Monolithic PneuNets Soft Actuators for Robotic Rehabilitation: Methodologies for Design, Production and Characterization

Soft-robotics for biomedical applications, such as rehabilitation robots, is a field of intense research activity. Different actuation solutions have been proposed in the last decades, involving study and development of soft actuators of different types and materials. The purpose of the paper is to present procedures for an optimized design, and for easy and low cost production and characterization of monolithic PneuNets soft-actuators. An innovative design approach has been developed. The parameterization of the geometry, combined with FEM simulations is the basis for an optimized design of the actuator, as a function of the obtained bending and of the generated forces. Simple and cheap characterization setup and procedures have been identified for the actuator characterization and for simulation results validation. An easy and low-cost fabrication method based on lost wax core obtained through a silicone based mold has been developed for a monolithic PneuNets soft-actuator. The proposed solution performs well in bending, without the need for a strain limiting layer. Experimental results validated simulations, confirming the feasibility of adopting an optimized simulation-based design approach

Soft Gloves: A Review on Recent Developments in Actuation, Sensing, Control and Applications

Interest in soft gloves, both robotic and haptic, has enormously grown over the past decade, due to their inherent compliance, which makes them particularly suitable for direct interaction with the human hand. Robotic soft gloves have been developed for hand rehabilitation, for ADLs assistance, or sometimes for both. Haptic soft gloves may be applied in virtual reality (VR) applications or to give sensory feedback in combination with prostheses or to control robots. This paper presents an updated review of the state of the art of soft gloves, with a particular focus on actuation, sensing, and control, combined with a detailed analysis of the devices according to their application field. The review is organized on two levels: a prospective review allows the highlighting of the main trends in soft gloves development and applications, and an analytical review performs an in-depth analysis of the technical solutions developed and implemented in the revised scientific research. Additional minor evaluations integrate the analysis, such as a synthetic investigation of the main results in the clinical studies and trials referred in literature which involve soft gloves

Experimental analysis of an innovative NiTi Wires Activated Pneumatic Valve to study and improve performances

The paper deals with the design and the experimental analysis of an innovative pneumatic valve activated by NiTi wires, materials which belong to the so called Shape Memory Alloys (SMA). The novelty of the hereby illustrated valve concerns with the activation device, the shape and the body in polymeric material. As a consequence, the proposed device shows the following advantages: the easier assembly, the compactness, the silently functioning, the bio-compatibility, the low power activation and the production cheapness. The static and dynamic characterization of the valve has been performed through a dedicated test bench and a wide range of tests on the valve

Kinematic performance of micro-mobility vehicles during braking: experimental analysis and comparison between e-kick scooters and bikes

According to the Italian legislation, e-kick scooters and bikes are considered a single category of vehicles and can travel on the same infrastructures with the same rules; however, their kinematic behavior is very different. The adoption of a bike as a vehicle for covering short distances i.e., within 5 km is widely known both at the kinematic level and for its use by users. Conversely, e-kick scooters are "unknown" vehicles both for their kinematic characteristics and for their use by users. A handful of studies have shown how the behavior of e-kick scooters and bikes is very different; however, there are not many studies that analyze the different kinematic behavior of e-kick scooters and bikes. This study presents an experimental analysis that evaluates braking behavior by comparing e-kick scooters and traditional bikes according to several vehicle speeds. These analyzes help build a probabilistic mathematical model for estimating the stopping space of e-kick scooters and bikes. The availability of this model is crucial for the design of safe intersections between cycle paths and roads intended for motor vehicle traffic. Moreover, this model may reveal insights that could challenge the recent European regulations that equated e-kick scooters as bikes

Urban policies and planning approaches for a safer and climate friendlier mobility in cities: Strategies, initiatives and some analysis

How can urban policies and planning approaches help in achieving a safer mobility and carbon reduction in the transport sector? The attention of planners and policy makers towards the promotion of sustainability and reduction of environmental impacts has grown in recent years. This paper investigates the role that Urban Planning plays in the long term towards a safer and climate friendlier mobility, highlighting the need for integrated approaches gathering spatial planning and mobility management. After a review of several urban policies and planning strategies, initiatives, and approaches, mainly based on the urban scale, the paper presents an urban regeneration case study leading to an increase of pedestrian accessibility at the neighborhood level. This can be seen as a support tool to foster sustainable, safe, and climate friendly mobility in cities. The results of the performed analysis show a dependency of accessibility from two different factors: the distribution of services and the capillarity of the soft mobility network, which can contribute to creating a more walkable space

Synthesis and Properties of Sucrose- and Lactose-Based Aromatic Ester Surfactants as Potential Drugs Permeability Enhancers

The delivery of therapeutics across biological membranes (e.g., mucosal barriers) by avoiding invasive routes (e.g., injection) remains a challenge in the pharmaceutical field. As such, there is the need to discover new compounds that act as drug permeability enhancers with a favorable toxicological profile. A valid alternative is represented by the class of sugar-based ester surfactants. In this study, sucrose and lactose alkyl aromatic and aromatic ester derivatives have been synthesized with the aim to characterize them in terms of their physicochemical properties, structure–property relationship, and cytotoxicity, and to test their ability as permeability enhancer agents across Calu-3 cells. All of the tested surfactants showed no remarkable cytotoxic effect on Calu-3 cells when applied both below and above their critical micelle concentration. Among the explored molecules, lactose p-biphenyl benzoate (URB1420) and sucrose p-phenyl benzoate (URB1481) cause a reversible ~30% decrease in transepithelial electrical resistance (TEER) with the respect to the basal value. The obtained result matches with the increased in vitro permeability coefficients (Papp) calculated for FTIC-dextran across Calu-3 cells in the presence of 4 mM solutions of these surfactants. Overall, this study proposes sucrose- and lactose-based alkyl aromatic and aromatic ester surfactants as novel potential and safe permeation enhancers for pharmaceutical applications

Fertility sparing treatment for bilateral borderline ovarian tumor. A case report and management strategy explication

A bilateral adnexal mass with suspected carcinosis could be a challenging experience for the gynecologist especially in fertile age and in patients with a desire for pregnancy. A 26-year-old patient who came to the outpatient clinical observation for bilateral, multilocular pelvic masses, with more than 4 papillary structures, color score 2, hypomobile compared to the uterus and rectum, respectively of 65 and 68mm in maximum diameter, free liquid in the abdomen and suspected for ovarian neoplasm. Positive tumor markers and a strong desire of a Fertility Sparing Treatment (FST). A 2-steps surgical approach managed to perform a diagnosis of bilateral ovarian borderline tumor with implants and a fertility sparing surgery. Harvesting and cryopreserving oocytes prior to the cytoreductive intervention was successfully performed

Prunus spinosa extract loaded in biomimetic nanoparticles evokes in vitro anti-inflammatory and wound healing activities

Prunus spinosa fruits (PSF) contain different phenolic compounds showing antioxidant and anti-inflammatory activities. Innovative drug delivery systems such as biomimetic nanoparti-cles could improve the activity of PSF extract by promoting (i) the protection of payload into the lipidic bilayer, (ii) increased accumulation to the diseased tissue due to specific targeting properties, (iii) improved biocompatibility, (iv) low toxicity and increased bioavailability. Using membrane proteins extracted from human monocyte cell line THP-1 cells and a mixture of phospholipids, we formulated two types of PSF-extract-loaded biomimetic vesicles differing from each other for the presence of either 1,2-dioleoyl-sn-glycero-3-phosphocholine (DOPC) or 1,2-dioleoyl-sn-glycero-3-phospho-(1\u2032-rac-glycerol) (DOPG). The biological activity of free extract (PSF), compared to both types of extract-loaded vesicles (PSF-DOPCs and PSF-DOPGs) and empty vesicles (DOPCs and DOPGs), was evaluated in vitro on HUVEC cells. PSF-DOPCs showed preferential incorporation of the extract. When enriched into the nanovesicles, the extract showed a significantly increased anti-inflammatory activity, and a pronounced wound-healing effect (with PSF-DOPCs more efficient than PSF-DOPG) compared to free PSF. This innovative drug delivery system, combining nutraceuti-cal active ingredients into a biomimetic formulation, represents a possible adjuvant therapy for the treatment of wound healing. This nanoplatform could be useful for the encapsulation/enrichment of other nutraceutical products with short stability and low bioavailability

ANÁLISE DE CÁLCIO EM DIFERENTES TIPOS DE BEBIDAS

Foram analisadas infusos de duas amostras de chá preto, uma amostra de orange pekoe tipo Assam, duas amostras de chá mate tostado, quatro amostras de erva-mate e uma amostra de café liofilizado, dissoluções à quente de uma amostra de leite em pó desnatado, uma amostra de leite em pó integral e uma amostra de alimento com proteína isolada de soja instantâneo. Estas amostras foram adquiridas em supermercados da Região Metropolitana de Curitiba; com a finalidade de verificar e comparar os teores de cálcio desses diferentes tipos de bebidas. Nas determinações foi utilizada metodologia oficial e todas as análises em triplicata. Os teores de cálcio obtidos foram analisados estatisticamente: as amostras de chá preto apresentaram o menor teor de cálcio que variou de 16,94 mg/100 mL até 24,84 mg/100 mL. As amostras de chámate tostado mostraram valores mais elevados, sendo que uma delas acusou 78,39 mg/100 mL, equivalendo aomesmo teor de cálcio de umleite empó. Quanto às amostras de erva-mate, amaioria comparase à quantidade de cálcio dos leites empó e do alimento comproteína isolada de soja instantâneo, onde uma destacou-se significativamente das demais com valor de 171,55 mg/100 mL, seguida apenas da amostra de café liofilizado que apresentou 141,68 mg/100 mL. CALCIUM ANALYSIS IN DIFFERENT DRINKS Abstract Two samples of black tea, a sample of orange pekoe variety Assam, two samples of toasted tea, four varieties of erva-mate, a freeze dried coffee sample were prepared by hot infusion, samples of skimmed powder milk and powder wholemilk and one instant isolated soy protein sample were prepared in hot water. These samples were purchased in markets in Curitiba to identify and analyze calcium content in comparison with Official methodologies were used and for all determinations three analyses were done. Black tea samples resulted minor calcium content (16.94 to 24.84 mg/ 100 mL). Toasted tea resulted major calcium amount with 78.39 mg/100 mL, similar to calcium amount of powder and soy milk. Erva-mate samples are comparable to calcium content in powder milk. Freeze dried coffee presented high calcium amount (141.68 mg/100 mL)