixed base, the manipulator must track the moving image of the target in sensor coordinates. Moreover the dynamics of the base and the manipulator are interactive. However, the endtip is proven to asymptotically approach the stationary target in an inertial coordinate frame by the Liapunov's method. Finally results of computer simulation for a 6-link space manipulator model show the effectiveness of the proposed scheme

Angle Control of a Pneumatically Driven Musculoskeletal Model Based on Coordination of Agonist-Antagonist Muscle

In recent years, researchers have been actively pursuing research into developing robots that can be useful in many fields of industry (e.g., service, medical, and aging care). Such robots must be safe and flexible so that they can coexist with people. Pneumatic actuators are useful for achieving this goal because they are lightweight units with natural compliance. Our research focuses on joint angle control for a pneumatically driven musculoskeletal model. In such a model, we use a one-degree-of-freedom joint model and a five-fingered robot hand as test beds. These models are driven by low pressure-driven pneumatic actuators, and mimic the mechanism of the human hand and musculoskeletal structure, which has an antagonistic muscle pair for each joint. We demonstrated a biologically inspired control method using the parameters antagonistic muscle ratio and antagonistic muscle activity. The concept of the method is based on coordination of an antagonistic muscle pair using these parameters. We have investigated the validity of the proposed method both theoretically and experimentally, developed a feedback control system, and conducted joint angle control by implementing the test beds.ArticleJournal of Mechanics Engineering and Automation. 2(12):709-719 (2012)journal articl

Equilibrium-point control of human elbow-joint movement under isometric environment by using multichannel functional electrical stimulation

Functional electrical stimulation (FES) is considered an effective technique for aiding quadriplegic persons. However, the human musculoskeletal system has highly nonlinearity and redundancy. It is thus difficult to stably and accurately control limbs using FES. In this paper, we propose a simple FES method that is consistent with the motion-control mechanism observed in humans. We focus on joint motion by a pair of agonist-antagonist muscles of the musculoskeletal system, and define theelectrical agonist-antagonist muscle ratio (EAA ratio) and electrical agonist-antagonist muscle activity (EAA activity) in light of the agonist-antagonist muscle ratio and agonist-antagonist muscle activity, respectively, to extract the equilibrium point and joint stiffness from electromyography (EMG) signals. These notions, the agonist-antagonist muscle ratio and agonist-antagonist muscle activity, are based on the hypothesis that the equilibrium point and stiffness of the agonist-antagonist motion system are controlled by the central nervous system. We derived the transfer function between the input EAA ratio and force output of the end-point. We performed some experiments in an isometric environment using six subjects. This transfer-function model is expressed as a cascade-coupled dead time element and a second-order system. High-speed, high-precision, smooth control of the hand force were achieved through the agonist-antagonist muscle stimulation pattern determined by this transfer function model

Involvement of interleukin-8 in dialysis-related arthritis

Involvement of interleukin-8 in dialysis-related arthritis. To elucidate the role of interleukin (IL)-8, a chemotactic factor for neutrophils, in dialysis-related arthritis (DRA) of patients on long-term hemodialysis, the concentration of IL-8 was measured in the synovial fluids of DRA patients with acute arthralgia and joint swelling, and was compared with those in patients with rheumatoid arthritis (RA) and patients with osteoarthritis (OA). We noted a marked elevation of IL-8 in the joint fluids of patients with DRA and RA as compared with OA. Furthermore, to determine the role of IL-8 in synovitis, we examined the in vivo effect of intra-articular injection of human recombinant IL-8 on leukocyte infiltration into the joint space of rabbits. A single injection of IL-8 to the joints of rabbits induced rapid infiltration of neutrophils into the joint space and synovial tissues, which reached a maximum in four hours. The oral administration of indometacin farnesil (a prodrug that is converted to indomethacin after intestinal absorption) before the injection of IL-8 alleviated the infiltration of neutrophils. When human synovial cells were incubated with tumor necrosis factor (TNF)-α, the expression of IL-8 mRNA and IL-8 production in the cultured synovial cells were increased. The TNF-α-stimulated expression of IL-8 mRNA and IL-8 production in the cultured synovial cells were markedly inhibited by dexamethasone. In conclusion, IL-8 levels were markedly elevated in the joint fluids of patients with DRA. Interleukin-8 released from synovial cells may be an important factor to induce acute inflammation in DRA. Dexamethasone and indomethacin may be effective for DRA by inhibiting the production and chemotactic actions of IL-8, respectively

Structural and Mechanical Properties of the Transparent Dentin Region in the Tooth Root

Dentin is altered in an age-related manner, such that transparent dentin in the tooth root forms during the aging process. Notably, fractures are more likely to occur in aged teeth. However, few studies have examined the mechanical properties of aged dentin. The purpose of this study was to investigate the structural and mechanical properties of the transparent dentin region, by analysis of the mineral density, using micro-computed tomography （micro-CT）, the tensile strength, and nanohardness to understand tooth fracture. As experimental samples, 10 caries-free, human molars were extracted from patients aged >50 years because of periodontal disease. As controls, bovine lower central incisors were extracted immediately after sacrifice from animals estimated at 2–2.5 years of age. Mineral density was quantified with X-ray micro-CT analysis of transparent human dentin and normal bovine dentin. Specimens were prepared from each tooth （human and bovine） and subjected to tensile strength testing; maximum load was used to calculate strength, and mean tensile strength of the specimens was calculated in each group. Finally, the nanohardness and Young’s modulus of intertubular dentin of the upper and apex root regions were investigated. All results were compared by paired Student’s t-test （α=0.05）. The mineral density of transparent dentin was significantly greater than that of normal dentin. Importantly, the tensile strength of the transparent regions was significantly lower than that of the normal regions, whereas the nanohardness and Young’s modulus of transparent intertubular dentin were significantly greater than those of normal intertubular dentin. Fractures of the teeth remain a major problem in clinical practice. Notably, transparent dentin is weaker than normal opaque dentin, which may explain the occurrence of apex root dentin fractures in aged individuals

Development and evaluation of a master-slave robot system for single-incision laparoscopic surgery

Single-incision laparoscopic surgery (SILS) brings cosmetic benefits for patients, but this procedure is more difficult than laparoscopic surgery. In order to reduce surgeons' burden, we have developed a master-slave robot system which can provide robot-assisted SILS as if it were performing conventional laparoscopic surgery and confirmed the feasibility of our proposed system. The proposed system is composed of an input device (master side), a surgical robot system (slave side), and a control PC. To perform SILS in the same style as regular laparoscopic surgery, input instruments are inserted into multiple incisions, and the tip position and pose of the left-sided (right-sided) robotic instrument on the slave side follow those of the right-sided (left-sided) input instruments on the master side by means of a control command from the PC. To validate the proposed system, we defined four operating conditions and conducted simulation experiments and physical experiments with surgeons under these conditions, then compared the results. In the simulation experiments, we found learning effects between trials (P = 0.00013 0.1), and the task time of our system was significantly shorter than the simulated SILS (P = 0.011 < 0.05). In the physical experiments, our system performed SILS more easily, efficiently, and intuitively than the other operating conditions. Our proposed system enabled the surgeons to perform SILS as if they were operating conventionally with laparoscopic techniques.ArticleINTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY. 7(2):289-296 (2012)journal articl

Broccoli consumption and chronic atrophic gastritis among Japanese males: an epidemiological investigation.

Previous in vitro and animal experiments have shown that sulforaphane, which is abundant in broccoli, inhibits Helicobacter pylori (H. pylori) infection and blocks gastric tumor formation. This suggests that broccoli consumption prevents chronic atrophic gastritis (CAG) introduced by H. pylori infection and, therefore, gastric cancer. For an epidemiological investigation of the relationship between the broccoli consumption and CAG, a cross-sectional study of 438 male employees, aged 39 to 60 years, of a Japanese steel company was conducted. CAG was serologically determined with serum cut-off values set at pepsinogen I &#60; or = 70 ng/ml and a ratio of serum pepsinogen I/pepsinogen II &#60; or = 3.0. Broccoli consumption (weekly frequency) and diet were monitored by using a 31-item food frequency questionnaire. The prevalence of CAG among men who ate broccoli once or more weekly was twice as high as that among men who consumed a negligible amount (P &#60; 0.05). Multiple logistic regression analysis indicated that broccoli consumption once or more weekly significantly increased the risk for CAG (odds ratio, 3.06; 95% confidence interval, 1.12-8.38; P &#60; 0.05), after controlling for age, education, cigarette smoking, and alcohol consumption. The present study failed to show an expected association between frequent broccoli consumption and a low prevalence of CAG.</p