Dorsal hand coverage with free serratus fascia flap

DEFF Research Database (Denmark)

Fotopoulos, Peter; Holmer, Per; Leicht, Pernille

2003-01-01

in the flap, leaving the long thoracic nerve intact on the serratus muscle. Coverage of the flap with split-thickness skin graft is done immediately. The free serratus fascia flap is an ideal flap for dorsal hand coverage when the extensor tendons are exposed, especially because of low donor-site morbidity....

Reduction of illness absenteeism in elementary schools using an alcohol-free instant hand sanitizer.

Science.gov (United States)

White, C G; Shinder, F S; Shinder, A L; Dyer, D L

2001-10-01

Hand washing is the most effective way to prevent the spread of communicable disease. The purpose of this double-blind, placebo-controlled study was to assess whether an alcohol-free, instant hand sanitizer containing surfactants, allantoin, and benzalkonium chloride could reduce illness absenteeism in a population of 769 elementary school children and serve as an effective alternative when regular soap and water hand washing was not readily available. Prior to the study, students were educated about proper hand washing technique, the importance of hand washing to prevent transmission of germs, and the relationship between germs and illnesses. Children in kindergarten through the 6th grade (ages 5-12) were assigned to the active or placebo hand-sanitizer product and instructed to use the product at scheduled times during the day and as needed after coughing or sneezing. Data on illness absenteeism were tracked. After 5 weeks, students using the active product were 33% less likely to have been absent because of illness when compared with the placebo group.

High-precision measurement of the 19Ne half-life and implications for right-handed weak currents.

Science.gov (United States)

Triambak, S; Finlay, P; Sumithrarachchi, C S; Hackman, G; Ball, G C; Garrett, P E; Svensson, C E; Cross, D S; Garnsworthy, A B; Kshetri, R; Orce, J N; Pearson, M R; Tardiff, E R; Al-Falou, H; Austin, R A E; Churchman, R; Djongolov, M K; D'Entremont, R; Kierans, C; Milovanovic, L; O'Hagan, S; Reeve, S; Sjue, S K L; Williams, S J

2012-07-27

We report a precise determination of the (19)Ne half-life to be T(1/2)=17.262±0.007 s. This result disagrees with the most recent precision measurements and is important for placing bounds on predicted right-handed interactions that are absent in the current standard model. We are able to identify and disentangle two competing systematic effects that influence the accuracy of such measurements. Our findings prompt a reassessment of results from previous high-precision lifetime measurements that used similar equipment and methods.

High-Precision Measurement of the Ne19 Half-Life and Implications for Right-Handed Weak Currents

Science.gov (United States)

Triambak, S.; Finlay, P.; Sumithrarachchi, C. S.; Hackman, G.; Ball, G. C.; Garrett, P. E.; Svensson, C. E.; Cross, D. S.; Garnsworthy, A. B.; Kshetri, R.; Orce, J. N.; Pearson, M. R.; Tardiff, E. R.; Al-Falou, H.; Austin, R. A. E.; Churchman, R.; Djongolov, M. K.; D'Entremont, R.; Kierans, C.; Milovanovic, L.; O'Hagan, S.; Reeve, S.; Sjue, S. K. L.; Williams, S. J.

2012-07-01

We report a precise determination of the Ne19 half-life to be T1/2=17.262±0.007s. This result disagrees with the most recent precision measurements and is important for placing bounds on predicted right-handed interactions that are absent in the current standard model. We are able to identify and disentangle two competing systematic effects that influence the accuracy of such measurements. Our findings prompt a reassessment of results from previous high-precision lifetime measurements that used similar equipment and methods.

Pediatric mandibular fractures: a free hand technique.

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Davison, S P; Clifton, M S; Davison, M N; Hedrick, M; Sotereanos, G

2001-01-01

The treatment of pediatric mandibular fractures is rare, controversial, and complicated by mixed dentition. To determine if open mandibular fracture repair with intraoral and extraoral rigid plate placement, after free hand occlusal and bone reduction, without intermaxillary fixation (IMF), is appropriate and to discuss postoperative advantages, namely, maximal early return of function and minimal oral hygiene issues. A group of 29 pediatric patients with a mandibular fracture were examined. Twenty pediatric patients (13 males and 7 females) with a mean age of 9 years (age range, 1-17 years) were treated using IMF. All patients were treated by the same surgeon (G.S.). Surgical time for plating was reduced by 1 hour, the average time to place patients in IMF. The patients who underwent open reduction internal fixation without IMF ate a soft mechanical diet by postoperative day 3 compared with postoperative day 16 for those who underwent IMF. Complication rates related to fixation technique were comparable at 20% for those who did not undergo IMF and 33% for those who did. We believe that free hand reduction is a valuable technique to reduce operative time for pediatric mandibular fractures. It maximizes return to function while minimizing the oral hygiene issues and hardware removal of intermaxillary function.

A systematic review of the effectiveness of antimicrobial rinse-free hand sanitizers for prevention of illness-related absenteeism in elementary school children.

Science.gov (United States)

Meadows, Emily; Le Saux, Nicole

2004-11-01

Absenteeism due to communicable illness is a major problem encountered by North American elementary school children. Although handwashing is a proven infection control measure, barriers exist in the school environment, which hinder compliance to this routine. Currently, alternative hand hygiene techniques are being considered, and one such technique is the use of antimicrobial rinse-free hand sanitizers. A systematic review was conducted to examine the effectiveness of antimicrobial rinse-free hand sanitizer interventions in the elementary school setting. MEDLINE, EMBASE, Biological Abstract, CINAHL, HealthSTAR and Cochrane Controlled Trials Register were searched for both randomized and non-randomized controlled trials. Absenteeism due to communicable illness was the primary outcome variable. Six eligible studies, two of which were randomized, were identified (5 published studies, 1 published abstract). The quality of reporting was low. Due to a large amount of heterogeneity and low quality of reporting, no pooled estimates were calculated. There was a significant difference reported in favor of the intervention in all 5 published studies. The available evidence for the effectiveness of antimicrobial rinse-free hand sanitizer in the school environment is of low quality. The results suggest that the strength of the benefit should be interpreted with caution. Given the potential to reduce student absenteeism, teacher absenteeism, school operating costs, healthcare costs and parental absenteeism, a well-designed and analyzed trial is needed to optimize this hand hygiene technique.

Haptic Feedback in Motor Hand Virtual Therapy Increases Precision and Generates Less Mental Workload

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Cristina Ramírez-Fernández

2015-10-01

Full Text Available In this work we show that haptic feedback in upper limb motor therapy improves performance and generates a lower mental workload. To demonstrate this, two groups of participants (healthy adults and elders with hand motor problems used a low-cost haptic device (Novint Falcon and a non-robotic device (Leap Motion Controller. Participants conducted the same rehabilitation task by using a non-immersive virtual environment. Results show significant differences for all participants regarding precision on the use of the haptic feedback device. Additionally, participants in the older adult group demonstrated a lower mental workload while using the haptic device (Novint Falcon. Finally, qualitative results show that participants preferred to conduct their therapy exercises by using the haptic device, as they found it more useful, easier to use and easier to learn

A systematic review of the effectiveness of antimicrobial rinse-free hand sanitizers for prevention of illness-related absenteeism in elementary school children

Science.gov (United States)

Meadows, Emily; Le Saux, Nicole

2004-01-01

Background Absenteeism due to communicable illness is a major problem encountered by North American elementary school children. Although handwashing is a proven infection control measure, barriers exist in the school environment, which hinder compliance to this routine. Currently, alternative hand hygiene techniques are being considered, and one such technique is the use of antimicrobial rinse-free hand sanitizers. Methods A systematic review was conducted to examine the effectiveness of antimicrobial rinse-free hand sanitizer interventions in the elementary school setting. MEDLINE, EMBASE, Biological Abstract, CINAHL, HealthSTAR and Cochrane Controlled Trials Register were searched for both randomized and non-randomized controlled trials. Absenteeism due to communicable illness was the primary outcome variable. Results Six eligible studies, two of which were randomized, were identified (5 published studies, 1 published abstract). The quality of reporting was low. Due to a large amount of heterogeneity and low quality of reporting, no pooled estimates were calculated. There was a significant difference reported in favor of the intervention in all 5 published studies. Conclusions The available evidence for the effectiveness of antimicrobial rinse-free hand sanitizer in the school environment is of low quality. The results suggest that the strength of the benefit should be interpreted with caution. Given the potential to reduce student absenteeism, teacher absenteeism, school operating costs, healthcare costs and parental absenteeism, a well-designed and analyzed trial is needed to optimize this hand hygiene technique. PMID:15518593

A systematic review of the effectiveness of antimicrobial rinse-free hand sanitizers for prevention of illness-related absenteeism in elementary school children

Directory of Open Access Journals (Sweden)

Le Saux Nicole

2004-11-01

Full Text Available Abstract Background Absenteeism due to communicable illness is a major problem encountered by North American elementary school children. Although handwashing is a proven infection control measure, barriers exist in the school environment, which hinder compliance to this routine. Currently, alternative hand hygiene techniques are being considered, and one such technique is the use of antimicrobial rinse-free hand sanitizers. Methods A systematic review was conducted to examine the effectiveness of antimicrobial rinse-free hand sanitizer interventions in the elementary school setting. MEDLINE, EMBASE, Biological Abstract, CINAHL, HealthSTAR and Cochrane Controlled Trials Register were searched for both randomized and non-randomized controlled trials. Absenteeism due to communicable illness was the primary outcome variable. Results Six eligible studies, two of which were randomized, were identified (5 published studies, 1 published abstract. The quality of reporting was low. Due to a large amount of heterogeneity and low quality of reporting, no pooled estimates were calculated. There was a significant difference reported in favor of the intervention in all 5 published studies. Conclusions The available evidence for the effectiveness of antimicrobial rinse-free hand sanitizer in the school environment is of low quality. The results suggest that the strength of the benefit should be interpreted with caution. Given the potential to reduce student absenteeism, teacher absenteeism, school operating costs, healthcare costs and parental absenteeism, a well-designed and analyzed trial is needed to optimize this hand hygiene technique.

The Anconeus Muscle Free Flap: Clinical Application to Lesions on the Hand

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Byung-Joon Jeon

2017-09-01

Full Text Available Background It can be difficult to select an appropriate flap for various defects on the hand. Although defects of the hand usually must be covered with a skin flap, some defects require a flap with rich blood supply and adequate additive soft tissue volume. The authors present their experience with the anconeus muscle free flap in the reconstruction of various defects and the release of scar contractures of the hand. Methods Ten patients underwent reconstruction of the finger or release of the first web space using the anconeus muscle free flap from May 1998 to October 2013. Adequate bed preparations with thorough debridement or contracture release were performed. The entire anconeus muscle, located at the elbow superficially, was harvested, with the posterior recurrent interosseous artery as a pedicle. The defects were covered with a uniformly trimmed anconeus muscle free flap. Additional debulking of the flap and skin coverage using a split-thickness skin graft were performed 3 weeks after the first operation. Results The average flap size was 18.7 cm2 (range, 13.5–30 cm2. All flaps survived without significant complications. Vein grafts for overcoming a short pedicle were necessary in 4 cases. Conclusions The anconeus muscle free flap can be considered a reliable reconstructive option for small defects on the hand or contracture release of the web space, because it has relatively consistent anatomy, provides robust blood supply within the same operative field, and leads to no functional loss at the donor site.

An EMG-Controlled Robotic Hand Exoskeleton for Bilateral Rehabilitation.

Science.gov (United States)

Leonardis, Daniele; Barsotti, Michele; Loconsole, Claudio; Solazzi, Massimiliano; Troncossi, Marco; Mazzotti, Claudio; Castelli, Vincenzo Parenti; Procopio, Caterina; Lamola, Giuseppe; Chisari, Carmelo; Bergamasco, Massimo; Frisoli, Antonio

2015-01-01

This paper presents a novel electromyography (EMG)-driven hand exoskeleton for bilateral rehabilitation of grasping in stroke. The developed hand exoskeleton was designed with two distinctive features: (a) kinematics with intrinsic adaptability to patient's hand size, and (b) free-palm and free-fingertip design, preserving the residual sensory perceptual capability of touch during assistance in grasping of real objects. In the envisaged bilateral training strategy, the patient's non paretic hand acted as guidance for the paretic hand in grasping tasks. Grasping force exerted by the non paretic hand was estimated in real-time from EMG signals, and then replicated as robotic assistance for the paretic hand by means of the hand-exoskeleton. Estimation of the grasping force through EMG allowed to perform rehabilitation exercises with any, non sensorized, graspable objects. This paper presents the system design, development, and experimental evaluation. Experiments were performed within a group of six healthy subjects and two chronic stroke patients, executing robotic-assisted grasping tasks. Results related to performance in estimation and modulation of the robotic assistance, and to the outcomes of the pilot rehabilitation sessions with stroke patients, positively support validity of the proposed approach for application in stroke rehabilitation.

High-speed precision motion control

CERN Document Server

Yamaguchi, Takashi; Pang, Chee Khiang

2011-01-01

Written for researchers and postgraduate students in Control Engineering, as well as professionals in the Hard Disk Drive industry, this book discusses high-precision and fast servo controls in Hard Disk Drives (HDDs). The editors present a number of control algorithms that enable fast seeking and high precision positioning, and propose problems from commercial products, making the book valuable to researchers in HDDs. Each chapter is self contained, and progresses from concept to technique, present application examples that can be used within automotive, aerospace, aeronautical, and manufactu

Hands-free administration of subjective workload scales: acceptability in a surgical training environment.

Science.gov (United States)

Carswell, C Melody; Lio, Cindy H; Grant, Russell; Klein, Martina I; Clarke, Duncan; Seales, W Brent; Strup, Stephen

2010-12-01

Subjective workload measures are usually administered in a visual-manual format, either electronically or by paper and pencil. However, vocal responses to spoken queries may sometimes be preferable, for example when experimental manipulations require continuous manual responding or when participants have certain sensory/motor impairments. In the present study, we evaluated the acceptability of the hands-free administration of two subjective workload questionnaires - the NASA Task Load Index (NASA-TLX) and the Multiple Resources Questionnaire (MRQ) - in a surgical training environment where manual responding is often constrained. Sixty-four undergraduates performed fifteen 90-s trials of laparoscopic training tasks (five replications of 3 tasks - cannulation, ring transfer, and rope manipulation). Half of the participants provided workload ratings using a traditional paper-and-pencil version of the NASA-TLX and MRQ; the remainder used a vocal (hands-free) version of the questionnaires. A follow-up experiment extended the evaluation of the hands-free version to actual medical students in a Minimally Invasive Surgery (MIS) training facility. The NASA-TLX was scored in 2 ways - (1) the traditional procedure using participant-specific weights to combine its 6 subscales, and (2) a simplified procedure - the NASA Raw Task Load Index (NASA-RTLX) - using the unweighted mean of the subscale scores. Comparison of the scores obtained from the hands-free and written administration conditions yielded coefficients of equivalence of r=0.85 (NASA-TLX) and r=0.81 (NASA-RTLX). Equivalence estimates for the individual subscales ranged from r=0.78 ("mental demand") to r=0.31 ("effort"). Both administration formats and scoring methods were equally sensitive to task and repetition effects. For the MRQ, the coefficient of equivalence for the hands-free and written versions was r=0.96 when tested on undergraduates. However, the sensitivity of the hands-free MRQ to task demands (�

Air Muscle Actuated Low Cost Humanoid Hand

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Peter Scarfe

2008-11-01

Full Text Available The control of humanoid robot hands has historically been expensive due to the cost of precision actuators. This paper presents the design and implementation of a low-cost air muscle actuated humanoid hand developed at Curtin University of Technology. This hand offers 10 individually controllable degrees of freedom ranging from the elbow to the fingers, with overall control handled through a computer GUI. The hand is actuated through 20 McKibben-style air muscles, each supplied by a pneumatic pressure-balancing valve that allows for proportional control to be achieved with simple and inexpensive components. The hand was successfully able to perform a number of human-equivalent tasks, such as grasping and relocating objects.

Air Muscle Actuated Low Cost Humanoid Hand

Directory of Open Access Journals (Sweden)

Peter Scarfe

2006-06-01

Full Text Available The control of humanoid robot hands has historically been expensive due to the cost of precision actuators. This paper presents the design and implementation of a low-cost air muscle actuated humanoid hand developed at Curtin University of Technology. This hand offers 10 individually controllable degrees of freedom ranging from the elbow to the fingers, with overall control handled through a computer GUI. The hand is actuated through 20 McKibben-style air muscles, each supplied by a pneumatic pressure-balancing valve that allows for proportional control to be achieved with simple and inexpensive components. The hand was successfully able to perform a number of human-equivalent tasks, such as grasping and relocating objects.

Drag-Free Motion Control of Satellite for High-Precision Gravity Field Mapping

DEFF Research Database (Denmark)

Ziegler, Bent Lindvig; Blanke, Mogens

2002-01-01

High precision mapping of the geoid and the Earth's gravity field are of importance to a wide range of ongoing studies in areas like ocean circulation, solid Earth physics and ice sheet dynamics. Using a satellite in orbit around the Earth gives the opportunity to map the Earth's gravity field in 3...... will compromise measurement accuracy, unless they are accurately compensated by on-board thrusters. The paper concerns the design of a control system to performing such delicate drag compensation. A six degrees-of-freedom model for the satellite is developed with the model including dynamics of the satellite...

Learning Is Better with the Hands Free: The Role of Posture in the Memory of Manipulable Objects.

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Léo Dutriaux

Full Text Available Grounded cognition proposes that memory shares processing resources with sensorimotor systems. The aim of the present study was to show that motor simulation participates in the conceptual representation of manipulable objects in long-term memory. In two experiments, lists of manipulable and nonmanipulable objects were presented. Participants were instructed to memorize the items while adopting different postures. In the control condition, they had to keep their hands at rest in front of them. In the interference condition, participants had to keep their hands crossed behind their back to make their hands less free for action. After each list, participants had to perform first a distractive task, and then an oral free recall. The results showed that the interfering posture produced a specific decrease in the recall of manipulable objects, but not of nonmanipulable ones. This decrease was similar when the items were presented as pictures (Experiment 1 or as words (Experiment 2, thus excluding a purely visual effect. These results provide strong evidence that the motor simulation plays a role in the memory trace of the object.

Learning Is Better with the Hands Free: The Role of Posture in the Memory of Manipulable Objects.

Science.gov (United States)

Dutriaux, Léo; Gyselinck, Valérie

2016-01-01

Grounded cognition proposes that memory shares processing resources with sensorimotor systems. The aim of the present study was to show that motor simulation participates in the conceptual representation of manipulable objects in long-term memory. In two experiments, lists of manipulable and nonmanipulable objects were presented. Participants were instructed to memorize the items while adopting different postures. In the control condition, they had to keep their hands at rest in front of them. In the interference condition, participants had to keep their hands crossed behind their back to make their hands less free for action. After each list, participants had to perform first a distractive task, and then an oral free recall. The results showed that the interfering posture produced a specific decrease in the recall of manipulable objects, but not of nonmanipulable ones. This decrease was similar when the items were presented as pictures (Experiment 1) or as words (Experiment 2), thus excluding a purely visual effect. These results provide strong evidence that the motor simulation plays a role in the memory trace of the object.

Shape-estimation of human hand using polymer flex sensor and study of its application to control robot arm

International Nuclear Information System (INIS)

Lee, Jin Hyuck; Kim, Dae Hyun

2015-01-01

Ultrasonic inspection robot systems have been widely researched and developed for the real-time monitoring of structures such as power plants. However, an inspection robot that is operated in a simple pattern has limitations in its application to various structures in a plant facility because of the diverse and complicated shapes of the inspection objects. Therefore, accurate control of the robot is required to inspect complicated objects with high-precision results. This paper presents the idea that the shape and movement information of an ultrasonic inspector's hand could be profitably utilized for the accurate control of robot. In this study, a polymer flex sensor was applied to monitor the shape of a human hand. This application was designed to intuitively control an ultrasonic inspection robot. The movement and shape of the hand were estimated by applying multiple sensors. Moreover, it was successfully shown that a test robot could be intuitively controlled based on the shape of a human hand estimated using polymer flex sensors.

Shape-estimation of human hand using polymer flex sensor and study of its application to control robot arm

Energy Technology Data Exchange (ETDEWEB)

Lee, Jin Hyuck; Kim, Dae Hyun [Seoul National University of Technology, Seoul (Korea, Republic of)

2015-02-15

Ultrasonic inspection robot systems have been widely researched and developed for the real-time monitoring of structures such as power plants. However, an inspection robot that is operated in a simple pattern has limitations in its application to various structures in a plant facility because of the diverse and complicated shapes of the inspection objects. Therefore, accurate control of the robot is required to inspect complicated objects with high-precision results. This paper presents the idea that the shape and movement information of an ultrasonic inspector's hand could be profitably utilized for the accurate control of robot. In this study, a polymer flex sensor was applied to monitor the shape of a human hand. This application was designed to intuitively control an ultrasonic inspection robot. The movement and shape of the hand were estimated by applying multiple sensors. Moreover, it was successfully shown that a test robot could be intuitively controlled based on the shape of a human hand estimated using polymer flex sensors.

Increased efficiency in the second-hand tire trade provides opportunity for dengue control.

Science.gov (United States)

Pliego Pliego, Emilene; Velázquez-Castro, Jorge; Eichhorn, Markus P; Fraguela Collar, Andrés

2018-01-21

Dengue fever is increasing in geographical range, spread by invasion of its vector mosquitoes. The trade in second-hand tires has been implicated as a factor in this process because they act as mobile reservoirs of mosquito eggs and larvae. Regional transportation of tires can create linkages between rural areas with dengue and disease-free urban areas, potentially giving rise to outbreaks even in areas with strong local control measures. In this work we sought to model the dynamics of mosquito transportation via the tire trade, in particular to predict its role in causing unexpected dengue outbreaks through vertical transmission of the virus across generations of mosquitoes. We also aimed to identify strategies for regulating the trade in second-hand tires, improving disease control. We created a mathematical model which captures the dynamics of dengue between rural and urban areas, taking into account the movement and storage time of tires, and mosquito diapause. We simulate a series of scenarios in which a mosquito population is introduced to a dengue-free area via movement of tires, either as single or multiple events, increasing the likelihood of a dengue outbreak. A persistent disease state can be induced regardless of whether urban conditions for an outbreak are met, and an existing endemic state can be enhanced by vector input. Finally we assess the potential for regulation of tire processing as a means of reducing the transmission of dengue fever using a specific case study from Puerto Rico. Our work demonstrates the importance of the second-hand tire trade in modulating the spread of dengue fever across regions, in particular its role in introducing dengue to disease-free areas. We propose that reduction of tire storage time and control of their movement can play a crucial role in containing dengue outbreaks. Copyright © 2017 Elsevier Ltd. All rights reserved.

Circuit For Control Of Electromechanical Prosthetic Hand

Science.gov (United States)

Bozeman, Richard J., Jr.

1995-01-01

Proposed circuit for control of electromechanical prosthetic hand derives electrical control signals from shoulder movements. Updated, electronic version of prosthesis, that includes two hooklike fingers actuated via cables from shoulder harness. Circuit built around favored shoulder harness, provides more dexterous movement, without incurring complexity of computer-controlled "bionic" or hydraulically actuated devices. Additional harness and potentiometer connected to similar control circuit mounted on other shoulder. Used to control stepping motor rotating hand about prosthetic wrist to one of number of angles consistent with number of digital outputs. Finger-control signals developed by circuit connected to first shoulder harness transmitted to prosthetic hand via sliprings at prosthetic wrist joint.

Comparing handheld and hands-free cell phone usage behaviors while driving.

Science.gov (United States)

Soccolich, Susan A; Fitch, Gregory M; Perez, Miguel A; Hanowski, Richard J

2014-01-01

The goal of this study was to compare cell phone usage behaviors while driving across 3 types of cell phones: handheld (HH) cell phones, portable hands-free (PHF) cell phones, and integrated hands-free (IHF) cell phones. Naturalistic driving data were used to observe HH, PHF, and IHF usage behaviors in participants' own vehicles without any instructions or manipulations by researchers. In addition to naturalistic driving data, drivers provided their personal cell phone call records. Calls during driving were sampled and observed in naturalistically collected video. Calls were reviewed to identify cell phone type used for, and duration of, cell phone subtasks, non-cell phone secondary tasks, and other use behaviors. Drivers in the study self-identified as HH, PHF, or IHF users if they reported using that cell phone type at least 50% of the time. However, each sampled call was classified as HH, PHF, or IHF if the talking/listening subtask was conducted using that cell phone type, without considering the driver's self-reported group. Drivers with PHF or IHF systems also used HH cell phones (IHF group used HH cell phone in 53.2% of the interactions, PHF group used HH cell phone for 55.5% of interactions). Talking/listening on a PHF phone or an IHF phone was significantly longer than talking/listening on an HH phone (P phone call task for HH phones was significantly longer in duration than the end phone call task for PHF and IHF phones. Of all the non-cell phone-related secondary tasks, eating or drinking was found to occur significantly more often during IHF subtasks (0.58%) than in HH subtasks (0.15%). Drivers observed to reach for their cell phone mostly kept their cell phone in the cup holder (36.3%) or in their seat or lap (29.0% of interactions); however, some observed locations may have required drivers to move out of position. Hands-free cell phone technologies reduce the duration of cell phone visual-manual tasks compared to handheld cell phones. However

Hand-to-Hand Model for Bioelectrical Impedance Analysis to Estimate Fat Free Mass in a Healthy Population

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Hsueh-Kuan Lu

2016-10-01

Full Text Available This study aimed to establish a hand-to-hand (HH model for bioelectrical impedance analysis (BIA fat free mass (FFM estimation by comparing with a standing position hand-to-foot (HF BIA model and dual energy X-ray absorptiometry (DXA; we also verified the reliability of the newly developed model. A total of 704 healthy Chinese individuals (403 men and 301 women participated. FFM (FFMDXA reference variables were measured using DXA and segmental BIA. Further, regression analysis, Bland–Altman plots, and cross-validation (2/3 participants as the modeling group, 1/3 as the validation group; three turns were repeated for validation grouping were conducted to compare tests of agreement with FFMDXA reference variables. In male participants, the hand-to-hand BIA model estimation equation was calculated as follows: FFMmHH = 0.537 h2/ZHH − 0.126 year + 0.217 weight + 18.235 (r2 = 0.919, standard estimate of error (SEE = 2.164 kg, n = 269. The mean validated correlation coefficients and limits of agreement (LOAs of the Bland–Altman analysis of the calculated values for FFMmHH and FFMDXA were 0.958 and −4.369–4.343 kg, respectively, for hand-to-foot BIA model measurements for men; the FFM (FFMmHF and FFMDXA were 0.958 and −4.356–4.375 kg, respectively. The hand-to-hand BIA model estimating equation for female participants was FFMFHH = 0.615 h2/ZHH − 0.144 year + 0.132 weight + 16.507 (r2 = 0.870, SEE = 1.884 kg, n = 201; the three mean validated correlation coefficient and LOA for the hand-to-foot BIA model measurements for female participants (FFMFHH and FFMDXA were 0.929 and −3.880–3.886 kg, respectively. The FFMHF and FFMDXA were 0.942 and −3.511–3.489 kg, respectively. The results of both hand-to-hand and hand-to-foot BIA models demonstrated similar reliability, and the hand-to-hand BIA models are practical for assessing FFM.

Hand-to-Hand Model for Bioelectrical Impedance Analysis to Estimate Fat Free Mass in a Healthy Population.

Science.gov (United States)

Lu, Hsueh-Kuan; Chiang, Li-Ming; Chen, Yu-Yawn; Chuang, Chih-Lin; Chen, Kuen-Tsann; Dwyer, Gregory B; Hsu, Ying-Lin; Chen, Chun-Hao; Hsieh, Kuen-Chang

2016-10-21

This study aimed to establish a hand-to-hand (HH) model for bioelectrical impedance analysis (BIA) fat free mass (FFM) estimation by comparing with a standing position hand-to-foot (HF) BIA model and dual energy X-ray absorptiometry (DXA); we also verified the reliability of the newly developed model. A total of 704 healthy Chinese individuals (403 men and 301 women) participated. FFM (FFM DXA ) reference variables were measured using DXA and segmental BIA. Further, regression analysis, Bland-Altman plots, and cross-validation (2/3 participants as the modeling group, 1/3 as the validation group; three turns were repeated for validation grouping) were conducted to compare tests of agreement with FFM DXA reference variables. In male participants, the hand-to-hand BIA model estimation equation was calculated as follows: FFM m HH = 0.537 h²/Z HH - 0.126 year + 0.217 weight + 18.235 ( r ² = 0.919, standard estimate of error (SEE) = 2.164 kg, n = 269). The mean validated correlation coefficients and limits of agreement (LOAs) of the Bland-Altman analysis of the calculated values for FFM m HH and FFM DXA were 0.958 and -4.369-4.343 kg, respectively, for hand-to-foot BIA model measurements for men; the FFM (FFM m HF ) and FFM DXA were 0.958 and -4.356-4.375 kg, respectively. The hand-to-hand BIA model estimating equation for female participants was FFM F HH = 0.615 h²/Z HH - 0.144 year + 0.132 weight + 16.507 ( r ² = 0.870, SEE = 1.884 kg, n = 201); the three mean validated correlation coefficient and LOA for the hand-to-foot BIA model measurements for female participants (FFM F HH and FFM DXA ) were 0.929 and -3.880-3.886 kg, respectively. The FFM HF and FFM DXA were 0.942 and -3.511-3.489 kg, respectively. The results of both hand-to-hand and hand-to-foot BIA models demonstrated similar reliability, and the hand-to-hand BIA models are practical for assessing FFM.

Visual control improves the accuracy of hand positioning in Huntington’s disease

Directory of Open Access Journals (Sweden)

Emilia J. Sitek

2017-08-01

Full Text Available Background: The study aimed at demonstrating dependence of visual feedback during hand and finger positioning task performance among Huntington’s disease patients in comparison to patients with Parkinson’s disease and cervical dystonia. Material and methods: Eighty-nine patients participated in the study (23 with Huntington’s disease, 25 with Parkinson’s disease with dyskinesias, 21 with Parkinson’s disease without dyskinesias, and 20 with cervical dystonia, scoring ≥20 points on Mini-Mental State Examination in order to assure comprehension of task instructions. Neurological examination comprised of the motor section from the Unified Huntington’s Disease Rating Scale for Huntington’s disease, the Unified Parkinson’s Disease Rating Scale Part II–IV for Parkinson’s disease and the Toronto Western Spasmodic Torticollis Rating Scale for cervical dystonia. In order to compare hand position accuracy under visually controlled and blindfolded conditions, the patient imitated each of the 10 examiner’s hand postures twice, once under the visual control condition and once with no visual feedback provided. Results: Huntington’s disease patients imitated examiner’s hand positions less accurately under blindfolded condition in comparison to Parkinson’s disease without dyskinesias and cervical dystonia participants. Under visually controlled condition there were no significant inter-group differences. Conclusions: Huntington’s disease patients exhibit higher dependence on visual feedback while performing motor tasks than Parkinson’s disease and cervical dystonia patients. Possible improvement of movement precision in Huntington’s disease with the use of visual cues could be potentially useful in the patients’ rehabilitation.

Evaluation of Hands-Free Devices for the Display of Maintenance Procedures

Science.gov (United States)

Whitmore, Mihriban; Hoffman, Ronald B.; Litaker, Harry, Jr.; Solem, Jody; Holden, Kritina; Twyford, Evan; Conlee, Carl

2007-01-01

Over the past year, NASA's focus has turned to crewed long duration and exploration missions. On these journeys, crewmembers will be required to execute thousands of procedures to maintain life support systems, check out space suits, conduct science experiments, and perform medical exams. To support the many complex tasks crewmembers undertake in microgravity, NASA is interested in providing crewmembers a hands-free work environment to promote more efficient operations. The overarching objective is to allow crewmembers to use both of their hands for tasks related to their mission, versus holding a paper manual or interacting with a display. The use of advanced, hands-free tools will undoubtedly make the crewmembers task easier, but they can also add to overall task complexity if not properly designed. A leading candidate technology for supporting a hands-free environment is the Head-Mounted Display (HMD). A more recent technology (e-book reader) that could be easily temp-stowed near the work area is also a potential hands-free solution. Previous work at NASA involved the evaluation of several commercially available HMDs for visual quality, comfort, and fit, as well as suitability for use in microgravity. Based on results from this work, three HMDs were selected for further evaluation (along with an e-book reader), using International Space Station (ISS)-like maintenance procedures. Two evaluations were conducted in the Space Station Mockup and Trainer Facility (SSMTF) located at the NASA Johnson Space Center (building 9). The SSMTF is a full scale, medium fidelity replica of the pressurized portions of the ISS. It supports crew training such as ingress and egress, habitability, and emergency procedures. In each of the two evaluations, the participants performed two maintenance procedures. One maintenance procedure involved inspecting air filters in a life support system and replacing them with a clean filter if one were found to be contaminated. The second

Intelligent, self-contained robotic hand

Science.gov (United States)

Krutik, Vitaliy; Doo, Burt; Townsend, William T.; Hauptman, Traveler; Crowell, Adam; Zenowich, Brian; Lawson, John

2007-01-30

A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking. In various forms, this intelligent, self-contained, dexterous hand, or combinations of such hands, can perform a wide variety of object gripping and manipulating tasks, as well as locomotion and combinations of locomotion and gripping.

Natural control capabilities of robotic hands by hand amputated subjects.

Science.gov (United States)

Atzori, Manfredo; Gijsberts, Arjan; Caputo, Barbara; Muller, Henning

2014-01-01

People with transradial hand amputations who own a myoelectric prosthesis currently have some control capabilities via sEMG. However, the control systems are still limited and not natural. The Ninapro project is aiming at helping the scientific community to overcome these limits through the creation of publicly available electromyography data sources to develop and test machine learning algorithms. In this paper we describe the movement classification results gained from three subjects with an homogeneous level of amputation, and we compare them with the results of 40 intact subjects. The number of considered subjects can seem small at first sight, but it is not considering the literature of the field (which has to face the difficulty of recruiting trans-radial hand amputated subjects). The classification is performed with four different classifiers and the obtained balanced classification rates are up to 58.6% on 50 movements, which is an excellent result compared to the current literature. Successively, for each subject we find a subset of up to 9 highly independent movements, (defined as movements that can be distinguished with more than 90% accuracy), which is a deeply innovative step in literature. The natural control of a robotic hand in so many movements could lead to an immediate progress in robotic hand prosthetics and it could deeply change the quality of life of amputated subjects.

Development of Advanced Robotic Hand System for space application

Science.gov (United States)

Machida, Kazuo; Akita, Kenzo; Mikami, Tatsuo; Komada, Satoru

1994-01-01

The Advanced Robotic Hand System (ARH) is a precise telerobotics system with a semi dexterous hand for future space application. The ARH will be tested in space as one of the missions of the Engineering Tests Satellite 7 (ETS-7) which will be launched in 1997. The objectives of the ARH development are to evaluate the capability of a possible robot hand for precise and delicate tasks and to validate the related technologies implemented in the system. The ARH is designed to be controlled both from ground as a teleoperation and by locally autonomous control. This paper presents the overall system design and the functional capabilities of the ARH as well as its mission outline as the preliminary design has been completed.

A hand-held 3D laser scanning with global positioning system of subvoxel precision

International Nuclear Information System (INIS)

Arias, Nestor; Meneses, Nestor; Meneses, Jaime; Gharbi, Tijani

2011-01-01

In this paper we propose a hand-held 3D laser scanner composed of an optical head device to extract 3D local surface information and a stereo vision system with subvoxel precision to measure the position and orientation of the 3D optical head. The optical head is manually scanned over the surface object by the operator. The orientation and position of the 3D optical head is determined by a phase-sensitive method using a 2D regular intensity pattern. This phase reference pattern is rigidly fixed to the optical head and allows their 3D location with subvoxel precision in the observation field of the stereo vision system. The 3D resolution achieved by the stereo vision system is about 33 microns at 1.8 m with an observation field of 60cm x 60cm.

Intelligent computational control of multi-fingered dexterous robotic hand

OpenAIRE

Chen, Disi; Li, Gongfa; Jiang, Guozhang; Fang, Yinfeng; Ju, Zhaojie; Liu, Honghai

2015-01-01

We discuss the intelligent computational control theory and introduce the hardware structure of HIT/DLR II dexterous robotic hand, which is the typical dexterous robotic hand. We show that how DSP or FPGA controller can be used in the dexterous robotic hand. A popular intelligent dexterous robotic hand control system, which named Electromyography (EMG) control is investigated. We introduced some mathematical algorithms in EMG controlling, such as Gauss mixture model (GMM), artificial neural n...

A systematic review of the effectiveness of antimicrobial rinse-free hand sanitizers for prevention of illness-related absenteeism in elementary school children

OpenAIRE

Meadows, Emily; Le Saux, Nicole

2004-01-01

Abstract Background Absenteeism due to communicable illness is a major problem encountered by North American elementary school children. Although handwashing is a proven infection control measure, barriers exist in the school environment, which hinder compliance to this routine. Currently, alternative hand hygiene techniques are being considered, and one such technique is the use of antimicrobial rinse-free hand sanitizers. Methods A systematic review was conducted to examine the effectivenes...

Web-based interactive drone control using hand gesture

Science.gov (United States)

Zhao, Zhenfei; Luo, Hao; Song, Guang-Hua; Chen, Zhou; Lu, Zhe-Ming; Wu, Xiaofeng

2018-01-01

This paper develops a drone control prototype based on web technology with the aid of hand gesture. The uplink control command and downlink data (e.g., video) are transmitted by WiFi communication, and all the information exchange is realized on web. The control command is translated from various predetermined hand gestures. Specifically, the hardware of this friendly interactive control system is composed by a quadrotor drone, a computer vision-based hand gesture sensor, and a cost-effective computer. The software is simplified as a web-based user interface program. Aided by natural hand gestures, this system significantly reduces the complexity of traditional human-computer interaction, making remote drone operation more intuitive. Meanwhile, a web-based automatic control mode is provided in addition to the hand gesture control mode. For both operation modes, no extra application program is needed to be installed on the computer. Experimental results demonstrate the effectiveness and efficiency of the proposed system, including control accuracy, operation latency, etc. This system can be used in many applications such as controlling a drone in global positioning system denied environment or by handlers without professional drone control knowledge since it is easy to get started.

Web-based interactive drone control using hand gesture.

Science.gov (United States)

Zhao, Zhenfei; Luo, Hao; Song, Guang-Hua; Chen, Zhou; Lu, Zhe-Ming; Wu, Xiaofeng

2018-01-01

This paper develops a drone control prototype based on web technology with the aid of hand gesture. The uplink control command and downlink data (e.g., video) are transmitted by WiFi communication, and all the information exchange is realized on web. The control command is translated from various predetermined hand gestures. Specifically, the hardware of this friendly interactive control system is composed by a quadrotor drone, a computer vision-based hand gesture sensor, and a cost-effective computer. The software is simplified as a web-based user interface program. Aided by natural hand gestures, this system significantly reduces the complexity of traditional human-computer interaction, making remote drone operation more intuitive. Meanwhile, a web-based automatic control mode is provided in addition to the hand gesture control mode. For both operation modes, no extra application program is needed to be installed on the computer. Experimental results demonstrate the effectiveness and efficiency of the proposed system, including control accuracy, operation latency, etc. This system can be used in many applications such as controlling a drone in global positioning system denied environment or by handlers without professional drone control knowledge since it is easy to get started.

Numerical precision control and GRACE

International Nuclear Information System (INIS)

Fujimoto, J.; Hamaguchi, N.; Ishikawa, T.; Kaneko, T.; Morita, H.; Perret-Gallix, D.; Tokura, A.; Shimizu, Y.

2006-01-01

The control of the numerical precision of large-scale computations like those generated by the GRACE system for automatic Feynman diagram calculations has become an intrinsic part of those packages. Recently, Hitachi Ltd. has developed in FORTRAN a new library HMLIB for quadruple and octuple precision arithmetic where the number of lost-bits is made available. This library has been tested with success on the 1-loop radiative correction to e + e - ->e + e - τ + τ - . It is shown that the approach followed by HMLIB provides an efficient way to track down the source of numerical significance losses and to deliver high-precision results yet minimizing computing time

Earable TEMPO: A Novel, Hands-Free Input Device that Uses the Movement of the Tongue Measured with a Wearable Ear Sensor

Directory of Open Access Journals (Sweden)

Kazuhiro Taniguchi

2018-03-01

Full Text Available In this study, an earphone-type interface named “earable TEMPO” was developed for hands-free operation, wherein the user can control the device by simply pushing the tongue against the roof of the mouth for about one second. This interface can be used to start and stop the music from a portable audio player. The earable TEMPO uses an earphone-type sensor equipped with a light emitting diode (LED and a phototransistor to optically measure shape variations that occur in the external auditory meatus when the tongue is pressed against the roof of the mouth. To evaluate the operation of the earable TEMPO, experiments were performed on five subjects (men and women aged 22–58 while resting, chewing gum (representing mastication, and walking. The average accuracy was 100% while resting and chewing and 99% while walking. The precision was 100% under all conditions. The average recall value of the five subjects was 92%, 90%, and 48% while resting, masticating, and walking, respectively. All subjects were reliably able to perform the action of pressing the tongue against the roof of the mouth. The measured shape variations in the ear canal were highly reproducible, indicating that this method is suitable for various applications such as controlling a portable audio player.

Precise gouging-free tool orientations for 5-axis CNC machining

KAUST Repository

Kim, Yong-Joon

2014-08-19

We present a precise approach to the generation of optimized collision-free and gouging-free tool paths for 5-axis CNC machining of freeform NURBS surfaces using flat-end and rounded-end (bull nose) tools having cylindrical shank. To achieve high approximation quality, we employ analysis of hyper-osculating circles (HOCs) (Wang et al., 1993a,b), that have third order contact with the target surface, and lead to a locally collision-free configuration between the tool and the target surface. At locations where an HOC is not possible, we aim at a double tangential contact among the tool and the target surface, and use it as a bridge between the feasible HOC tool paths. We formulate all such possible two-contact configurations as systems of algebraic constraints and solve them. For all feasible HOCs and two-contact configurations, we perform a global optimization to find the tool path that maximizes the approximation quality of the machining, while being gouge-free and possibly satisfying constraints on the tool tilt and the tool acceleration. We demonstrate the effectiveness of our approach via several experimental results.

Precise gouging-free tool orientations for 5-axis CNC machining

KAUST Repository

Kim, Yong-Joon; Elber, Gershon; Barton, Michael; Pottmann, Helmut

2014-01-01

We present a precise approach to the generation of optimized collision-free and gouging-free tool paths for 5-axis CNC machining of freeform NURBS surfaces using flat-end and rounded-end (bull nose) tools having cylindrical shank. To achieve high approximation quality, we employ analysis of hyper-osculating circles (HOCs) (Wang et al., 1993a,b), that have third order contact with the target surface, and lead to a locally collision-free configuration between the tool and the target surface. At locations where an HOC is not possible, we aim at a double tangential contact among the tool and the target surface, and use it as a bridge between the feasible HOC tool paths. We formulate all such possible two-contact configurations as systems of algebraic constraints and solve them. For all feasible HOCs and two-contact configurations, we perform a global optimization to find the tool path that maximizes the approximation quality of the machining, while being gouge-free and possibly satisfying constraints on the tool tilt and the tool acceleration. We demonstrate the effectiveness of our approach via several experimental results.

The accuracy, precision and sustainability of different techniques for tablet subdivision: breaking by hand and the use of tablet splitters or a kitchen knife.

Science.gov (United States)

van Riet-Nales, Diana A; Doeve, Myrthe E; Nicia, Agnes E; Teerenstra, Steven; Notenboom, Kim; Hekster, Yechiel A; van den Bemt, Bart J F

2014-05-15

Tablets are frequently subdivided to lower the dose, to facilitate swallowing by e.g. children or older people or to save costs. Splitting devices are commonly used when hand breaking is difficult or painful. Three techniques for tablet subdivision were investigated: hand breaking, tablet splitter, kitchen knife. A best case drug (paracetamol), tablet (round, flat, uncoated, 500 mg) and operator (24-year student) were applied. Hundred tablets were subdivided by hand and by three devices of each of the following types: Fit & Healthy, Health Care Logistics, Lifetime, PillAid, PillTool, Pilomat tablet splitter; Blokker kitchen knife. The intra and inter device accuracy, precision and sustainability were investigated. The compliance to (adapted) regulatory requirements was investigated also. The accuracy and precision of hand broken tablets was 104/97% resp. 2.8/3.2% (one part per tablet considered; parts right/left side operator). The right/left accuracies of the splitting devices varied between 60 and 133%; the precisions 4.0 and 29.6%. The devices did not deteriorate over 100-fold use. Only hand broken tablets complied with all regulatory requirements. Health care professionals should realize that tablet splitting may result in inaccurate dosing. Authorities should undertake appropriate measures to assure good function of tablet splitters and, where feasible, to reduce the need for their use. Copyright © 2014 The Authors. Published by Elsevier B.V. All rights reserved.

Controller design for Robotic hand through Electroencephalogram

OpenAIRE

Pandelidis P.; Kiriazis N.; Orgianelis K.; Koulios N.

2016-01-01

- This paper deals with the designing, the construction and the control of a robotic hand via an electroencephalogram sensor. First a robotic device that is able to mimic a real human hand is constructed. A PID controller is designed in order to improve the performance of the robotic arm for grabbing objects. Furthermore, a novel design approach is presented for controlling the motion of the robotic arm using signals produced from an innovative electroencephalogram sensor that detects the con...

Control System Design of the YWZ Multi-Fingered Dexterous Hand

Directory of Open Access Journals (Sweden)

Wenzhen Yang

2012-07-01

Full Text Available The manipulation abilities of a multi-fingered dexterous hand, such as motion in real-time, flexibility, grasp stability etc., are largely dependent on its control system. This paper developed a control system for the YWZ dexterous hand, which had five fingers and twenty degrees of freedom (DOFs. All of the finger joints of the YWZ dexterous handwere active joints driven by twenty micro-stepper motors respectively. The main contribution of this paper was that we were able to use stepper motor control to actuate the hand's fingers, thus, increasing the hands feasibility. Based the actuators of the YWZ dexterous hand, we firstly developed an integrated circuit board (ICB, which was the communication hardware between the personal computer (PC and the YWZ dexterous hand. The ICB included a centre controller, twenty driver chips, a USB port and other electrical parts. Then, a communication procedure between the PC and the ICB was developed to send the control commands to actuate the YWZ dexterous hand. Experiment results showed that under this control system, the motion of the YWZ dexterous hand was real-time; both the motion accuracy and the motion stability of the YWZ dexterous hand were reliable. Compared with other types of actuators related to dexterous hands, such as pneumatic servo cylinder, DC servo motor, shape memory alloy etc., experiment results verified that the stepper motors as actuators for the dexterous handswere effective, economical, controllable and stable.

Controller design for Robotic hand through Electroencephalogram

Directory of Open Access Journals (Sweden)

Pandelidis P.

2016-01-01

Full Text Available - This paper deals with the designing, the construction and the control of a robotic hand via an electroencephalogram sensor. First a robotic device that is able to mimic a real human hand is constructed. A PID controller is designed in order to improve the performance of the robotic arm for grabbing objects. Furthermore, a novel design approach is presented for controlling the motion of the robotic arm using signals produced from an innovative electroencephalogram sensor that detects the concentration of the brain

Research on direct calibration method of eye-to-hand system of robot

Science.gov (United States)

Hu, Xiaoping; Xie, Ke; Peng, Tao

2013-10-01

In the position-based visual servoing control for robot, the hand-eye calibration is very important because it can affect the control precision of the system. According to the robot with eye-to-hand stereovision system, this paper proposes a direct method of hand-eye calibration. The method utilizes the triangle measuring principle to solve the coordinates in the camera coordinate system of scene point. It calculates the estimated coordinates by the hand-eye calibration equation set which indicates the transformational relation from the robot to the camera coordinate system, and then uses the error of actual and estimated coordinates to establish the objective function. Finally the method substitutes the parameters into the function repeatedly until it converged to optimize the result. The related experiment compared the measured coordinates with the actual coordinates, shows the efficiency and the precision of it.

[Infection control and hand hygiene in nursing homes in Oslo].

Science.gov (United States)

Sie, Ingrid; Thorstad, Margrete; Andersen, Bjørg Marit

2008-06-26

Nosocomial infections and transmission can be substantially reduced by good infection control. The laws and regulations for infection control in heath care institutions emphasize establishment of infection control programs and improved hand hygiene. Our study reviews some factors that are important for practicing adequate hand hygiene (knowledge about infection control and hand-washing facilities). Health care workers (HCW) in nursing homes in Oslo participated in this study in 2006-2007. A questionnaire was made and SPSS was used to analyse the data . 70.7% of 324 HCW (in 42 nursing homes) answered the questionnaires. Nearly all of the respondents (95.6%) knew about the written procedures for hygiene and infection control; 88.5% knew that an infection control program was in place and about 50% had received information through internal education. Three of four had read the National guidelines for hand hygiene, 77.5% thought that hand disinfection was more effective than hand washing, and 97% reported hand hygiene after contact with a patient having an infection. Dispensers for hand disinfection were situated at central work places. At the same time, 17.9% informed that they worked in more than one place at the same time. This study confirms that most nursing homes in Oslo have an infection control program and training that improves the knowledge and awareness of hand hygiene among HCWs. However, the fact that nursing homes in Oslo have the resources, knowledge and education, is not the same as compliance.

Radial forearm free flap morbidity: A rare case of a normal preoperative arteriogram and acute intraoperative hand ischemia

OpenAIRE

Bruner, Terrence W; Hanasono, Matthew M; Skoracki, Roman J

2011-01-01

The radial forearm free flap is ideal for reconstructive microsurgery due to its thin, pliable fasciocutaneous tissue, reliable anatomy and ease and simplicity of flap elevation. However, one of the major complications is hand ischemia due to sacrifice of the radial artery, although it is a rare occurrence. A case involving a 73-year-old man who developed intraoperative hand ischemia after elevation of a radial forearm free flap is presented.

Hand Hygiene, Cohorting, or Antibiotic Restriction to Control Outbreaks of Multidrug-Resistant Enterobacteriaceae.

Science.gov (United States)

Pelat, Camille; Kardaś-Słoma, Lidia; Birgand, Gabriel; Ruppé, Etienne; Schwarzinger, Michaël; Andremont, Antoine; Lucet, Jean-Christophe; Yazdanpanah, Yazdan

2016-03-01

The best strategy for controlling extended-spectrum β-lactamase-producing Enterobacteriaceae (ESBL-PE) transmission in intensive care units (ICUs) remains elusive. We developed a stochastic transmission model to quantify the effectiveness of interventions aimed at reducing the spread of ESBL-PE in an ICU. We modeled the evolution of an outbreak caused by the admission of a single carrier in a 10-bed ICU free of ESBL-PE. Using data obtained from recent muticenter studies, we studied 26 strategies combining different levels of the following 3 interventions: (1) increasing healthcare worker compliance with hand hygiene before and after contact with a patient; (2) cohorting; (3) reducing antibiotic prevalence at admission with or without reducing antibiotherapy duration. Improving hand hygiene compliance from 55% before patient contact and 60% after patient contact to 80% before and 80% after patient contact reduced the nosocomial incidence rate of ESBL-PE colonization by 91% at 90 days. Adding cohorting to hand hygiene improvement intervention decreased the proportion of ESBL-PE acquisitions by an additional 7%. Antibiotic restriction had the lowest impact on the epidemic. When combined with other interventions, it only marginally improved effectiveness, despite strong hypotheses regarding antibiotic impact on transmission. Our results suggest that hand hygiene is the most effective intervention to control ESBL-PE transmission in an ICU.

Electromyography data for non-invasive naturally-controlled robotic hand prostheses.

Science.gov (United States)

Atzori, Manfredo; Gijsberts, Arjan; Castellini, Claudio; Caputo, Barbara; Hager, Anne-Gabrielle Mittaz; Elsig, Simone; Giatsidis, Giorgio; Bassetto, Franco; Müller, Henning

2014-01-01

Recent advances in rehabilitation robotics suggest that it may be possible for hand-amputated subjects to recover at least a significant part of the lost hand functionality. The control of robotic prosthetic hands using non-invasive techniques is still a challenge in real life: myoelectric prostheses give limited control capabilities, the control is often unnatural and must be learned through long training times. Meanwhile, scientific literature results are promising but they are still far from fulfilling real-life needs. This work aims to close this gap by allowing worldwide research groups to develop and test movement recognition and force control algorithms on a benchmark scientific database. The database is targeted at studying the relationship between surface electromyography, hand kinematics and hand forces, with the final goal of developing non-invasive, naturally controlled, robotic hand prostheses. The validation section verifies that the data are similar to data acquired in real-life conditions, and that recognition of different hand tasks by applying state-of-the-art signal features and machine-learning algorithms is possible.

Sensing human hand motions for controlling dexterous robots

Science.gov (United States)

Marcus, Beth A.; Churchill, Philip J.; Little, Arthur D.

1988-01-01

The Dexterous Hand Master (DHM) system is designed to control dexterous robot hands such as the UTAH/MIT and Stanford/JPL hands. It is the first commercially available device which makes it possible to accurately and confortably track the complex motion of the human finger joints. The DHM is adaptable to a wide variety of human hand sizes and shapes, throughout their full range of motion.

A Retrospective Analysis of Precision Medicine Outcomes in Patients With Advanced Cancer Reveals Improved Progression-Free Survival Without Increased Health Care Costs.

Science.gov (United States)

Haslem, Derrick S; Van Norman, S Burke; Fulde, Gail; Knighton, Andrew J; Belnap, Tom; Butler, Allison M; Rhagunath, Sharanya; Newman, David; Gilbert, Heather; Tudor, Brian P; Lin, Karen; Stone, Gary R; Loughmiller, David L; Mishra, Pravin J; Srivastava, Rajendu; Ford, James M; Nadauld, Lincoln D

2017-02-01

The advent of genomic diagnostic technologies such as next-generation sequencing has recently enabled the use of genomic information to guide targeted treatment in patients with cancer, an approach known as precision medicine. However, clinical outcomes, including survival and the cost of health care associated with precision cancer medicine, have been challenging to measure and remain largely unreported. We conducted a matched cohort study of 72 patients with metastatic cancer of diverse subtypes in the setting of a large, integrated health care delivery system. We analyzed the outcomes of 36 patients who received genomic testing and targeted therapy (precision cancer medicine) between July 1, 2013, and January 31, 2015, compared with 36 historical control patients who received standard chemotherapy (n = 29) or best supportive care (n = 7). The average progression-free survival was 22.9 weeks for the precision medicine group and 12.0 weeks for the control group ( P = .002) with a hazard ratio of 0.47 (95% CI, 0.29 to 0.75) when matching on age, sex, histologic diagnosis, and previous lines of treatment. In a subset analysis of patients who received all care within the Intermountain Healthcare system (n = 44), per patient charges per week were $4,665 in the precision treatment group and $5,000 in the control group ( P = .126). These findings suggest that precision cancer medicine may improve survival for patients with refractory cancer without increasing health care costs. Although the results of this study warrant further validation, this precision medicine approach may be a viable option for patients with advanced cancer.

Hand Preference for Precision Grasping Predicts Language Lateralization

Science.gov (United States)

Gonzalez, Claudia L. R.; Goodale, Melvyn A.

2009-01-01

We investigated whether or not there is a relationship between hand preference for grasping and hemispheric dominance for language--and how each of these is related to other traditional measures of handedness. To do this we asked right- and left-handed participants to put together two different sets of 3D puzzles made out of big or very small…

Patterning a hydrogen-bonded molecular monolayer with a hand-controlled scanning probe microscope

Directory of Open Access Journals (Sweden)

Matthew F. B. Green

2014-10-01

Full Text Available One of the paramount goals in nanotechnology is molecular-scale functional design, which includes arranging molecules into complex structures at will. The first steps towards this goal were made through the invention of the scanning probe microscope (SPM, which put single-atom and single-molecule manipulation into practice for the first time. Extending the controlled manipulation to larger molecules is expected to multiply the potential of engineered nanostructures. Here we report an enhancement of the SPM technique that makes the manipulation of large molecular adsorbates much more effective. By using a commercial motion tracking system, we couple the movements of an operator's hand to the sub-angstrom precise positioning of an SPM tip. Literally moving the tip by hand we write a nanoscale structure in a monolayer of large molecules, thereby showing that our method allows for the successful execution of complex manipulation protocols even when the potential energy surface that governs the interaction behaviour of the manipulated nanoscale object(s is largely unknown.

Design of a 3-DOF Parallel Hand-Controller

Directory of Open Access Journals (Sweden)

Chengcheng Zhu

2017-01-01

Full Text Available Hand-controllers, as human-machine-interface (HMI devices, can transfer the position information of the operator’s hands into the virtual environment to control the target objects or a real robot directly. At the same time, the haptic information from the virtual environment or the sensors on the real robot can be displayed to the operator. It helps human perceive haptic information more truly with feedback force. A parallel hand-controller is designed in this paper. It is simplified from the traditional delta haptic device. The swing arms in conventional delta devices are replaced with the slider rail modules. The base consists of two hexagons and several links. For the use of the linear sliding modules instead of swing arms, the arc movement is replaced by linear movement. So that, the calculating amount of the position positive solution and the force inverse solution is reduced for the simplification of the motion. The kinematics, static mechanics, and dynamic mechanics are analyzed in this paper. What is more, two demonstration applications are developed to verify the performance of the designed hand-controller.

Integrated multi-sensory control of space robot hand

Science.gov (United States)

Bejczy, A. K.; Kan, E. P.; Killion, R. R.

1985-01-01

Dexterous manipulation of a robot hand requires the use of multiple sensors integrated into the mechanical hand under distributed microcomputer control. Where space applications such as construction, assembly, servicing and repair tasks are desired of smart robot arms and robot hands, several critical drives influence the design, engineering and integration of such an electromechanical hand. This paper describes a smart robot hand developed at the Jet Propulsion Laboratory for experimental use and evaluation with the Protoflight Manipulator Arm (PFMA) at the Marshall Space Flight Center (MSFC).

Neural-Network Control Of Prosthetic And Robotic Hands

Science.gov (United States)

Buckley, Theresa M.

1991-01-01

Electronic neural networks proposed for use in controlling robotic and prosthetic hands and exoskeletal or glovelike electromechanical devices aiding intact but nonfunctional hands. Specific to patient, who activates grasping motion by voice command, by mechanical switch, or by myoelectric impulse. Patient retains higher-level control, while lower-level control provided by neural network analogous to that of miniature brain. During training, patient teaches miniature brain to perform specialized, anthropomorphic movements unique to himself or herself.

The efficacy of different models of smoke-free laws in reducing exposure to second-hand smoke: a multi-country comparison.

Science.gov (United States)

Ward, Mark; Currie, Laura M; Kabir, Zubair; Clancy, Luke

2013-05-01

Exposure to second-hand tobacco smoke is a serious public health concern and while all EU Member States have enacted some form of regulation aimed at limiting exposure, the scope of these regulations vary widely and many countries have failed to enact comprehensive legislation creating smoke-free workplaces and indoor public places. To gauge the effectiveness of different smoke-free models we compared fine particles from second-hand smoke in hospitality venues before and after the implementation of smoking bans in France, Greece, Ireland, Italy, Portugal, Turkey, and Scotland. Data on PM2.5 fine particle concentration levels were recorded in 338 hospitality venues across these countries before and after the implementation of smoke-free legislation. Changes in mean PM2.5 concentrations during the period from pre- to post-legislation were then compared across countries. While a reduction in PM2.5 was observed in all countries, those who had enacted and enforced more fully comprehensive smoke-free legislation experienced the greatest reduction in second-hand tobacco smoke. Comprehensive smoke-free laws are more effective than partial laws in reducing exposure to second-hand tobacco smoke. Also, any law, regardless of scope must be actively enforced in order to have the desired impact. There is continued need for surveillance of smoke-free efforts in all countries. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Flexible integration of free-standing nanowires into silicon photonics.

Science.gov (United States)

Chen, Bigeng; Wu, Hao; Xin, Chenguang; Dai, Daoxin; Tong, Limin

2017-06-14

Silicon photonics has been developed successfully with a top-down fabrication technique to enable large-scale photonic integrated circuits with high reproducibility, but is limited intrinsically by the material capability for active or nonlinear applications. On the other hand, free-standing nanowires synthesized via a bottom-up growth present great material diversity and structural uniformity, but precisely assembling free-standing nanowires for on-demand photonic functionality remains a great challenge. Here we report hybrid integration of free-standing nanowires into silicon photonics with high flexibility by coupling free-standing nanowires onto target silicon waveguides that are simultaneously used for precise positioning. Coupling efficiency between a free-standing nanowire and a silicon waveguide is up to ~97% in the telecommunication band. A hybrid nonlinear-free-standing nanowires-silicon waveguides Mach-Zehnder interferometer and a racetrack resonator for significantly enhanced optical modulation are experimentally demonstrated, as well as hybrid active-free-standing nanowires-silicon waveguides circuits for light generation. These results suggest an alternative approach to flexible multifunctional on-chip nanophotonic devices.Precisely assembling free-standing nanowires for on-demand photonic functionality remains a challenge. Here, Chen et al. integrate free-standing nanowires into silicon waveguides and show all-optical modulation and light generation on silicon photonic chips.

Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands

Science.gov (United States)

Santello, Marco; Bianchi, Matteo; Gabiccini, Marco; Ricciardi, Emiliano; Salvietti, Gionata; Prattichizzo, Domenico; Ernst, Marc; Moscatelli, Alessandro; Jörntell, Henrik; Kappers, Astrid M. L.; Kyriakopoulos, Kostas; Albu-Schäffer, Alin; Castellini, Claudio; Bicchi, Antonio

2016-07-01

The term 'synergy' - from the Greek synergia - means 'working together'. The concept of multiple elements working together towards a common goal has been extensively used in neuroscience to develop theoretical frameworks, experimental approaches, and analytical techniques to understand neural control of movement, and for applications for neuro-rehabilitation. In the past decade, roboticists have successfully applied the framework of synergies to create novel design and control concepts for artificial hands, i.e., robotic hands and prostheses. At the same time, robotic research on the sensorimotor integration underlying the control and sensing of artificial hands has inspired new research approaches in neuroscience, and has provided useful instruments for novel experiments. The ambitious goal of integrating expertise and research approaches in robotics and neuroscience to study the properties and applications of the concept of synergies is generating a number of multidisciplinary cooperative projects, among which the recently finished 4-year European project ;The Hand Embodied; (THE). This paper reviews the main insights provided by this framework. Specifically, we provide an overview of neuroscientific bases of hand synergies and introduce how robotics has leveraged the insights from neuroscience for innovative design in hardware and controllers for biomedical engineering applications, including myoelectric hand prostheses, devices for haptics research, and wearable sensing of human hand kinematics. The review also emphasizes how this multidisciplinary collaboration has generated new ways to conceptualize a synergy-based approach for robotics, and provides guidelines and principles for analyzing human behavior and synthesizing artificial robotic systems based on a theory of synergies.

Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands

Science.gov (United States)

Santello, Marco; Bianchi, Matteo; Gabiccini, Marco; Ricciardi, Emiliano; Salvietti, Gionata; Prattichizzo, Domenico; Ernst, Marc; Moscatelli, Alessandro; Jörntell, Henrik; Kappers, Astrid M.L.; Kyriakopoulos, Kostas; Albu-Schäffer, Alin; Castellini, Claudio; Bicchi, Antonio

2017-01-01

The term ‘synergy’ – from the Greek synergia – means ‘working together’. The concept of multiple elements working together towards a common goal has been extensively used in neuroscience to develop theoretical frameworks, experimental approaches, and analytical techniques to understand neural control of movement, and for applications for neuro-rehabilitation. In the past decade, roboticists have successfully applied the framework of synergies to create novel design and control concepts for artificial hands, i.e., robotic hands and prostheses. At the same time, robotic research on the sensorimotor integration underlying the control and sensing of artificial hands has inspired new research approaches in neuroscience, and has provided useful instruments for novel experiments. The ambitious goal of integrating expertise and research approaches in robotics and neuroscience to study the properties and applications of the concept of synergies is generating a number of multidisciplinary cooperative projects, among which the recently finished 4-year European project “The Hand Embodied” (THE). This paper reviews the main insights provided by this framework. Specifically, we provide an overview of neuroscientific bases of hand synergies and introduce how robotics has leveraged the insights from neuroscience for innovative design in hardware and controllers for biomedical engineering applications, including myoelectric hand prostheses, devices for haptics research, and wearable sensing of human hand kinematics. The review also emphasizes how this multidisciplinary collaboration has generated new ways to conceptualize a synergy-based approach for robotics, and provides guidelines and principles for analyzing human behavior and synthesizing artificial robotic systems based on a theory of synergies. PMID:26923030

Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands.

Science.gov (United States)

Santello, Marco; Bianchi, Matteo; Gabiccini, Marco; Ricciardi, Emiliano; Salvietti, Gionata; Prattichizzo, Domenico; Ernst, Marc; Moscatelli, Alessandro; Jörntell, Henrik; Kappers, Astrid M L; Kyriakopoulos, Kostas; Albu-Schäffer, Alin; Castellini, Claudio; Bicchi, Antonio

2016-07-01

The term 'synergy' - from the Greek synergia - means 'working together'. The concept of multiple elements working together towards a common goal has been extensively used in neuroscience to develop theoretical frameworks, experimental approaches, and analytical techniques to understand neural control of movement, and for applications for neuro-rehabilitation. In the past decade, roboticists have successfully applied the framework of synergies to create novel design and control concepts for artificial hands, i.e., robotic hands and prostheses. At the same time, robotic research on the sensorimotor integration underlying the control and sensing of artificial hands has inspired new research approaches in neuroscience, and has provided useful instruments for novel experiments. The ambitious goal of integrating expertise and research approaches in robotics and neuroscience to study the properties and applications of the concept of synergies is generating a number of multidisciplinary cooperative projects, among which the recently finished 4-year European project "The Hand Embodied" (THE). This paper reviews the main insights provided by this framework. Specifically, we provide an overview of neuroscientific bases of hand synergies and introduce how robotics has leveraged the insights from neuroscience for innovative design in hardware and controllers for biomedical engineering applications, including myoelectric hand prostheses, devices for haptics research, and wearable sensing of human hand kinematics. The review also emphasizes how this multidisciplinary collaboration has generated new ways to conceptualize a synergy-based approach for robotics, and provides guidelines and principles for analyzing human behavior and synthesizing artificial robotic systems based on a theory of synergies. Copyright © 2016 Elsevier B.V. All rights reserved.

Release of hand burn contracture: comparing the ALT perforator flap with the gracilis free flap with split skin graft.

Science.gov (United States)

Misani, M; Zirak, C; Hau, Lê Thua Trung; De Mey, A; Boeckx, W

2013-08-01

The use of microsurgery in the management of burn sequelae is not a new idea. According to the properties of various types of free flaps different goals can be achieved or various additional procedures have to be combined. We report the comparison of two different free flaps on a single patient for reconstruction of both upper extremities for burn sequelae. A 1-year-old child sustained severe burns on both hands, arms and thorax and was initially only treated conservatively. This resulted in severe contractures. At the age of 4-years a free gracilis flap was selected for reconstruction of his left hand and a free anterolateral thigh flap for the right hand. We noticed a better functional and esthetic result for the gracilis flap associated with a shorter operative time and a minor donor site morbidity. The intraoperative technique and time, postoperative complications, functional and esthetic results and donor site morbidities were studied in the two types of flaps chosen. A review of literature was also performed. Our experience reported a better success of the gracilis muscle flap covered with a split skin graft compared to the anterolateral thigh flap in the reconstruction of hand function after severe burn sequelae. Copyright © 2013 Elsevier Ltd and ISBI. All rights reserved.

49 CFR 236.207 - Electric lock on hand-operated switch; control.

Science.gov (United States)

2010-10-01

..., AND APPLIANCES Automatic Block Signal Systems Standards § 236.207 Electric lock on hand-operated switch; control. Electric lock on hand-operated switch shall be controlled so that it cannot be unlocked... 49 Transportation 4 2010-10-01 2010-10-01 false Electric lock on hand-operated switch; control...

Novel Approach to Control of Robotic Hand Using Flex Sensors

Directory of Open Access Journals (Sweden)

Sandesh R.S

2014-05-01

Full Text Available This paper discuss about novel design approach to control of a robotic hand using flex sensors which indicates a biomechatronic multi fingered robotic hand. This robotic hand consists of base unit, upper arm, lower arm, palm and five fingers. The aim is to develop an anthropomorphic five fingered robotic hand. The proposed design illustrates the use of 5 micro DC motors with 9 Degrees of Freedom (DOF.Each finger is controlled independently. Further three extra motors were used for the control of wrist elbow and base movement. The study of the DC motor is being carried out using the transfer function model for constant excitation. The micro DC motor performance was analyzed using MATLAB simulation environment. The whole system is implemented using flex sensors. The flex sensors placed on the human hand gloves appear as if they look like real human hand.  89v51 microcontroller was used for all the controlling actions along with RF transmitter/receiver .The performance of the system has been conducted experimentally and studied.

Optimizing pattern recognition-based control for partial-hand prosthesis application.

Science.gov (United States)

Earley, Eric J; Adewuyi, Adenike A; Hargrove, Levi J

2014-01-01

Partial-hand amputees often retain good residual wrist motion, which is essential for functional activities involving use of the hand. Thus, a crucial design criterion for a myoelectric, partial-hand prosthesis control scheme is that it allows the user to retain residual wrist motion. Pattern recognition (PR) of electromyographic (EMG) signals is a well-studied method of controlling myoelectric prostheses. However, wrist motion degrades a PR system's ability to correctly predict hand-grasp patterns. We studied the effects of (1) window length and number of hand-grasps, (2) static and dynamic wrist motion, and (3) EMG muscle source on the ability of a PR-based control scheme to classify functional hand-grasp patterns. Our results show that training PR classifiers with both extrinsic and intrinsic muscle EMG yields a lower error rate than training with either group by itself (pgrasps available to the classifier significantly decrease classification error (pgrasp.

Myoelectric control of prosthetic hands: state-of-the-art review

Directory of Open Access Journals (Sweden)

Geethanjali P

2016-07-01

Full Text Available Purushothaman Geethanjali School of Electrical Engineering Department of Control and Automation VIT University, Vellore, Tamil Nadu, India Abstract: Myoelectric signals (MES have been used in various applications, in particular, for identification of user intention to potentially control assistive devices for amputees, orthotic devices, and exoskeleton in order to augment capability of the user. MES are also used to estimate force and, hence, torque to actuate the assistive device. The application of MES is not limited to assistive devices, and they also find potential applications in teleoperation of robots, haptic devices, virtual reality, and so on. The myoelectric control-based prosthetic hand aids to restore activities of daily living of amputees in order to improve the self-esteem of the user. All myoelectric control-based prosthetic hands may not have similar operations and exhibit variation in sensing input, deciphering the signals, and actuating prosthetic hand. Researchers are focusing on improving the functionality of prosthetic hand in order to suit the user requirement with the different operating features. The myoelectric control differs in operation to accommodate various external factors. This article reviews the state of the art of myoelectric prosthetic hand, giving description of each control strategy. Keywords: EMG, assistive device, amputee, myoelectric control, electric powered, body ­powered, bioelectric signal control

Reconstruction of distal hand and foot defects with the free proximal peroneal artery perforator flap.

Science.gov (United States)

Scaglioni, Mario F; Kuo, Yur-Ren; Chen, Yen-Chou

2016-03-01

The proximal peroneal artery perforator (PPAP) flap is a reliable, thin fasciocutaneous flap. The purpose of this article was to report our experience with the use of free PPAP flaps for reconstruction of defects of the distal hand and foot. From November 2012 to September 2013, 9 patients received reconstruction with 10 free PPAP flaps. The defect locations included the big toe (2 cases), metatarsophalangeal joint (5 cases), dorsal finger (2 cases) and volar finger (1 case). Flaps were raised based on proximal peroneal perforator vessels without sacrificing the peroneal artery. The first dorsal metatarsal artery (5 cases) and digital artery (5 cases) were dissected as recipient vessels. The flap sizes varied from 2.5 x 2 cm to 9 x 5 cm. All of flaps were survival after surgery. One flap suffered from venous thrombosis and was successfully salvaged by performing a venous thrombectomy and vein graft. The donor sites were all primarily closed with minimal morbidities. Follow-up observations were conducted for 7 to 20 months, and all patients had good functional recovery with satisfying cosmetic results. Perforators arising from the peroneal artery in the proximal lateral leg can be used to design small, pliable fasciocutaneous flaps. Although the pedicle is short, the vessel diameter is adequate for microvascular anastomosis to the distal foot and hand recipient vessels. The free PPAP flap may be a good option for reconstructing distal hand and foot defects. © 2014 Wiley Periodicals, Inc.

Mechanical design and control of a new myoelectric hand prosthesis

NARCIS (Netherlands)

Peerdeman, B.; Stramigioli, Stefano; Hekman, Edsko E.G.; Brouwer, Dannis Michel; Misra, Sarthak

2011-01-01

The development of modern, myoelectrically controlled hand prostheses can be difficult, due to the many requirements its mechanical design and control system need to fulfill [1]. The hand should be controllable with few input signals, while being able to perform a wide range of motions. It should be

Fabrication, sensation and control of fluidic elastomer actuators and their application towards hand orthotics and prosthetics

Science.gov (United States)

Zhao, Huichan

Due to their continuous and natural motion, fluidic elastomer actuators (FEAs) have shown potential in a range of robotic applications including prosthetics and orthotics. Despite their advantages and rapid developments, robots using these actuators still have several challenging issues to be addressed. First, the reliable production of low cost and complex actuators that can apply high forces is necessary, yet none of existing fabrication methods are both easy to implement and of high force output. Next, compliant or stretchable sensors that can be embedded into their bodies for sophisticated functions are required, however, many of these sensors suffer from hysteresis, fabrication complexity, chemical safety and environmental instability, and material incompatibility with soft actuators. Finally, feedback control for FEAs is necessary to achieve better performance, but most soft robots are still "open-loop". In this dissertation, I intend to help solve the above issues and drive the applications of soft robotics towards hand orthotics and prosthetics. First, I adapt rotational casting as a new manufacturing method for soft actuators. I present a cuboid soft actuator that can generate a force of >25 N at its tip, a near ten-fold increase over similar actuators previously reported. Next, I propose a soft orthotic finger with position control enabled via embedded optical fiber. I monitor both the static and dynamic states via the optical sensor and achieve the prescribed curvatures accurately and with stability by a gain-scheduled proportional-integral-derivative controller. Then I develop the soft orthotic fingers into a low-cost, closed-loop controlled, soft orthotic glove that can be worn by a typical human hand and helpful for grasping light objects, while also providing finger position control. I achieve motion control with inexpensive, binary pneumatic switches controlled by a simple finite-state-machine. Finally, I report the first use of stretchable optical

Hand hygiene practices post ebola virus disease outbreak in a ...

African Journals Online (AJOL)

Introduction: Ebola virus disease (EVD) is a highly contagious viral infection that requires a high risk perception and practice of good hand hygiene by regular hand washing or use of hand sanitizers for infection control at all time. The declaration of Nigeria as an Ebola-free country by the World Health Organization on the ...

[Implementation of precision control to achieve the goal of schistosomiasis elimination in China].

Science.gov (United States)

Zhou, Xiao-nong

2016-02-01

The integrated strategy for schistosomiasis control with focus on infectious source control, which has been implemented since 2004, accelerated the progress towards schistosomiasis control in China, and achieved transmission control of the disease across the country by the end of 2015, which achieved the overall objective of the Mid- and Long-term National Plan for Prevention and Control of Schistosomiasis (2004-2015) on schedule. Then, the goal of schistosomiasis elimination by 2025 was proposed in China in 2014. To achieve this new goal on schedule, we have to address the key issues, and implement precision control measures with more precise identification of control targets, so that we are able to completely eradicate the potential factors leading to resurgence of schistosomiasis transmission and enable the achievement of schistosomiasis elimination on schedule. Precision schistosomiasis control, a theoretical innovation of precision medicine in schistosomiasis control, will provide new insights into schistosomiasis control based on the conception of precision medicine. This paper describes the definition, interventions and the role of precision schistosomiasis control in the elimination of schistosomiasis in China, and demonstrates that sustainable improvement of professionals and integrated control capability at grass-root level is a prerequisite to the implementation of schistosomiasis control, precision schistosomiasis control is a key to the further implementation of the integrated strategy for schistosomiasis control with focus on infectious source control, and precision schistosomiasis control is a guarantee of curing schistosomiasis patients and implementing schistosomiasis control program and interventions.

Principal components analysis based control of a multi-dof underactuated prosthetic hand

Directory of Open Access Journals (Sweden)

Magenes Giovanni

2010-04-01

Full Text Available Abstract Background Functionality, controllability and cosmetics are the key issues to be addressed in order to accomplish a successful functional substitution of the human hand by means of a prosthesis. Not only the prosthesis should duplicate the human hand in shape, functionality, sensorization, perception and sense of body-belonging, but it should also be controlled as the natural one, in the most intuitive and undemanding way. At present, prosthetic hands are controlled by means of non-invasive interfaces based on electromyography (EMG. Driving a multi degrees of freedom (DoF hand for achieving hand dexterity implies to selectively modulate many different EMG signals in order to make each joint move independently, and this could require significant cognitive effort to the user. Methods A Principal Components Analysis (PCA based algorithm is used to drive a 16 DoFs underactuated prosthetic hand prototype (called CyberHand with a two dimensional control input, in order to perform the three prehensile forms mostly used in Activities of Daily Living (ADLs. Such Principal Components set has been derived directly from the artificial hand by collecting its sensory data while performing 50 different grasps, and subsequently used for control. Results Trials have shown that two independent input signals can be successfully used to control the posture of a real robotic hand and that correct grasps (in terms of involved fingers, stability and posture may be achieved. Conclusions This work demonstrates the effectiveness of a bio-inspired system successfully conjugating the advantages of an underactuated, anthropomorphic hand with a PCA-based control strategy, and opens up promising possibilities for the development of an intuitively controllable hand prosthesis.

Precision controlled atomic resolution scanning transmission electron microscopy using spiral scan pathways

Science.gov (United States)

Sang, Xiahan; Lupini, Andrew R.; Ding, Jilai; Kalinin, Sergei V.; Jesse, Stephen; Unocic, Raymond R.

2017-03-01

Atomic-resolution imaging in an aberration-corrected scanning transmission electron microscope (STEM) can enable direct correlation between atomic structure and materials functionality. The fast and precise control of the STEM probe is, however, challenging because the true beam location deviates from the assigned location depending on the properties of the deflectors. To reduce these deviations, i.e. image distortions, we use spiral scanning paths, allowing precise control of a sub-Å sized electron probe within an aberration-corrected STEM. Although spiral scanning avoids the sudden changes in the beam location (fly-back distortion) present in conventional raster scans, it is not distortion-free. “Archimedean” spirals, with a constant angular frequency within each scan, are used to determine the characteristic response at different frequencies. We then show that such characteristic functions can be used to correct image distortions present in more complicated constant linear velocity spirals, where the frequency varies within each scan. Through the combined application of constant linear velocity scanning and beam path corrections, spiral scan images are shown to exhibit less scan distortion than conventional raster scan images. The methodology presented here will be useful for in situ STEM imaging at higher temporal resolution and for imaging beam sensitive materials.

A high precision dual feedback discrete control system designed for satellite trajectory simulator

Science.gov (United States)

Liu, Ximin; Liu, Liren; Sun, Jianfeng; Xu, Nan

2005-08-01

Cooperating with the free-space laser communication terminals, the satellite trajectory simulator is used to test the acquisition, pointing, tracking and communicating performances of the terminals. So the satellite trajectory simulator plays an important role in terminal ground test and verification. Using the double-prism, Sun etc in our group designed a satellite trajectory simulator. In this paper, a high precision dual feedback discrete control system designed for the simulator is given and a digital fabrication of the simulator is made correspondingly. In the dual feedback discrete control system, Proportional- Integral controller is used in velocity feedback loop and Proportional- Integral- Derivative controller is used in position feedback loop. In the controller design, simplex method is introduced and an improvement to the method is made. According to the transfer function of the control system in Z domain, the digital fabrication of the simulator is given when it is exposed to mechanism error and moment disturbance. Typically, when the mechanism error is 100urad, the residual standard error of pitching angle, azimuth angle, x-coordinate position and y-coordinate position are 0.49urad, 6.12urad, 4.56urad, 4.09urad respectively. When the moment disturbance is 0.1rad, the residual standard error of pitching angle, azimuth angle, x-coordinate position and y-coordinate position are 0.26urad, 0.22urad, 0.16urad, 0.15urad respectively. The digital fabrication results demonstrate that the dual feedback discrete control system designed for the simulator can achieve the anticipated high precision performance.

Association of hand and arm disinfection with asthma control in US nurses.

Science.gov (United States)

Dumas, Orianne; Varraso, Raphäelle; Boggs, Krislyn M; Descatha, Alexis; Henneberger, Paul K; Quinot, Catherine; Speizer, Frank E; Zock, Jan-Paul; Le Moual, Nicole; Camargo, Carlos A

2018-05-01

To investigate the association between occupational exposure to disinfectants/antiseptics used for hand hygiene and asthma control in nurses. In 2014, we invited female nurses with asthma drawn from the Nurses' Health Study II to complete two supplemental questionnaires on their occupation and asthma (cross-sectional study, response rate: 80%). Among 4055 nurses (mean age: 59 years) with physician-diagnosed asthma and asthma medication use in the past year, we examined asthma control, as defined by the Asthma Control Test (ACT). Nurses were asked about the daily frequency of hand hygiene tasks: 'wash/scrub hands with disinfectants/hand sanitizers' (hand hygiene) and 'wash/scrub arms with disinfecting products' (surrogate of surgical hand/arm antisepsis). Analyses were adjusted for age, race, ethnicity, smoking status and body mass index. Nurses with partly controlled asthma (ACT: 20-24, 50%) and poorly controlled asthma (ACT ≤19, 18%) were compared with nurses with controlled asthma (ACT=25, 32%). In separate models, both hand and arm hygiene were associated with poorly controlled asthma. After mutual adjustment, only arm hygiene was associated with poorly controlled asthma: OR (95% CI) for arm hygiene tasks (never to >10 times/day) and poor asthma control. Associations persisted after further adjustment for surfaces/instruments disinfection tasks. Frequency of hand/arm hygiene tasks in nurses was associated with poor asthma control. The results suggest an adverse effect of products used for surgical hand/arm antisepsis. This potential new occupational risk factor for asthma warrants further study. © Article author(s) (or their employer(s) unless otherwise stated in the text of the article) 2018. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

High precision locating control system based on VCM for Talbot lithography

Science.gov (United States)

Yao, Jingwei; Zhao, Lixin; Deng, Qian; Hu, Song

2016-10-01

Aiming at the high precision and efficiency requirements of Z-direction locating in Talbot lithography, a control system based on Voice Coil Motor (VCM) was designed. In this paper, we built a math model of VCM and its moving characteristic was analyzed. A double-closed loop control strategy including position loop and current loop were accomplished. The current loop was implemented by driver, in order to achieve the rapid follow of the system current. The position loop was completed by the digital signal processor (DSP) and the position feedback was achieved by high precision linear scales. Feed forward control and position feedback Proportion Integration Differentiation (PID) control were applied in order to compensate for dynamic lag and improve the response speed of the system. And the high precision and efficiency of the system were verified by simulation and experiments. The results demonstrated that the performance of Z-direction gantry was obviously improved, having high precision, quick responses, strong real-time and easily to expend for higher precision.

The Space Technology-7 Disturbance Reduction System Precision Control Flight Validation Experiment Control System Design

Science.gov (United States)

O'Donnell, James R.; Hsu, Oscar C.; Maghami, Peirman G.; Markley, F. Landis

2006-01-01

As originally proposed, the Space Technology-7 Disturbance Reduction System (DRS) project, managed out of the Jet Propulsion Laboratory, was designed to validate technologies required for future missions such as the Laser Interferometer Space Antenna (LISA). The two technologies to be demonstrated by DRS were Gravitational Reference Sensors (GRSs) and Colloidal MicroNewton Thrusters (CMNTs). Control algorithms being designed by the Dynamic Control System (DCS) team at the Goddard Space Flight Center would control the spacecraft so that it flew about a freely-floating GRS test mass, keeping it centered within its housing. For programmatic reasons, the GRSs were descoped from DRS. The primary goals of the new mission are to validate the performance of the CMNTs and to demonstrate precise spacecraft position control. DRS will fly as a part of the European Space Agency (ESA) LISA Pathfinder (LPF) spacecraft along with a similar ESA experiment, the LISA Technology Package (LTP). With no GRS, the DCS attitude and drag-free control systems make use of the sensor being developed by ESA as a part of the LTP. The control system is designed to maintain the spacecraft s position with respect to the test mass, to within 10 nm/the square root of Hz over the DRS science frequency band of 1 to 30 mHz.

Application of high precision temperature control technology in infrared testing

Science.gov (United States)

Cao, Haiyuan; Cheng, Yong; Zhu, Mengzhen; Chu, Hua; Li, Wei

2017-11-01

In allusion to the demand of infrared system test, the principle of Infrared target simulator and the function of the temperature control are presented. The key technology of High precision temperature control is discussed, which include temperature gathering, PID control and power drive. The design scheme of temperature gathering is put forward. In order to reduce the measure error, discontinuously current and four-wire connection for the platinum thermal resistance are adopted. A 24-bits AD chip is used to improve the acquisition precision. Fuzzy PID controller is designed because of the large time constant and continuous disturbance of the environment temperature, which result in little overshoot, rapid response, high steady-state accuracy. Double power operational amplifiers are used to drive the TEC. Experiments show that the key performances such as temperature control precision and response speed meet the requirements.

Lasers, Clocks and Drag-Free Control Exploration of Relativistic Gravity in Space

CERN Document Server

Dittus, Hansjorg; Turyshev, Slava G

2008-01-01

Over the next decade the gravitational physics community will benefit from dramatic improvements in many technologies critical to testing gravity. Highly accurate deep space navigation, interplanetary laser communication, interferometry and metrology, high precision frequency standards, precise pointing and attitude control, together with drag-free technologies, will revolutionize the field of experimental gravitational physics. The centennial of the general theory of relativity in 2015 will motivate a significant number of experiments designed to test this theory with unprecedented accuracy. The purpose of the contributions in this book, written by international experts, is to explore the possibilities for the next 20 years for conducting gravitational experiments in space that would utilize both entirely new and highly improved existing capabilities.

Novel free-hand T1 pedicle screw method: Review of 44 consecutive cases

Directory of Open Access Journals (Sweden)

Mark A Rivkin

2014-01-01

Full Text Available Summary of Background Data: Multilevel posterior cervical instrumented fusions are becoming more prevalent in current practice. Biomechanical characteristics of the cervicothoracic junction may necessitate extending the construct to upper thoracic segments. However, fixation in upper thoracic spine can be technically demanding owing to transitional anatomy while suboptimal placement facilitates vascular and neurologic complications. Thoracic instrumentation methods include free-hand, fluoroscopic guidance, and CT-based image guidance. However, fluoroscopy of upper thoracic spine is challenging secondary to vertebral geometry and patient positioning, while image-guided systems present substantial financial commitment and are not readily available at most centers. Additionally, imaging modalities increase radiation exposure to the patient and surgeon while potentially lengthening surgical time. Materials and Methods: Retrospective review of 44 consecutive patients undergoing a cervicothoracic fusion by a single surgeon using the novel free-hand T1 pedicle screw technique between June 2009 and November 2012. A starting point medial and cephalad to classic entry as well as new trajectory were utilized. No imaging modalities were employed during screw insertion. Postoperative CT scans were obtained on day 1. Screw accuracy was independently evaluated according to the Heary classification. Results: In total, 87 pedicle screws placed were at T1. Grade 1 placement occurred in 72 (82.8% screws, Grade 2 in 4 (4.6% screws and Grade 3 in 9 (10.3% screws. All Grade 2 and 3 breaches were <2 mm except one Grade 3 screw breaching 2-4 mm laterally. Only two screws (2.3% were noted to be Grade 4, both breaching medially by less than 2 mm. No new neurological deficits or returns to operating room took place postoperatively. Conclusions: This modification of the traditional starting point and trajectory at T1 is safe and effective. It attenuates additional bone

Automatic gain control of neural coupling during cooperative hand movements.

Science.gov (United States)

Thomas, F A; Dietz, V; Schrafl-Altermatt, M

2018-04-13

Cooperative hand movements (e.g. opening a bottle) are controlled by a task-specific neural coupling, reflected in EMG reflex responses contralateral to the stimulation site. In this study the contralateral reflex responses in forearm extensor muscles to ipsilateral ulnar nerve stimulation was analyzed at various resistance and velocities of cooperative hand movements. The size of contralateral reflex responses was closely related to the level of forearm muscle activation required to accomplish the various cooperative hand movement tasks. This indicates an automatic gain control of neural coupling that allows a rapid matching of corrective forces exerted at both sides of an object with the goal 'two hands one action'.

The first step in infection control is hand hygiene.

Science.gov (United States)

Canham, Leslie

2011-01-01

A dental health care worker (DHCW) has an obligation to prevent the spread of health care associated infections. Adhering to proper hand hygiene procedures, selecting appropriate hand hygiene products and the use of gloves are all important elements of infection control. The CDC Guidelines for Hand Hygiene state that improved hand hygiene practices can reduce transmission of pathogenic microorganisms to patients and personnel in health care settings. DHCWs must also protect themselves by recognizing pitfalls such as irritants or allergies that may pose obstacles to proper hand hygiene. Occupational irritants and allergies can be caused by frequent hand washing, exposure to hand hygiene products, exposure to chemicals and shear forces associated with wearing or removing gloves. Since the primary defense against infection and transmission of pathogens is healthy, unbroken skin, DHCWs must take steps to ensure that their skin remains healthy and intact. These steps include evaluating different types of hand hygiene products, lotions and gloves for the best compatibility. If the DHCW sees a breakdown of his or her skin barrier, steps should be taken to determine the cause and remedy. Remedies can include the use of alcohol-based hand sanitizers containing emollients and moisturizers and regular use of a medical grade hand lotion. The bottom line: healthy skin protects you at work and at home. Selection and use of appropriate hand hygiene products, including moisturizers, are an essential part ofa dental office infection control program. My coworker lost the use of her thumb for several months due to complications of a staph infection. She was unable to work and found even simple tasks such as closing a button hard to do. Think of how difficult your work would be if something happened to your hands. Injury, irritation or allergies could alter your ability to work or even perform routine tasks. Our hands provide us with the ability to work in clinical dentistry. It makes

A synergy-based hand control is encoded in human motor cortical areas

Science.gov (United States)

Leo, Andrea; Handjaras, Giacomo; Bianchi, Matteo; Marino, Hamal; Gabiccini, Marco; Guidi, Andrea; Scilingo, Enzo Pasquale; Pietrini, Pietro; Bicchi, Antonio; Santello, Marco; Ricciardi, Emiliano

2016-01-01

How the human brain controls hand movements to carry out different tasks is still debated. The concept of synergy has been proposed to indicate functional modules that may simplify the control of hand postures by simultaneously recruiting sets of muscles and joints. However, whether and to what extent synergic hand postures are encoded as such at a cortical level remains unknown. Here, we combined kinematic, electromyography, and brain activity measures obtained by functional magnetic resonance imaging while subjects performed a variety of movements towards virtual objects. Hand postural information, encoded through kinematic synergies, were represented in cortical areas devoted to hand motor control and successfully discriminated individual grasping movements, significantly outperforming alternative somatotopic or muscle-based models. Importantly, hand postural synergies were predicted by neural activation patterns within primary motor cortex. These findings support a novel cortical organization for hand movement control and open potential applications for brain-computer interfaces and neuroprostheses. DOI: http://dx.doi.org/10.7554/eLife.13420.001 PMID:26880543

Control of a Robotic Hand Using a Tongue Control System-A Prosthesis Application.

Science.gov (United States)

Johansen, Daniel; Cipriani, Christian; Popovic, Dejan B; Struijk, Lotte N S A

2016-07-01

The aim of this study was to investigate the feasibility of using an inductive tongue control system (ITCS) for controlling robotic/prosthetic hands and arms. This study presents a novel dual modal control scheme for multigrasp robotic hands combining standard electromyogram (EMG) with the ITCS. The performance of the ITCS control scheme was evaluated in a comparative study. Ten healthy subjects used both the ITCS control scheme and a conventional EMG control scheme to complete grasping exercises with the IH1 Azzurra robotic hand implementing five grasps. Time to activate a desired function or grasp was used as the performance metric. Statistically significant differences were found when comparing the performance of the two control schemes. On average, the ITCS control scheme was 1.15 s faster than the EMG control scheme, corresponding to a 35.4% reduction in the activation time. The largest difference was for grasp 5 with a mean AT reduction of 45.3% (2.38 s). The findings indicate that using the ITCS control scheme could allow for faster activation of specific grasps or functions compared with a conventional EMG control scheme. For transhumeral and especially bilateral amputees, the ITCS control scheme could have a significant impact on the prosthesis control. In addition, the ITCS would provide bilateral amputees with the additional advantage of environmental and computer control for which the ITCS was originally developed.

Cognitive vision system for control of dexterous prosthetic hands: Experimental evaluation

Directory of Open Access Journals (Sweden)

Došen Strahinja

2010-08-01

Full Text Available Abstract Background Dexterous prosthetic hands that were developed recently, such as SmartHand and i-LIMB, are highly sophisticated; they have individually controllable fingers and the thumb that is able to abduct/adduct. This flexibility allows implementation of many different grasping strategies, but also requires new control algorithms that can exploit the many degrees of freedom available. The current study presents and tests the operation of a new control method for dexterous prosthetic hands. Methods The central component of the proposed method is an autonomous controller comprising a vision system with rule-based reasoning mounted on a dexterous hand (CyberHand. The controller, termed cognitive vision system (CVS, mimics biological control and generates commands for prehension. The CVS was integrated into a hierarchical control structure: 1 the user triggers the system and controls the orientation of the hand; 2 a high-level controller automatically selects the grasp type and size; and 3 an embedded hand controller implements the selected grasp using closed-loop position/force control. The operation of the control system was tested in 13 healthy subjects who used Cyberhand, attached to the forearm, to grasp and transport 18 objects placed at two different distances. Results The system correctly estimated grasp type and size (nine commands in total in about 84% of the trials. In an additional 6% of the trials, the grasp type and/or size were different from the optimal ones, but they were still good enough for the grasp to be successful. If the control task was simplified by decreasing the number of possible commands, the classification accuracy increased (e.g., 93% for guessing the grasp type only. Conclusions The original outcome of this research is a novel controller empowered by vision and reasoning and capable of high-level analysis (i.e., determining object properties and autonomous decision making (i.e., selecting the grasp type and

Knowledge and attitude toward smoke-free legislation and second-hand smoking exposure among workers in indoor bars, beer parlors and discotheques in Osun State of Nigeria.

Science.gov (United States)

Onigbogi, Olanrewaju Olusola; Odukoya, Oluwakemi; Onigbogi, Modupe; Sekoni, Oluwakemi

2015-04-01

One of the requirements of the Osun State smoke-free legislation is to ensure smoke-free enclosed and partially enclosed workplaces. This survey was conducted to assess the knowledge and attitude of workers in indoor bars, beer parlors and discotheques to smoke-free legislation in general and the Osun State smoke-free law in particular. A convenience sampling of 36 hospitality centers was conducted. Interviewer-administered questionnaires were used to elicit responses about the objectives from non-smoking workers. The questionnaires had sections on knowledge of the Osun State smoke-free law, attitude toward the law and smoke-free legislation in general and exposure to second-hand tobacco smoke by the workers. Questions were also asked about the second-hand tobacco smoking status of these workers. The data were analyzed using SPSS version 15.0. We had 154 participants recruited into the study. There were 75 males (48.0%) and 79 females (52.0%). On the overall, respondents had a good knowledge of the effects of second-hand smoke on health (70.2%) with 75.0% of them being aware of the general smoke-free law and 67.3% being aware of the Osun State smoke-free law although none of them had ever seen a copy of the law. A high proportion (60.0%) was in support of the Osun smoke-free law although all of them think that the implementation of the law could reduce patronage and jeopardize their income. Attitude toward second-hand smoking was generally positive with 72.0% of them having no tolerance for second-hand tobacco smoke in their homes. Most participants (95.5%) had been exposed to tobacco smoke in the workplace within the past week. Despite the high level of awareness of the respondents about the dangers of second hand smoke and their positive attitude to smoke-free laws, nearly all were constantly being exposed to second hand smoke at work. This calls for policy level interventions to improve the implementation of the smoke-free law.

Hand-held medical robots.

Science.gov (United States)

Payne, Christopher J; Yang, Guang-Zhong

2014-08-01

Medical robots have evolved from autonomous systems to tele-operated platforms and mechanically-grounded, cooperatively-controlled robots. Whilst these approaches have seen both commercial and clinical success, uptake of these robots remains moderate because of their high cost, large physical footprint and long setup times. More recently, researchers have moved toward developing hand-held robots that are completely ungrounded and manipulated by surgeons in free space, in a similar manner to how conventional instruments are handled. These devices provide specific functions that assist the surgeon in accomplishing tasks that are otherwise challenging with manual manipulation. Hand-held robots have the advantages of being compact and easily integrated into the normal surgical workflow since there is typically little or no setup time. Hand-held devices can also have a significantly reduced cost to healthcare providers as they do not necessitate the complex, multi degree-of-freedom linkages that grounded robots require. However, the development of such devices is faced with many technical challenges, including miniaturization, cost and sterility, control stability, inertial and gravity compensation and robust instrument tracking. This review presents the emerging technical trends in hand-held medical robots and future development opportunities for promoting their wider clinical uptake.

Fusion of hard and soft control strategies for the robotic hand

CERN Document Server

Chen, Cheng-Hung

2018-01-01

Long considered the stuff of science fiction, a prosthetic hand capable of fully replicating all of that appendage's various functions is closer to becoming reality than ever before. This book provides a comprehensive report on exciting recent developments in hybrid control techniques—one of the most crucial hurdles to be overcome in creating smart prosthetic hands. Coauthored by two of the world's foremost pioneering experts in the field, Fusion of Hard and Soft Control Strategies for the Robotic Hand treats robotic hands for multiple applications. It begins with an overview of advances in main control techniques that have been made over the past decade before addressing the military context for affordable robotic hand technology with tactile and/or proprioceptive feedback for hand amputees. Kinematics, homogene us transformations, inverse and differential kinematics, trajectory planning, and dynamic models of two-link thumb and three-link index finger are discussed in detail. The remainder of the book is...

Structural Integration and Control of Peerless Human-like Prosthetic Hand

Science.gov (United States)

Dave, Ankit; Muthu, P.; Karthikraj, V.; Latha, S.

2018-04-01

Limb damage can create severe disturbance in movement and operative abilities wherein the prosthetic rehabilitation has the potential to replace function and enhance the quality of life. This paper presents a humanlike prosthetic hand using such unique design concept of hand model using artificial bones, ligaments, and tendons controlled using Arduino. Amongst various platforms available, Arduino is known for its adaptability, adoration and low cost. The design of prosthetic hand has a unique structure with all carpal, metacarpal, and phalanges which are bones of the hand. These bones are attached to each other following the pattern of human hand using the polymeric rubber as a functioning ligament. Furthermore, this structure of finger is driven by tendons attached to all fingers and passes through the ligaments working as pulley resulting in more degrees of freedom. The motor can twitch the tendons to achieve the action of fingers. Thus the servos, controlled by an Arduino, are used to regulate the movement mechanism of the prosthetic hand.

Three-dimensional surgical modelling with an open-source software protocol: study of precision and reproducibility in mandibular reconstruction with the fibula free flap.

Science.gov (United States)

Ganry, L; Quilichini, J; Bandini, C M; Leyder, P; Hersant, B; Meningaud, J P

2017-08-01

Very few surgical teams currently use totally independent and free solutions to perform three-dimensional (3D) surgical modelling for osseous free flaps in reconstructive surgery. This study assessed the precision and technical reproducibility of a 3D surgical modelling protocol using free open-source software in mandibular reconstruction with fibula free flaps and surgical guides. Precision was assessed through comparisons of the 3D surgical guide to the sterilized 3D-printed guide, determining accuracy to the millimetre level. Reproducibility was assessed in three surgical cases by volumetric comparison to the millimetre level. For the 3D surgical modelling, a difference of less than 0.1mm was observed. Almost no deformations (free flap modelling was between 0.1mm and 0.4mm, and the average precision of the complete reconstructed mandible was less than 1mm. The open-source software protocol demonstrated high accuracy without complications. However, the precision of the surgical case depends on the surgeon's 3D surgical modelling. Therefore, surgeons need training on the use of this protocol before applying it to surgical cases; this constitutes a limitation. Further studies should address the transfer of expertise. Copyright © 2017 International Association of Oral and Maxillofacial Surgeons. Published by Elsevier Ltd. All rights reserved.

Electromyogram synergy control of a dexterous artificial hand to unscrew and screw objects.

Science.gov (United States)

Kent, Benjamin A; Karnati, Nareen; Engeberg, Erik D

2014-03-21

Due to their limited dexterity, it is currently not possible to use a commercially available prosthetic hand to unscrew or screw objects without using elbow and shoulder movements. For these tasks, prosthetic hands function like a wrench, which is unnatural and limits their use in tight working environments. Results from timed rotational tasks with human subjects demonstrate the clinical need for increased dexterity of prosthetic hands, and a clinically viable solution to this problem is presented for an anthropomorphic artificial hand. Initially, a human hand motion analysis was performed during a rotational task. From these data, human hand synergies were derived and mapped to an anthropomorphic artificial hand. The synergy for the artificial hand is controlled using conventional dual site electromyogram (EMG) signals. These EMG signals were mapped to the developed synergy to control four joints of the dexterous artificial hand simultaneously.Five limb absent and ten able-bodied test subjects participated in a comparison study to complete a timed rotational task as quickly as possible with their natural hands (except for one subject with a bilateral hand absence), eight commercially available prosthetic hands, and the proposed synergy controller. Each test subject used two to four different artificial hands. With the able-bodied subjects, the developed synergy controller reduced task completion time by 177% on average. The limb absent subjects completed the task faster on average than with their own prostheses by 46%. There was a statistically significant improvement in task completion time with the synergy controller for three of the four limb absent participants with integrated prostheses, and was not statistically different for the fourth. The proposed synergy controller reduced average task completion time compared to commercially available prostheses. Additionally, the synergy controller is able to function in a small workspace and requires less physical

Precision grip in congenital and acquired hemiparesis: similarities in impairments and implications for neurorehabilitation - review

Directory of Open Access Journals (Sweden)

Yannick eBleyenheuft

2014-06-01

Full Text Available Background: Patients with congenital and acquired hemiparesis incur long-term functional deficits, among which the loss of prehension that may impact their functional independence. Identifying, understanding and comparing the underlying mechanisms of prehension impairments represent an opportunity to better adapt neurorehabilitationObjective: The present review aims to provide a better understanding of precision grip deficits in congenital and acquired hemiparesis and to determine whether the severity and type of fine motor control impairments depend on whether or not the lesions are congenital or acquired in adulthood. Methods: Using combinations of the following key words: fingertip force, grip force, precision grip, cerebral palsy, stroke, pubmed and Scopus databases were used to search studies from 1984 to 2013. Results: Individuals with both congenital and acquired hemiparesis were able to some extent to use anticipatory motor control in precision grip tasks, even if this control was impaired in the paretic hand. In both congenital or acquired hemiparesis, the ability to plan efficient anticipatory motor control when the less-affected hand is used provides a possibility to remediate impairments in anticipatory motor control of the paretic hand. Conclusion: Surprisingly we observed very few differences between the results of studies in children with congenital hemiplegia and stroke patients. We suggest that the underlying specific strategies of neurorehabilitation developed for each one could benefit the other.

Viability of Controlling Prosthetic Hand Utilizing Electroencephalograph (EEG) Dataset Signal

Science.gov (United States)

Miskon, Azizi; A/L Thanakodi, Suresh; Raihan Mazlan, Mohd; Mohd Haziq Azhar, Satria; Nooraya Mohd Tawil, Siti

2016-11-01

This project presents the development of an artificial hand controlled by Electroencephalograph (EEG) signal datasets for the prosthetic application. The EEG signal datasets were used as to improvise the way to control the prosthetic hand compared to the Electromyograph (EMG). The EMG has disadvantages to a person, who has not used the muscle for a long time and also to person with degenerative issues due to age factor. Thus, the EEG datasets found to be an alternative for EMG. The datasets used in this work were taken from Brain Computer Interface (BCI) Project. The datasets were already classified for open, close and combined movement operations. It served the purpose as an input to control the prosthetic hand by using an Interface system between Microsoft Visual Studio and Arduino. The obtained results reveal the prosthetic hand to be more efficient and faster in response to the EEG datasets with an additional LiPo (Lithium Polymer) battery attached to the prosthetic. Some limitations were also identified in terms of the hand movements, weight of the prosthetic, and the suggestions to improve were concluded in this paper. Overall, the objective of this paper were achieved when the prosthetic hand found to be feasible in operation utilizing the EEG datasets.

Design and implementation of adaptive inverse control algorithm for a micro-hand control system

Directory of Open Access Journals (Sweden)

Wan-Cheng Wang

2014-01-01

Full Text Available The Letter proposes an online tuned adaptive inverse position control algorithm for a micro-hand. First, the configuration of the micro-hand is discussed. Next, a kinematic analysis of the micro-hand is investigated and then the relationship between the rotor position of micro-permanent magnet synchronous motor and the tip of the micro-finger is derived. After that, an online tuned adaptive inverse control algorithm, which includes an adaptive inverse model and an adaptive inverse control, is designed. The online tuned adaptive inverse control algorithm has better performance than the proportional–integral control algorithm does. In addition, to avoid damaging the object during the grasping process, an online force control algorithm is proposed here as well. An embedded micro-computer, cRIO-9024, is used to realise the whole position control algorithm and the force control algorithm by using software. As a result, the hardware circuit is very simple. Experimental results show that the proposed system can provide fast transient responses, good load disturbance responses, good tracking responses and satisfactory grasping responses.

A common control signal and a ballistic stage can explain the control of coordinated eye-hand movements.

Science.gov (United States)

Gopal, Atul; Murthy, Aditya

2016-06-01

Voluntary control has been extensively studied in the context of eye and hand movements made in isolation, yet little is known about the nature of control during eye-hand coordination. We probed this with a redirect task. Here subjects had to make reaching/pointing movements accompanied by coordinated eye movements but had to change their plans when the target occasionally changed its position during some trials. Using a race model framework, we found that separate effector-specific mechanisms may be recruited to control eye and hand movements when executed in isolation but when the same effectors are coordinated a unitary mechanism to control coordinated eye-hand movements is employed. Specifically, we found that performance curves were distinct for the eye and hand when these movements were executed in isolation but were comparable when they were executed together. Second, the time to switch motor plans, called the target step reaction time, was different in the eye-alone and hand-alone conditions but was similar in the coordinated condition under assumption of a ballistic stage of ∼40 ms, on average. Interestingly, the existence of this ballistic stage could predict the extent of eye-hand dissociations seen in individual subjects. Finally, when subjects were explicitly instructed to control specifically a single effector (eye or hand), redirecting one effector had a strong effect on the performance of the other effector. Taken together, these results suggest that a common control signal and a ballistic stage are recruited when coordinated eye-hand movement plans require alteration. Copyright © 2016 the American Physiological Society.

Precision Force Control for an Electro-Hydraulic Press Machine

Directory of Open Access Journals (Sweden)

Hong-Ming Chen

2014-08-01

Full Text Available This thesis is primarily intended to design a PC-based control system to control the force of an electro-hydraulic servo press system for implementing precision force control. The main feature is to develop a composite control by using the relief valve and the flow servo valve. Using feedback from a force sensor, a fuzzy controller was designed with LabVIEW software as the system control core for achieving a precision force control for the hydraulic cylinder on its travel and output. The weakness of hydraulic systems is that hydraulic oil is compressible and prone to leaking, and its characteristics can vary with oil temperature, thus making it difficult for a general linear controller to achieve accurate control. Therefore, a fuzzy controller was designed with LabVIEW along with a NI-PCI_6221 interface card and a load cell to control the servo valve flow and the relief valve to control the pressure source. The testing results indicate that accurate force control output of an electro-hydraulic servo press system can be obtained.

Washing away your sins will set your mind free: physical cleansing modulates the effect of threatened morality on executive control.

Science.gov (United States)

Kalanthroff, Eyal; Aslan, Chen; Dar, Reuven

2017-01-01

The effect of threatened morality on negative emotions and on altruistic behaviour has been shown to diminish following physical cleansing (hand-washing). We hypothesised that threatened morality will broadly impair the executive control system, and that physical cleansing will moderate this detrimental effect. Thirty-seven participants were asked to write about an immoral deed they had committed, whereupon half of them were allowed to wipe their hands. Three executive control tasks-Stroop, stop-signal, and object interference-were then administered to all participants. Participants who had not wiped their hands, but not those who did, demonstrated impaired performance, compared to hand-washing controls, in all three tasks. We conclude that threatened morality has a detrimental effect on executive control, specifically on conflict monitoring and response inhibition, and that physical cleansing "frees" this system, counteracting the detrimental effects of morality threats. We discuss possible implications for obsessive-compulsive disorder, which is characterised by deficient executive control and in which both threatened morality and physical cleansing are central concerns.

(In)Visible Hand(s)

OpenAIRE

Predrag Zima

2007-01-01

In this paper, the author discusses the regulatory role of the state and legal norms, in market economy, especially in so-called transition countries. Legal policy, and other questions of the state and free market economy are here closely connected, because the state must ensure with legal norms that economic processes are not interrupted: only the state can establish the legal basis for a market economy. The free market’s invisible hand is acting in questions such as: what is to be produced,...

Precise measurements and shimming of magnetic field gradients in the low field regime

Energy Technology Data Exchange (ETDEWEB)

Allmendinger, Fabian; Schmidt, Ulrich [Physikalisches Institut, Universitaet Heidelberg (Germany); Grasdijk, Olivier; Jungmann, Klaus; Willmann, Lorenz [University of Groningen (Netherlands); Heil, Werner; Karpuk, Sergei; Repetto, Maricel; Sobolev, Yuri; Zimmer, Stefan [Institut fuer Physik, Universitaet Mainz (Germany); Krause, Hans-Joachim; Offenhaeuser, Andreas [Peter Gruenberg Institut, Forschungszentrum Juelich (Germany); Collaboration: MIXed-Collaboration

2016-07-01

For many experiments at the precision frontier of fundamental physics, the accurate measurement and knowledge of magnetic field gradients in particular in the low field regime (<μT) is a necessity: On the one hand, in the search for an Electric Dipole Moment (EDM) of free neutrons or atoms, field gradients contribute to geometric-phase-induced false EDM signals for particles in traps. On the other hand, clock comparison experiments like the {sup 3}He/{sup 129}Xe spin clock experiment suffer from gradients, since the coherent T{sub 2}*-time of free spin precession, and thus the measurement sensitivity, scales ∝ ∇ vector B{sup -2}. Here we report on a new and very effective method, to shim and to measure tiny magnetic field gradients in the range of pT/cm by using effective T{sub 2}*-measurement sequences in varying the currents of trim coils of known geometry.

Precise Localization and Control of Catalytic Janus Micromotors using Weak Magnetic Fields

NARCIS (Netherlands)

Khalil, Islam S. M.; Magdanz, Veronika; Sanchez, Samuel; Schmidt, Oliver G.; Misra, Sarthak

2015-01-01

We experimentally demonstrate the precise localization of spherical Pt-Silica Janus micromotors (diameter 5 mu m) under the influence of controlled magnetic fields. First, we control the motion of the Janus micromotors in two-dimensional (2D) space. The control system achieves precise localization

High Precision Current Control for the LHC Main Power Converters

CERN Document Server

Thiesen, H; Hudson, G; King, Q; Montabonnet, V; Nisbet, D; Page, S

2010-01-01

Since restarting at the end of 2009, the LHC has reached a new energy record in March 2010 with the two 3.5 TeV beams. To achieve the performance required for the good functioning of the accelerator, the currents in the main circuits (Main Bends and Main Quadrupoles) must be controlled with a higher precision than ever previously requested for a particle accelerator at CERN: a few parts per million (ppm) of nominal current. This paper describes the different challenges that were overcome to achieve the required precision for the current control of the main circuits. Precision tests performed during the hardware commissioning of the LHC illustrate this paper.

A Prosthetic Hand Body Area Controller Based on Efficient Pattern Recognition Control Strategies.

Science.gov (United States)

Benatti, Simone; Milosevic, Bojan; Farella, Elisabetta; Gruppioni, Emanuele; Benini, Luca

2017-04-15

Poliarticulated prosthetic hands represent a powerful tool to restore functionality and improve quality of life for upper limb amputees. Such devices offer, on the same wearable node, sensing and actuation capabilities, which are not equally supported by natural interaction and control strategies. The control in state-of-the-art solutions is still performed mainly through complex encoding of gestures in bursts of contractions of the residual forearm muscles, resulting in a non-intuitive Human-Machine Interface (HMI). Recent research efforts explore the use of myoelectric gesture recognition for innovative interaction solutions, however there persists a considerable gap between research evaluation and implementation into successful complete systems. In this paper, we present the design of a wearable prosthetic hand controller, based on intuitive gesture recognition and a custom control strategy. The wearable node directly actuates a poliarticulated hand and wirelessly interacts with a personal gateway (i.e., a smartphone) for the training and personalization of the recognition algorithm. Through the whole system development, we address the challenge of integrating an efficient embedded gesture classifier with a control strategy tailored for an intuitive interaction between the user and the prosthesis. We demonstrate that this combined approach outperforms systems based on mere pattern recognition, since they target the accuracy of a classification algorithm rather than the control of a gesture. The system was fully implemented, tested on healthy and amputee subjects and compared against benchmark repositories. The proposed approach achieves an error rate of 1.6% in the end-to-end real time control of commonly used hand gestures, while complying with the power and performance budget of a low-cost microcontroller.

Inter-Tester Reliability and Precision of Manual Muscle Testing and Hand-Held Dynamometry in Lower Limb Muscles of Children with Spina Bifida

Science.gov (United States)

Mahony, Kate; Hunt, Adrienne; Daley, Deborah; Sims, Susan; Adams, Roger

2009-01-01

Reliability and measurement precision of manual muscle testing (MMT) and hand-held dynamometry (HHD) were compared for children with spina bifida. Strength measures were obtained of the hip flexors, hip abductors, and knee extensors of 20 children (10 males, 10 females; mean age 9 years 10 months; range: 5 to 15 years) by two experienced physical…

Early intensive hand rehabilitation after spinal cord injury ("Hands On": a protocol for a randomised controlled trial

Directory of Open Access Journals (Sweden)

Hsueh Ya-Seng

2011-01-01

Full Text Available Abstract Background Loss of hand function is one of the most devastating consequences of spinal cord injury. Intensive hand training provided on an instrumented exercise workstation in conjunction with functional electrical stimulation may enhance neural recovery and hand function. The aim of this trial is to compare usual care with an 8-week program of intensive hand training and functional electrical stimulation. Methods/design A multicentre randomised controlled trial will be undertaken. Seventy-eight participants with recent tetraplegia (C2 to T1 motor complete or incomplete undergoing inpatient rehabilitation will be recruited from seven spinal cord injury units in Australia and New Zealand and will be randomised to a control or experimental group. Control participants will receive usual care. Experimental participants will receive usual care and an 8-week program of intensive unilateral hand training using an instrumented exercise workstation and functional electrical stimulation. Participants will drive the functional electrical stimulation of their target hands via a behind-the-ear bluetooth device, which is sensitive to tooth clicks. The bluetooth device will enable the use of various manipulanda to practice functional activities embedded within computer-based games and activities. Training will be provided for one hour, 5 days per week, during the 8-week intervention period. The primary outcome is the Action Research Arm Test. Secondary outcomes include measurements of strength, sensation, function, quality of life and cost effectiveness. All outcomes will be taken at baseline, 8 weeks, 6 months and 12 months by assessors blinded to group allocation. Recruitment commenced in December 2009. Discussion The results of this trial will determine the effectiveness of an 8-week program of intensive hand training with functional electrical stimulation. Trial registration NCT01086930 (12th March 2010 ACTRN12609000695202 (12th August 2009

Early intensive hand rehabilitation after spinal cord injury ("Hands On"): a protocol for a randomised controlled trial.

Science.gov (United States)

Harvey, Lisa A; Dunlop, Sarah A; Churilov, Leonid; Hsueh, Ya-Seng Arthur; Galea, Mary P

2011-01-17

Loss of hand function is one of the most devastating consequences of spinal cord injury. Intensive hand training provided on an instrumented exercise workstation in conjunction with functional electrical stimulation may enhance neural recovery and hand function. The aim of this trial is to compare usual care with an 8-week program of intensive hand training and functional electrical stimulation. A multicentre randomised controlled trial will be undertaken. Seventy-eight participants with recent tetraplegia (C2 to T1 motor complete or incomplete) undergoing inpatient rehabilitation will be recruited from seven spinal cord injury units in Australia and New Zealand and will be randomised to a control or experimental group. Control participants will receive usual care. Experimental participants will receive usual care and an 8-week program of intensive unilateral hand training using an instrumented exercise workstation and functional electrical stimulation. Participants will drive the functional electrical stimulation of their target hands via a behind-the-ear bluetooth device, which is sensitive to tooth clicks. The bluetooth device will enable the use of various manipulanda to practice functional activities embedded within computer-based games and activities. Training will be provided for one hour, 5 days per week, during the 8-week intervention period. The primary outcome is the Action Research Arm Test. Secondary outcomes include measurements of strength, sensation, function, quality of life and cost effectiveness. All outcomes will be taken at baseline, 8 weeks, 6 months and 12 months by assessors blinded to group allocation. Recruitment commenced in December 2009. The results of this trial will determine the effectiveness of an 8-week program of intensive hand training with functional electrical stimulation. NCT01086930 (12th March 2010)ACTRN12609000695202 (12th August 2009).

Concept for a large master/slave-controlled robotic hand

Science.gov (United States)

Grissom, William A.; Abdallah, Mahmoud A.; White, Carl L.

1988-01-01

A strategy is presented for the design and construction of a large master/slave-controlled, five-finger robotic hand. Each of the five fingers will possess four independent axes each driven by a brushless DC servomotor and, thus, four degrees-of-freedom. It is proposed that commercially available components be utilized as much as possible to fabricate a working laboratory model of the device with an anticipated overall length of two-to-four feet (0.6 to 1.2 m). The fingers are to be designed so that proximity, tactile, or force/torque sensors can be imbedded in their structure. In order to provide for the simultaneous control of the twenty independent hand joints, a multilevel master/slave control strategy is proposed in which the operator wears a specially instrumented glove which produces control signals corresponding to the finger configurations and which is capable of conveying sensor feedback signals to the operator. Two dexterous hand master devices are currently commercially available for this application with both undergoing continuing development. A third approach to be investigated for the master control mode is the use of real-time image processing of a specially patterned master glove to provide the respective control signals for positioning the multiple finger joints.

Model-free control

Science.gov (United States)

Fliess, Michel; Join, Cédric

2013-12-01

'Model-free control'and the corresponding 'intelligent' PID controllers (iPIDs), which already had many successful concrete applications, are presented here for the first time in an unified manner, where the new advances are taken into account. The basics of model-free control is now employing some old functional analysis and some elementary differential algebra. The estimation techniques become quite straightforward via a recent online parameter identification approach. The importance of iPIs and especially of iPs is deduced from the presence of friction. The strange industrial ubiquity of classic PIDs and the great difficulty for tuning them in complex situations is deduced, via an elementary sampling, from their connections with iPIDs. Several numerical simulations are presented which include some infinite-dimensional systems. They demonstrate not only the power of our intelligent controllers but also the great simplicity for tuning them.

Effects of Isometric Hand-Grip Muscle Contraction on Young Adults' Free Recall and Recognition Memory

Science.gov (United States)

Tomporowski, Phillip D.; Albrecht, Chelesa; Pendleton, Daniel M.

2017-01-01

Purpose: The purpose of this study was to determine if physical arousal produced by isometric hand-dynamometer contraction performed during word-list learning affects young adults' free recall or recognition memory. Method: Twenty-four young adults (12 female; M[subscript age] = 22 years) were presented with 4 20-item word lists. Moderate arousal…

Knowledge and Attitude toward Smoke-Free Legislation and Second-Hand Smoking Exposure among Workers in Indoor Bars, Beer Parlors and Discotheques in Osun State of Nigeria

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Olanrewaju Olusola Onigbogi

2015-04-01

Full Text Available Background One of the requirements of the Osun State smoke-free legislation is to ensure smoke-free enclosed and partially enclosed workplaces. This survey was conducted to assess the knowledge and attitude of workers in indoor bars, beer parlors and discotheques to smoke-free legislation in general and the Osun State smoke-free law in particular. Methods A convenience sampling of 36 hospitality centers was conducted. Interviewer-administered questionnaires were used to elicit responses about the objectives from non-smoking workers. The questionnaires had sections on knowledge of the Osun State smoke-free law, attitude toward the law and smoke-free legislation in general and exposure to second-hand tobacco smoke by the workers. Questions were also asked about the secondhand tobacco smoking status of these workers. The data were analyzed using SPSS version 15.0. Results We had 154 participants recruited into the study. There were 75 males (48.0% and 79 females (52.0%. On the overall, respondents had a good knowledge of the effects of second-hand smoke on health (70.2% with 75.0% of them being aware of the general smoke-free law and 67.3% being aware of the Osun State smoke-free law although none of them had ever seen a copy of the law. A high proportion (60.0% was in support of the Osun smoke-free law although all of them think that the implementation of the law could reduce patronage and jeopardize their income. Attitude toward second-hand smoking was generally positive with 72.0% of them having no tolerance for second-hand tobacco smoke in their homes. Most participants (95.5% had been exposed to tobacco smoke in the workplace within the past week. Conclusion Despite the high level of awareness of the respondents about the dangers of second hand smoke and their positive attitude to smoke-free laws, nearly all were constantly being exposed to second hand smoke at work. This calls for policy level interventions to improve the implementation of

Glycemic Control, Hand Activity, and Complexity of Biological Signals in Diabetes Mellitus

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Hsien-Tsai Wu

2017-01-01

Full Text Available Both glycemic control and handgrip strength affect microvascular function. Multiscale entropy (MSE of photoplethysmographic (PPG pulse amplitudes may differ by diabetes status and hand activity. Of a middle-to-old aged and right-handed cohort without clinical cardiovascular disease, we controlled age, sex, and weight to select the unaffected (no type 2 diabetes, n=36, the well-controlled diabetes (HbA1c < 8%, n=22, and the poorly controlled diabetes (HbA1c ≥ 8%, n=22 groups. MSEs were calculated from consecutive 1,500 PPG pulse amplitudes of bilateral index fingertips. The small-,  medium-, and large-scale MSEs were defined as the average of scale 1 (MSE1, scales 2–4 (MSE2–4, and scales 5–10 (MSE5–10, respectively. Intra- and intergroups were compared by one- and two-sample t-tests, respectively. The dominant hand MSE5–10 was lower in the poorly controlled diabetes group than the well-controlled diabetes and the unaffected (1.28 versus 1.52 and 1.56, p=0.019 and 0.001, resp. groups, whereas the nondominant hand MSE5–10 was lower in the well- and poorly controlled diabetes groups than the unaffected group (1.35 and 1.29 versus 1.58, p=0.008 and 0.005, resp.. The MSE1 of dominant hand was higher than that of nondominant hand in the well-controlled diabetes (1.35 versus 1.10, p=0.048. In conclusion, diabetes status and hand dominance may affect the MSE of PPG pulse amplitudes.

A Prospective Controlled Trial of an Electronic Hand Hygiene Reminder System.

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Ellison, Richard T; Barysauskas, Constance M; Rundensteiner, Elke A; Wang, Di; Barton, Bruce

2015-12-01

Background.  The use of electronic hand hygiene reminder systems has been proposed as an approach to improve hand hygiene compliance among healthcare workers, although information on efficacy is limited. We prospectively assessed whether hand hygiene activities among healthcare workers could be increased using an electronic hand hygiene monitoring and reminder system. Methods.  A prospective controlled clinical trial was conducted in 2 medical intensive care units (ICUs) at an academic medical center with comparable patient populations, healthcare staff, and physical layout. Hand hygiene activity was monitored concurrently in both ICUs, and the reminder system was installed in the test ICU. The reminder system was tested during 3 administered phases including: room entry/exit chimes, display of real-time hand hygiene activity, and a combination of the 2. Results.  In the test ICU, the mean number of hand hygiene events increased from 1538 per day at baseline to 1911 per day (24% increase) with the use of a combination of room entry/exit chimes, real-time displays of hand hygiene activity, and manager reports (P performance returned to baseline (1473 hand hygiene events per day) during the follow-up phase. There was no significant change in hand hygiene activity in the control ICU during the course of the trial. Conclusions.  In an ICU setting, an electronic hand hygiene reminder system that provided real-time feedback on overall unit-wide hand hygiene performance significantly increased hand hygiene activity.

An Analysis of Intrinsic and Extrinsic Hand Muscle EMG for Improved Pattern Recognition Control.

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Adewuyi, Adenike A; Hargrove, Levi J; Kuiken, Todd A

2016-04-01

Pattern recognition control combined with surface electromyography (EMG) from the extrinsic hand muscles has shown great promise for control of multiple prosthetic functions for transradial amputees. There is, however, a need to adapt this control method when implemented for partial-hand amputees, who possess both a functional wrist and information-rich residual intrinsic hand muscles. We demonstrate that combining EMG data from both intrinsic and extrinsic hand muscles to classify hand grasps and finger motions allows up to 19 classes of hand grasps and individual finger motions to be decoded, with an accuracy of 96% for non-amputees and 85% for partial-hand amputees. We evaluated real-time pattern recognition control of three hand motions in seven different wrist positions. We found that a system trained with both intrinsic and extrinsic muscle EMG data, collected while statically and dynamically varying wrist position increased completion rates from 73% to 96% for partial-hand amputees and from 88% to 100% for non-amputees when compared to a system trained with only extrinsic muscle EMG data collected in a neutral wrist position. Our study shows that incorporating intrinsic muscle EMG data and wrist motion can significantly improve the robustness of pattern recognition control for application to partial-hand prosthetic control.

A Prospective Controlled Trial of an Electronic Hand Hygiene Reminder System

Science.gov (United States)

Ellison, Richard T.; Barysauskas, Constance M.; Rundensteiner, Elke A.; Wang, Di; Barton, Bruce

2015-01-01

Background. The use of electronic hand hygiene reminder systems has been proposed as an approach to improve hand hygiene compliance among healthcare workers, although information on efficacy is limited. We prospectively assessed whether hand hygiene activities among healthcare workers could be increased using an electronic hand hygiene monitoring and reminder system. Methods. A prospective controlled clinical trial was conducted in 2 medical intensive care units (ICUs) at an academic medical center with comparable patient populations, healthcare staff, and physical layout. Hand hygiene activity was monitored concurrently in both ICUs, and the reminder system was installed in the test ICU. The reminder system was tested during 3 administered phases including: room entry/exit chimes, display of real-time hand hygiene activity, and a combination of the 2. Results. In the test ICU, the mean number of hand hygiene events increased from 1538 per day at baseline to 1911 per day (24% increase) with the use of a combination of room entry/exit chimes, real-time displays of hand hygiene activity, and manager reports (P hand hygiene to room entry/exit events also increased from 26.1% to 36.6% (40% increase, P hand hygiene events per day) during the follow-up phase. There was no significant change in hand hygiene activity in the control ICU during the course of the trial. Conclusions. In an ICU setting, an electronic hand hygiene reminder system that provided real-time feedback on overall unit-wide hand hygiene performance significantly increased hand hygiene activity. PMID:26430698

Does intraoperative navigation improve the accuracy of mandibular angle osteotomy: Comparison between augmented reality navigation, individualised templates and free-hand techniques.

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Zhu, Ming; Liu, Fei; Zhou, Chaozheng; Lin, Li; Zhang, Yan; Chai, Gang; Xie, Le; Qi, Fazhi; Li, Qingfeng

2018-04-11

Augmented reality (AR)-based navigation surgery has evolved to be an advanced assisted technology. The aim of this study is to manifest the accuracy of AR navigation for the intraoperative mandibular angle osteotomy by comparing the navigation with other interventional techniques. A retrospective study was conducted with 93 post-surgical patients with mandibular angle hypertrophy admitted at our plastic and reconstructive surgery department between September 2011 and June 2016. Thirty-one patients received osteotomy conducted using a navigation system based on augmented reality (AR group), 28 patients received osteotomy conducted using individualised templates (IT group) and the remaining 34 patients received osteotomy performed by free hand (free-hand group). The post-operative computed tomography (CT) images were reviewed and analysed by comparing with pre-surgical planning generated by three-dimensional (3D) software. The preparation time, cutting time, whole operating time and discrepancy in osteotomy lines were measured. The preparation time was much shorter for the free-hand group than that for the AR group and the IT group (P  0.05). In addition, the discrepancy in osteotomy lines was lower for the AR group and in the IT group than for the free-hand group (P < 0.01). The navigation system based on AR has a higher accuracy, more reliability and better user friendliness for some particular clinical procedures than for other techniques, which has a promising clinical prospect. Copyright © 2018. Published by Elsevier Ltd.

Grasp force sensor for robotic hands

Science.gov (United States)

Scheinman, Victor D. (Inventor); Bejczy, Antal K. (Inventor); Primus, Howard C. (Inventor)

1989-01-01

A grasp force sensor for robotic hands is disclosed. A flexible block is located in the base of each claw through which the grasp force is exerted. The block yields minute parallelogram deflection when the claws are subjected to grasping forces. A parallelogram deflection closely resembles pure translational deflection, whereby the claws remain in substantial alignment with each other during grasping. Strain gauge transducers supply signals which provide precise knowledge of and control over grasp forces.

Real-Time Control of an Exoskeleton Hand Robot with Myoelectric Pattern Recognition.

Science.gov (United States)

Lu, Zhiyuan; Chen, Xiang; Zhang, Xu; Tong, Kay-Yu; Zhou, Ping

2017-08-01

Robot-assisted training provides an effective approach to neurological injury rehabilitation. To meet the challenge of hand rehabilitation after neurological injuries, this study presents an advanced myoelectric pattern recognition scheme for real-time intention-driven control of a hand exoskeleton. The developed scheme detects and recognizes user's intention of six different hand motions using four channels of surface electromyography (EMG) signals acquired from the forearm and hand muscles, and then drives the exoskeleton to assist the user accomplish the intended motion. The system was tested with eight neurologically intact subjects and two individuals with spinal cord injury (SCI). The overall control accuracy was [Formula: see text] for the neurologically intact subjects and [Formula: see text] for the SCI subjects. The total lag of the system was approximately 250[Formula: see text]ms including data acquisition, transmission and processing. One SCI subject also participated in training sessions in his second and third visits. Both the control accuracy and efficiency tended to improve. These results show great potential for applying the advanced myoelectric pattern recognition control of the wearable robotic hand system toward improving hand function after neurological injuries.

Computer-Assisted Culture Learning in an Online Augmented Reality Environment Based on Free-Hand Gesture Interaction

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Yang, Mau-Tsuen; Liao, Wan-Che

2014-01-01

The physical-virtual immersion and real-time interaction play an essential role in cultural and language learning. Augmented reality (AR) technology can be used to seamlessly merge virtual objects with real-world images to realize immersions. Additionally, computer vision (CV) technology can recognize free-hand gestures from live images to enable…

Chirp-free direct modulation of 550 nm emission in Er3+ -Doped Fluoroindate glass by nonlinear feedback control

Science.gov (United States)

Cai, Runyu; Thitsa, Makhin; Bluiett, Althea; Brown, Ei; Hommerich, Uwe

2017-06-01

We propose a direct modulation method with nonlinear feedback controller which can produce chirp-free modulation of the output pulse without bulky external modulators. This work reports the design of the controller which, via a feedback loop, varies and controls the pump rate in real time by automatically adjusting the pump power to precisely modulate the emission of 550 nm in Er3+ -doped Fluoroindate glass under 1.48 μm pumping. In this interdisciplinary paper, well established theoretical tools from nonlinear control theory are applied to the dynamical system of the laser material in order to produce the desired output of the laser. The controller is simulated in MATLAB Simulink and the simulation results show that our technique yields precise modulation of the output intensity without frequency chirping. Results on both theoretical analysis of the control methodology and simulation are presented.

Training manual for precision hand deburring, Part 2

Energy Technology Data Exchange (ETDEWEB)

Gillespie, L.K.

1980-12-01

Part 2 is presented of a 4-part training manual to be used by machinist trainees, production workers, and others removing burrs from precision miniature parts. The manuals are written to be self-teaching and are intended to be used with two hours of training each day along with another six hours of bench work in deburring.

Data logging of body temperatures provides precise information on phenology of reproductive events in a free-living arctic hibernator

Science.gov (United States)

Williams, C.T.; Sheriff, M.J.; Schmutz, J.A.; Kohl, F.; Toien, O.; Buck, C.L.; Barnes, B.M.

2011-01-01

Precise measures of phenology are critical to understanding how animals organize their annual cycles and how individuals and populations respond to climate-induced changes in physical and ecological stressors. We show that patterns of core body temperature (T b) can be used to precisely determine the timing of key seasonal events including hibernation, mating and parturition, and immergence and emergence from the hibernacula in free-living arctic ground squirrels (Urocitellus parryii). Using temperature loggers that recorded T b every 20 min for up to 18 months, we monitored core T b from three females that subsequently gave birth in captivity and from 66 female and 57 male ground squirrels free-living in the northern foothills of the Brooks Range Alaska. In addition, dates of emergence from hibernation were visually confirmed for four free-living male squirrels. Average T b in captive females decreased by 0.5–1.0°C during gestation and abruptly increased by 1–1.5°C on the day of parturition. In free-living females, similar shifts in T b were observed in 78% (n = 9) of yearlings and 94% (n = 31) of adults; females without the shift are assumed not to have given birth. Three of four ground squirrels for which dates of emergence from hibernation were visually confirmed did not exhibit obvious diurnal rhythms in T b until they first emerged onto the surface when T b patterns became diurnal. In free-living males undergoing reproductive maturation, this pre-emergence euthermic interval averaged 20.4 days (n = 56). T b-loggers represent a cost-effective and logistically feasible method to precisely investigate the phenology of reproduction and hibernation in ground squirrels.

End-point impedance measurements across dominant and nondominant hands and robotic assistance with directional damping.

Science.gov (United States)

Erden, Mustafa Suphi; Billard, Aude

2015-06-01

The goal of this paper is to perform end-point impedance measurements across dominant and nondominant hands while doing airbrush painting and to use the results for developing a robotic assistance scheme. We study airbrush painting because it resembles in many ways manual welding, a standard industrial task. The experiments are performed with the 7 degrees of freedom KUKA lightweight robot arm. The robot is controlled in admittance using a force sensor attached at the end-point, so as to act as a free-mass and be passively guided by the human. For impedance measurements, a set of nine subjects perform 12 repetitions of airbrush painting, drawing a straight-line on a cartoon horizontally placed on a table, while passively moving the airbrush mounted on the robot's end-point. We measure hand impedance during the painting task by generating sudden and brief external forces with the robot. The results show that on average the dominant hand displays larger impedance than the nondominant in the directions perpendicular to the painting line. We find the most significant difference in the damping values in these directions. Based on this observation, we develop a "directional damping" scheme for robotic assistance and conduct a pilot study with 12 subjects to contrast airbrush painting with and without robotic assistance. Results show significant improvement in precision with both dominant and nondominant hands when using robotic assistance.

An Approach for Pattern Recognition of EEG Applied in Prosthetic Hand Drive

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Xiao-Dong Zhang

2011-12-01

Full Text Available For controlling the prosthetic hand by only electroencephalogram (EEG, it has become the hot spot in robotics research to set up a direct communication and control channel between human brain and prosthetic hand. In this paper, the EEG signal is analyzed based on multi-complicated hand activities. And then, two methods of EEG pattern recognition are investigated, a neural prosthesis hand system driven by BCI is set up, which can complete four kinds of actions (arm’s free state, arm movement, hand crawl, hand open. Through several times of off-line and on-line experiments, the result shows that the neural prosthesis hand system driven by BCI is reasonable and feasible, the C-support vector classifiers-based method is better than BP neural network on the EEG pattern recognition for multi-complicated hand activities.

Design of high precision temperature control system for TO packaged LD

Science.gov (United States)

Liang, Enji; Luo, Baoke; Zhuang, Bin; He, Zhengquan

2017-10-01

Temperature is an important factor affecting the performance of TO package LD. In order to ensure the safe and stable operation of LD, a temperature control circuit for LD based on PID technology is designed. The MAX1978 and an external PID circuit are used to form a control circuit that drives the thermoelectric cooler (TEC) to achieve control of temperature and the external load can be changed. The system circuit has low power consumption, high integration and high precision,and the circuit can achieve precise control of the LD temperature. Experiment results show that the circuit can achieve effective and stable control of the laser temperature.

Virtual Control of Prosthetic Hand Based on Grasping Patterns and Estimated Force from Semg

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Zhu Gao-Ke

2016-01-01

Full Text Available Myoelectric prosthetic hands aim to serve upper limb amputees. The myoelectric control of the hand grasp action is a kind of real-time or online method. Thus it is of great necessity to carry on a study of online prosthetic hand electrical control. In this paper, the strategy of simultaneous EMG decoding of grasping patterns and grasping force was realized by controlling a virtual multi-degree-freedom prosthetic hand and a real one-degree-freedom prosthetic hand simultaneously. The former realized the grasping patterns from the recognition of the sEMG pattern. The other implemented the grasping force from sEMG force decoding. The results show that the control method is effective and feasible.

A Two-Sensor Noise Reduction System: Applications for Hands-Free Car Kit

Directory of Open Access Journals (Sweden)

Guérin Alexandre

2003-01-01

Full Text Available This paper presents a two-microphone speech enhancer designed to remove noise in hands-free car kits. The algorithm, based on the magnitude squared coherence, uses speech correlation and noise decorrelation to separate speech from noise. The remaining correlated noise is reduced using cross-spectral subtraction. Particular attention is focused on the estimation of the different spectral densities (noise and noisy signals power spectral densities which are critical for the quality of the algorithm. We also propose a continuous noise estimation, avoiding the need of vocal activity detector. Results on recorded signals are provided, showing the superiority of the two-sensor approach to single microphone techniques.

Precise Control of Quantum Confinement in Cesium Lead Halide Perovskite Quantum Dots via Thermodynamic Equilibrium.

Science.gov (United States)

Dong, Yitong; Qiao, Tian; Kim, Doyun; Parobek, David; Rossi, Daniel; Son, Dong Hee

2018-05-09

Cesium lead halide (CsPbX 3 ) nanocrystals have emerged as a new family of materials that can outperform the existing semiconductor nanocrystals due to their superb optical and charge-transport properties. However, the lack of a robust method for producing quantum dots with controlled size and high ensemble uniformity has been one of the major obstacles in exploring the useful properties of excitons in zero-dimensional nanostructures of CsPbX 3 . Here, we report a new synthesis approach that enables the precise control of the size based on the equilibrium rather than kinetics, producing CsPbX 3 quantum dots nearly free of heterogeneous broadening in their exciton luminescence. The high level of size control and ensemble uniformity achieved here will open the door to harnessing the benefits of excitons in CsPbX 3 quantum dots for photonic and energy-harvesting applications.

A Biomechanical Model for the Development of Myoelectric Hand Prosthesis Control Systems

NARCIS (Netherlands)

Peerdeman, B.; van Baal, D.W.; Boere, Daphne; Kallenberg, L.A.C.; Stramigioli, Stefano; Misra, Sarthak

2010-01-01

Advanced myoelectric hand prostheses aim to reproduce as much of the human hand's functionality as possible. Development of the control system of such a prosthesis is strongly connected to its mechanical design; the control system requires accurate information on the prosthesis' structure and the

Design and control of five fingered under-actuated robotic hand

Science.gov (United States)

Sahoo, Biswojit; Parida, Pramod Kumar

2018-04-01

Now a day's research regarding humanoid robots and its application in different fields (industry, household, rehabilitation and exploratory) is going on entire the globe. Among which a challenging topic is to design a dexterous robotic hand which not only can perform as a hand of a robot but also can be used in re habilitation. The basic key concern is a dexterous robot hand which can be able to mimic the function of biological hand to perform different operations. This thesis work is regarding design and control of a under-actuated robotic hand consisting of four under actuated fingers (index finger, middle finger, little finger and ring finger ) , a thumb and a dexterous palm which can copy the motions and grasp type of human hand which having 21degrees of freedom instead of 25Degree Of Freedom.

Distributed Control Architectures for Precision Spacecraft Formations, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — LaunchPoint Technologies, Inc. (LaunchPoint) proposes to develop synthesis methods and design architectures for distributed control systems in precision spacecraft...

Precision electronic speed controller for an alternating-current motor

Science.gov (United States)

Bolie, V.W.

A high precision controller for an alternating-current multi-phase electrical motor that is subject to a large inertial load. The controller was developed for controlling, in a neutron chopper system, a heavy spinning rotor that must be rotated in phase-locked synchronism with a reference pulse train that is representative of an ac power supply signal having a meandering line frequency. The controller includes a shaft revolution sensor which provides a feedback pulse train representative of the actual speed of the motor. An internal digital timing signal generator provides a reference signal which is compared with the feedback signal in a computing unit to provide a motor control signal. The motor control signal is a weighted linear sum of a speed error voltage, a phase error voltage, and a drift error voltage, each of which is computed anew with each revolution of the motor shaft. The speed error signal is generated by a novel vernier-logic circuit which is drift-free and highly sensitive to small speed changes. The phase error is also computed by digital logic, with adjustable sensitivity around a 0 mid-scale value. The drift error signal, generated by long-term counting of the phase error, is used to compensate for any slow changes in the average friction drag on the motor. An auxillary drift-byte status sensor prevents any disruptive overflow or underflow of the drift-error counter. An adjustable clocked-delay unit is inserted between the controller and the source of the reference pulse train to permit phase alignment of the rotor to any desired offset angle. The stator windings of the motor are driven by two amplifiers which are provided with input signals having the proper quadrature relationship by an exciter unit consisting of a voltage controlled oscillator, a binary counter, a pair of read-only memories, and a pair of digital-to-analog converters.

Finger functionality and joystick design for complex hand control

NARCIS (Netherlands)

Grinten, M.P. van der; Krause, F.

2006-01-01

Joysticks and similar multi-directional controls are increasingly applied in machines, instruments and consumer goods. Operational complexity rises through miniaturization and additional control functions on the joystick. With this the effort for the finger, hand and arm, and for the perceptive and

Free Will and Education

Science.gov (United States)

Giesinger, Johannes

2010-01-01

It is commonly assumed that to educate means to control or guide a person's acting and development. On the other hand, it is often presupposed that the addressees of education must be seen as being endowed with free will. The question raised in this paper is whether these two assumptions are compatible. It might seem that if the learner is free in…

The Mirrored Hand Illusion: I Control, So I Possess?

Science.gov (United States)

Zhou, Aibao; Zhang, Yanchi; Yin, Yulong; Yang, Yang

2015-01-01

Certain situations may not only cause people to misjudge external information but also distort people's perception of themselves. The present study is the first to report the mirrored hand illusion which could be generated when the experimenter imitated the fist-clenching movements of the subject synchronously. The subjects formed the illusion that the experimenter's hand was "something I can control" when being imitated synchronously. In addition, a sense of ownership over the alien hand was established by integrating multisensory signals and comparing these signals with preexisting body presentations. This method might represent a new avenue for research on the formation of self-consciousness. © The Author(s) 2015.

Hands-free image capture, data tagging and transfer using Google Glass: a pilot study for improved wound care management.

Directory of Open Access Journals (Sweden)

Gabriel Aldaz

Full Text Available Chronic wounds, including pressure ulcers, compromise the health of 6.5 million Americans and pose an annual estimated burden of $25 billion to the U.S. health care system. When treating chronic wounds, clinicians must use meticulous documentation to determine wound severity and to monitor healing progress over time. Yet, current wound documentation practices using digital photography are often cumbersome and labor intensive. The process of transferring photos into Electronic Medical Records (EMRs requires many steps and can take several days. Newer smartphone and tablet-based solutions, such as Epic Haiku, have reduced EMR upload time. However, issues still exist involving patient positioning, image-capture technique, and patient identification. In this paper, we present the development and assessment of the SnapCap System for chronic wound photography. Through leveraging the sensor capabilities of Google Glass, SnapCap enables hands-free digital image capture, and the tagging and transfer of images to a patient's EMR. In a pilot study with wound care nurses at Stanford Hospital (n=16, we (i examined feature preferences for hands-free digital image capture and documentation, and (ii compared SnapCap to the state of the art in digital wound care photography, the Epic Haiku application. We used the Wilcoxon Signed-ranks test to evaluate differences in mean ranks between preference options. Preferred hands-free navigation features include barcode scanning for patient identification, Z(15 = -3.873, p < 0.001, r = 0.71, and double-blinking to take photographs, Z(13 = -3.606, p < 0.001, r = 0.71. In the comparison between SnapCap and Epic Haiku, the SnapCap System was preferred for sterile image-capture technique, Z(16 = -3.873, p < 0.001, r = 0.68. Responses were divided with respect to image quality and overall ease of use. The study's results have contributed to the future implementation of new features aimed at enhancing mobile hands-free digital

Hands-Free Image Capture, Data Tagging and Transfer Using Google Glass: A Pilot Study for Improved Wound Care Management

Science.gov (United States)

Aldaz, Gabriel; Shluzas, Lauren Aquino; Pickham, David; Eris, Ozgur; Sadler, Joel; Joshi, Shantanu; Leifer, Larry

2015-01-01

Chronic wounds, including pressure ulcers, compromise the health of 6.5 million Americans and pose an annual estimated burden of $25 billion to the U.S. health care system. When treating chronic wounds, clinicians must use meticulous documentation to determine wound severity and to monitor healing progress over time. Yet, current wound documentation practices using digital photography are often cumbersome and labor intensive. The process of transferring photos into Electronic Medical Records (EMRs) requires many steps and can take several days. Newer smartphone and tablet-based solutions, such as Epic Haiku, have reduced EMR upload time. However, issues still exist involving patient positioning, image-capture technique, and patient identification. In this paper, we present the development and assessment of the SnapCap System for chronic wound photography. Through leveraging the sensor capabilities of Google Glass, SnapCap enables hands-free digital image capture, and the tagging and transfer of images to a patient’s EMR. In a pilot study with wound care nurses at Stanford Hospital (n=16), we (i) examined feature preferences for hands-free digital image capture and documentation, and (ii) compared SnapCap to the state of the art in digital wound care photography, the Epic Haiku application. We used the Wilcoxon Signed-ranks test to evaluate differences in mean ranks between preference options. Preferred hands-free navigation features include barcode scanning for patient identification, Z(15) = -3.873, p < 0.001, r = 0.71, and double-blinking to take photographs, Z(13) = -3.606, p < 0.001, r = 0.71. In the comparison between SnapCap and Epic Haiku, the SnapCap System was preferred for sterile image-capture technique, Z(16) = -3.873, p < 0.001, r = 0.68. Responses were divided with respect to image quality and overall ease of use. The study’s results have contributed to the future implementation of new features aimed at enhancing mobile hands-free digital

The Human Octopus: controlling supernumerary hands with the help of virtual reality

OpenAIRE

Aru, Jaan; Vasser, Madis; Zafra, Raul; Kulu, Sander

2016-01-01

We investigated the "human octopus" phenomenon where subjects controlled virtual supernumerary hands through hand tracking technology and virtual reality. Four experiments were developed to study how subjects (n=10) operate with different number and behaviour of supernumerary hands. The behaviours involved inserting movement delays to the virtual hands and adjusting their movement scale or position. It was found that having more hands to operate with does not necessarily mean higher success r...

An intelligent control scheme for precise tip-motion control in atomic force microscopy.

Science.gov (United States)

Wang, Yanyan; Hu, Xiaodong; Xu, Linyan

2016-01-01

The paper proposes a new intelligent control method to precisely control the tip motion of the atomic force microscopy (AFM). The tip moves up and down at a high rate along the z direction during scanning, requiring the utilization of a rapid feedback controller. The standard proportional-integral (PI) feedback controller is commonly used in commercial AFMs to enable topography measurements. The controller's response performance is determined by the set of the proportional (P) parameter and the integral (I) parameter. However, the two parameters cannot be automatically altered simultaneously according to the scanning speed and the surface topography during continuors scanning, leading to an inaccurate measurement. Thus a new intelligent controller combining the fuzzy controller and the PI controller is put forward in the paper. The new controller automatically selects the most appropriate PI parameters to achieve a fast response rate on basis of the tracking errors. In the experimental setup, the new controller is realized with a digital signal process (DSP) system, implemented in a conventional AFM system. Experiments are carried out by comparing the new method with the standard PI controller. The results demonstrate that the new method is more robust and effective for the precise tip motion control, corresponding to the achievement of a highly qualified image by shortening the response time of the controller. © Wiley Periodicals, Inc.

Control model for dampening hand vibrations using information of internal and external coordinates.

Directory of Open Access Journals (Sweden)

Shunta Togo

Full Text Available In the present study, we investigate a control mechanism that dampens hand vibrations. Here, we propose a control method with two components to suppress hand vibrations. The first is a passive suppression method that lowers the joint stiffness to passively dampen the hand vibrations. The second is an active suppression method that adjusts an equilibrium point based on skyhook control to actively dampen the hand vibrations. In a simulation experiment, we applied these two methods to dampen hand vibrations during the shoulder's horizontal oscillation. We also conducted a measurement experiment wherein a subject's shoulder was sinusoidally oscillated by a platform that generated horizontal oscillations. The results of the measurement experiments showed that the jerk of each part of the arm in a task using a cup filled with water was smaller than the shoulder jerk and that in a task with a cup filled with stones was larger than the shoulder jerk. Moreover, the amplitude of the hand trajectory in both horizontal and vertical directions was smaller in a task using a cup filled with water than in a task using a cup filled with stones. The results of the measurement experiments were accurately reproduced by the active suppression method based on skyhook control. These results suggest that humans dampen hand vibrations by controlling the equilibrium point through the information of the external workspace and the internal body state rather than by lowering joint stiffness only by using internal information.

Accuracy of Plantar Electrodes Compared with Hand and Foot Electrodes in Fat-free-mass Measurement

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Michel Y. Jaffrin

2014-01-01

Full Text Available This paper investigates the measurement of fat-free mass (FFM by bioimpedance using foot-to-foot impedancemeters (FFI with plantar electrodes measuring the foot-to-foot resistance R34 and hand-to-foot medical impedancemeters. FFM measurements were compared with corresponding data using Dual X-ray absorptiometry (DXA. Equations giving FFM were established using linear multiple regression on DXA data in a first group of 170 subjects. For validation, these equations were used on a second group of 86 subjects, and FFM were compared with DXA data; no significant difference was observed. The same protocol was repeated, but using electrodes on the right hand and foot in standing position to measure the hand to-foot resistance R13. Mean differences with DXA were higher for R13 than for R34. Effect of electrode size and feet position on resistance was also investigated. R34 decreased when electrode area increased or if feet were moved forward. It decreased if feet were moved backward. A proper configuration of contact electrodes can improve measurement accuracy and reproducibility of FFI.

A new approach of active compliance control via fuzzy logic control for multifingered robot hand

Science.gov (United States)

Jamil, M. F. A.; Jalani, J.; Ahmad, A.

2016-07-01

Safety is a vital issue in Human-Robot Interaction (HRI). In order to guarantee safety in HRI, a model reference impedance control can be a very useful approach introducing a compliant control. In particular, this paper establishes a fuzzy logic compliance control (i.e. active compliance control) to reduce impact and forces during physical interaction between humans/objects and robots. Exploiting a virtual mass-spring-damper system allows us to determine a desired compliant level by understanding the behavior of the model reference impedance control. The performance of fuzzy logic compliant control is tested in simulation for a robotic hand known as the RED Hand. The results show that the fuzzy logic is a feasible control approach, particularly to control position and to provide compliant control. In addition, the fuzzy logic control allows us to simplify the controller design process (i.e. avoid complex computation) when dealing with nonlinearities and uncertainties.

Real-time myoelectric control of a multi-fingered hand prosthesis using principal components analysis

Directory of Open Access Journals (Sweden)

Matrone Giulia C

2012-06-01

Full Text Available Abstract Background In spite of the advances made in the design of dexterous anthropomorphic hand prostheses, these sophisticated devices still lack adequate control interfaces which could allow amputees to operate them in an intuitive and close-to-natural way. In this study, an anthropomorphic five-fingered robotic hand, actuated by six motors, was used as a prosthetic hand emulator to assess the feasibility of a control approach based on Principal Components Analysis (PCA, specifically conceived to address this problem. Since it was demonstrated elsewhere that the first two principal components (PCs can describe the whole hand configuration space sufficiently well, the controller here employed reverted the PCA algorithm and allowed to drive a multi-DoF hand by combining a two-differential channels EMG input with these two PCs. Hence, the novelty of this approach stood in the PCA application for solving the challenging problem of best mapping the EMG inputs into the degrees of freedom (DoFs of the prosthesis. Methods A clinically viable two DoFs myoelectric controller, exploiting two differential channels, was developed and twelve able-bodied participants, divided in two groups, volunteered to control the hand in simple grasp trials, using forearm myoelectric signals. Task completion rates and times were measured. The first objective (assessed through one group of subjects was to understand the effectiveness of the approach; i.e., whether it is possible to drive the hand in real-time, with reasonable performance, in different grasps, also taking advantage of the direct visual feedback of the moving hand. The second objective (assessed through a different group was to investigate the intuitiveness, and therefore to assess statistical differences in the performance throughout three consecutive days. Results Subjects performed several grasp, transport and release trials with differently shaped objects, by operating the hand with the myoelectric

A mechatronics platform to study prosthetic hand control using EMG signals.

Science.gov (United States)

Geethanjali, P

2016-09-01

In this paper, a low-cost mechatronics platform for the design and development of robotic hands as well as a surface electromyogram (EMG) pattern recognition system is proposed. This paper also explores various EMG classification techniques using a low-cost electronics system in prosthetic hand applications. The proposed platform involves the development of a four channel EMG signal acquisition system; pattern recognition of acquired EMG signals; and development of a digital controller for a robotic hand. Four-channel surface EMG signals, acquired from ten healthy subjects for six different movements of the hand, were used to analyse pattern recognition in prosthetic hand control. Various time domain features were extracted and grouped into five ensembles to compare the influence of features in feature-selective classifiers (SLR) with widely considered non-feature-selective classifiers, such as neural networks (NN), linear discriminant analysis (LDA) and support vector machines (SVM) applied with different kernels. The results divulged that the average classification accuracy of the SVM, with a linear kernel function, outperforms other classifiers with feature ensembles, Hudgin's feature set and auto regression (AR) coefficients. However, the slight improvement in classification accuracy of SVM incurs more processing time and memory space in the low-level controller. The Kruskal-Wallis (KW) test also shows that there is no significant difference in the classification performance of SLR with Hudgin's feature set to that of SVM with Hudgin's features along with AR coefficients. In addition, the KW test shows that SLR was found to be better in respect to computation time and memory space, which is vital in a low-level controller. Similar to SVM, with a linear kernel function, other non-feature selective LDA and NN classifiers also show a slight improvement in performance using twice the features but with the drawback of increased memory space requirement and time

Precise measurement of magnetic field gradients from free spin precession signals of He-3 and Xe-129 magnetometers

NARCIS (Netherlands)

Allmendinger, Fabian; Blümler, Peter; Doll, Michael; Grasdijk, Oliver; Heil, Werner; Jungmann, Klaus; Karpuk, Sergej; Krause, Hans-Joachim; Offenhäuser, Andreas; Repetto, Maricel; Schmidt, Ulrich; Sobolev, Yuri; Tullney, Kathlyne; Willmann, Lorenz; Zimmer, Stefan

2017-01-01

We report on precise measurements of magnetic field gradients extracted from transverse relaxation rates of precessing spin samples. The experimental approach is based on the free precession of gaseous, nuclear spin polarized He-3 and (12)9Xe atoms in a spherical cell inside a magnetic guiding field

Human versus Robot: A Propensity-Matched Analysis of the Accuracy of Free Hand versus Robotic Guidance for Placement of S2 Alar-Iliac (S2AI) Screws.

Science.gov (United States)

Shillingford, Jamal N; Laratta, Joseph L; Park, Paul J; Lombardi, Joseph M; Tuchman, Alexander; Saifi, Comron S; Lehman, Ronald A; Lenke, Lawrence G

2018-04-18

Retrospective matched cohort analysis. To compare the accuracy of S2 alar-iliac (S2AI) screw placement by robotic guidance versus free hand technique. Spinopelvic fixation utilizing S2AI screws provides optimal fixation across the lumbosacral junction allowing for solid fusion, especially in long segment fusion constructs. Traditionally, S2AI screw placement has required fluoroscopic guidance for accurate screw placement. Herein, we present the first series comparing a free hand and robotic-guided technique for S2AI screw placement. Sixty-eight consecutive patients who underwent S2AI screw placement by either a free hand or robotic technique between 2015 and 2016 were reviewed. Propensity score-matching was utilized to control for preoperative characteristic imbalances. Screw position and accuracy were evaluated using three-dimensional manipulation of CT reconstructions from intraoperative O-arm imaging. A total of 51 patients (105 screws) were matched, 28 (59 screws) in the free hand group (FHG) and 23 (46 screws) in the robot group (RG). The mean age in the FHG and RG were 57.9[REPLACEMENT CHARACTER]± 14.6 years and 61.6[REPLACEMENT CHARACTER]± 12.0 years (P = 0.342), respectively. The average caudal angle in the sagittal plane was significantly larger in the RG (31.0[REPLACEMENT CHARACTER]± 10.0° vs. 25.7[REPLACEMENT CHARACTER]± 8.8°, P =[REPLACEMENT CHARACTER]0.005). There was no difference between the FHG and RG in the horizontal angle, measured in the axial plane using the posterior superior iliac spine (PSIS) as a reference (41.1[REPLACEMENT CHARACTER]± 8.1° vs. 42.8[REPLACEMENT CHARACTER]± 6.6°, P =[REPLACEMENT CHARACTER]0.225), or the S2AI to S1 screw angle (9.4[REPLACEMENT CHARACTER]± 7.0° vs. 11.3[REPLACEMENT CHARACTER]± 9.9°, P =[REPLACEMENT CHARACTER]0.256), respectively. There was no difference in the overall accuracy between FHG and RG (94.9% vs. 97.8%, P =[REPLACEMENT CHARACTER]0.630). Additionally, there

Precision Attitude Control for the BETTII Balloon-Borne Interferometer

Science.gov (United States)

Benford, Dominic J.; Fixsen, Dale J.; Rinehart. Stephen

2012-01-01

The Balloon Experimental Twin Telescope for Infrared Interferometry (BETTII) is an 8-meter baseline far-infrared interferometer to fly on a high altitude balloon. Operating at wavelengths of 30-90 microns, BETTII will obtain spatial and spectral information on science targets at angular resolutions down to less than half an arcsecond, a capability unmatched by other far-infrared facilities. This requires attitude control at a level ofless than a tenth of an arcsecond, a great challenge for a lightweight balloon-borne system. We have designed a precision attitude determination system to provide gondola attitude knowledge at a level of 2 milliarcseconds at rates up to 100Hz, with accurate absolute attitude determination at the half arcsecond level at rates of up to 10Hz. A mUlti-stage control system involving rigid body motion and tip-tilt-piston correction provides precision pointing stability to the level required for the far-infrared instrument to perform its spatial/spectral interferometry in an open-loop control. We present key aspects of the design of the attitude determination and control and its development status.

Precise Localization and Control of Catalytic Janus Micromotors Using Weak Magnetic Fields

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Islam S. M. Khalil

2015-01-01

Full Text Available We experimentally demonstrate the precise localization of spherical Pt-Silica Janus micromotors (diameter 5 μm under the influence of controlled magnetic fields. First, we control the motion of the Janus micromotors in two-dimensional (2D space. The control system achieves precise localization within an average region-of-convergence of 7 μm. Second, we show that these micromotors provide sufficient propulsion force, allowing them to overcome drag and gravitational forces and move both downwards and upwards. This propulsion is studied by moving the micromotors in three-dimensional (3D space. The micromotors move downwards and upwards at average speeds of 19.1 μm/s and 9.8 μm/s, respectively. Moreover, our closed-loop control system achieves localization in 3D space within an average region-of-convergence of 6.3 μm in diameter. The precise motion control and localization of the Janus micromotors in 2D and 3D spaces provides broad possibilities for nanotechnology applications.

Towards free 3D end-point control for robotic-assisted human reaching using binocular eye tracking.

Science.gov (United States)

Maimon-Dror, Roni O; Fernandez-Quesada, Jorge; Zito, Giuseppe A; Konnaris, Charalambos; Dziemian, Sabine; Faisal, A Aldo

2017-07-01

Eye-movements are the only directly observable behavioural signals that are highly correlated with actions at the task level, and proactive of body movements and thus reflect action intentions. Moreover, eye movements are preserved in many movement disorders leading to paralysis (or amputees) from stroke, spinal cord injury, Parkinson's disease, multiple sclerosis, and muscular dystrophy among others. Despite this benefit, eye tracking is not widely used as control interface for robotic interfaces in movement impaired patients due to poor human-robot interfaces. We demonstrate here how combining 3D gaze tracking using our GT3D binocular eye tracker with custom designed 3D head tracking system and calibration method enables continuous 3D end-point control of a robotic arm support system. The users can move their own hand to any location of the workspace by simple looking at the target and winking once. This purely eye tracking based system enables the end-user to retain free head movement and yet achieves high spatial end point accuracy in the order of 6 cm RMSE error in each dimension and standard deviation of 4 cm. 3D calibration is achieved by moving the robot along a 3 dimensional space filling Peano curve while the user is tracking it with their eyes. This results in a fully automated calibration procedure that yields several thousand calibration points versus standard approaches using a dozen points, resulting in beyond state-of-the-art 3D accuracy and precision.

Use of a Proximity Sensor Switch for "Hands Free" Operation of Computer-Based Video Prompting by Young Adults with Moderate Intellectual Disability

Science.gov (United States)

Ivey, Alexandria N.; Mechling, Linda C.; Spencer, Galen P.

2015-01-01

In this study, the effectiveness of a "hands free" approach for operating video prompts to complete multi-step tasks was measured. Students advanced the video prompts by using a motion (hand wave) over a proximity sensor switch. Three young adult females with a diagnosis of moderate intellectual disability participated in the study.…

Effects of age and the use of hands-free cellular phones on driving behavior and task performance.

Science.gov (United States)

Liu, Yung-Ching; Ou, Yang-Kun

2011-12-01

This study used a driving simulator to investigate the effect of using a Bluetooth hands-free cellular phone earpiece on the driving behavior of two age groups. Forty-eight participants (24 aged 20-26 and 24 aged 65-73) were examined to assess their performance on the following divided-attention tasks under 2 driving load conditions (high and low): (1) attempting to maintain the speed limit and (2) using a cellular phone while driving. The length of the call conversation (long vs. short) and the conversational content (complex vs. simple) were manipulated as within-subject independent variables. The driving behavior of the participants, their task reaction times and accuracy, and subjective ratings were collected as dependent variables. The results indicate that under low driving loads, short talk times, and simple conversational content, the driving behavior of the participants showed low variance in the vehicle's mean speed. In contrast, complex conversation had a significantly negative impact on driving behavior. Notably, under a low driving load, motorists' driving behaviors, measured in lateral acceleration, caused significantly smaller variance in complex conversations compared to no call and simple conversations. The use of a hands-free cellular phone affected the performance (acceleration, lane deviation, reaction time, and accuracy) of older drivers significantly more than younger drivers. While performing divided attention tasks, the accuracy of the older drivers was 66.3 percent and that of the younger drivers was 96.3 percent. Although this study did not find a clear impact of cellular phone use on the driving behavior of younger drivers, their divided-attention task reaction times and accuracy were better under no-call than calling conditions. This study indicates that the use of hands-free cellular phones could significantly affect the safety of driving among the older and present risks, although lesser, for younger drivers.

A four-axis hand controller for helicopter flight control

Science.gov (United States)

Demaio, Joe

1993-01-01

A proof-of-concept hand controller for controlling lateral and longitudinal cyclic pitch, collective pitch and tail rotor thrust was developed. The purpose of the work was to address problems of operator fatigue, poor proprioceptive feedback and cross-coupling of axes associated with many four-axis controller designs. The present design is an attempt to reduce cross-coupling to a level that can be controlled with breakout force, rather than to eliminate it entirely. The cascaded design placed lateral and longitudinal cyclic in their normal configuration. Tail rotor thrust was placed atop the cyclic controller. A left/right twisting motion with the wrist made the control input. The axis of rotation was canted outboard (clockwise) to minimize cross-coupling with the cyclic pitch axis. The collective control was a twist grip, like a motorcycle throttle. Measurement of the amount of cross-coupling involved in pure, single-axis inputs showed cross coupling under 10 percent of full deflection for all axes. This small amount of cross-coupling could be further reduced with better damping and force gradient control. Fatigue was not found to be a problem, and proprioceptive feedback was adequate for all flight tasks executed.

An Ultra-low Frequency Modal Testing Suspension System for High Precision Air Pressure Control

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Qiaoling YUAN

2014-05-01

Full Text Available As a resolution for air pressure control challenges in ultra-low frequency modal testing suspension systems, an incremental PID control algorithm with dead band is applied to achieve high-precision pressure control. We also develop a set of independent hardware and software systems for high-precision pressure control solutions. Taking control system versatility, scalability, reliability, and other aspects into considerations, a two-level communication employing Ethernet and CAN bus, is adopted to complete such tasks as data exchange between the IPC, the main board and the control board ,and the pressure control. Furthermore, we build a single set of ultra-low frequency modal testing suspension system and complete pressure control experiments, which achieve the desired results and thus confirm that the high-precision pressure control subsystem is reasonable and reliable.

Measurement of hand bone mineral content using single-photon absorptiometry

International Nuclear Information System (INIS)

Nicoll, J.J.; Smith, M.A.; Law, E.; Tothill, P.; Reid, D.; Brown, N.; Nuki, G.

1987-01-01

A single photon absorption imaging technique has been developed to assess the bone mass of the hand, especially in patients with rheumatoid arthritis or bronchial asthma. A modified rectilinear scanner images the hand by transmission scanning in a water bath with a 7.4 GBq 125 I source. A microcomputer is used to calculate the bone mineral distribution, and the total bone mineral content (BMC) of the hand is determined from that distribution. The precision (coefficient of variation) of the measurement is 1.9%. A control population of 20 men and 58 women has been studied to determine normal variations in hand bone mineral content with age, sex, body size, hand volume and years since menopause. The normal men are found to have an average hand BMC of 25.1 g with a coefficient of variation (CV) of 22%, which is reduced to 12% by normalising for body size using span. The normal women had an average hand BMC of 18.0 g +- 15%. The CV is reduced to 13% by normalising for span and years post-menopause. (author)

Precision mechatronics based on high-precision measuring and positioning systems and machines

Science.gov (United States)

Jäger, Gerd; Manske, Eberhard; Hausotte, Tino; Mastylo, Rostyslav; Dorozhovets, Natalja; Hofmann, Norbert

2007-06-01

Precision mechatronics is defined in the paper as the science and engineering of a new generation of high precision systems and machines. Nanomeasuring and nanopositioning engineering represents important fields of precision mechatronics. The nanometrology is described as the today's limit of the precision engineering. The problem, how to design nanopositioning machines with uncertainties as small as possible will be discussed. The integration of several optical and tactile nanoprobes makes the 3D-nanopositioning machine suitable for various tasks, such as long range scanning probe microscopy, mask and wafer inspection, nanotribology, nanoindentation, free form surface measurement as well as measurement of microoptics, precision molds, microgears, ring gauges and small holes.

Telerobotic control of a dextrous manipulator using master and six-DOF hand-controllers for space assembly and servicing tasks

Science.gov (United States)

O'Hara, John M.

1987-01-01

Two studies were conducted evaluating methods of controlling a telerobot; bilateral force reflecting master controllers and proportional rate six degrees of freedom (DOF) hand controllers. The first study compared the controllers on performance of single manipulator arm tasks, a peg-in-the-hole task, and simulated satellite orbital replacement unit changeout. The second study, a Space Station truss assembly task, required simultaneous operation of both manipulator arms (all 12 DOFs) and complex multiaxis slave arm movements. Task times were significantly longer and fewer errors were committed with the hand controllers. The hand controllers were also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers were rated significantly higher in physical workload. There were no significant differences in ratings of manipulator control quality.

Compact Dexterous Robotic Hand

Science.gov (United States)

Lovchik, Christopher Scott (Inventor); Diftler, Myron A. (Inventor)

2001-01-01

A compact robotic hand includes a palm housing, a wrist section, and a forearm section. The palm housing supports a plurality of fingers and one or more movable palm members that cooperate with the fingers to grasp and/or release an object. Each flexible finger comprises a plurality of hingedly connected segments, including a proximal segment pivotally connected to the palm housing. The proximal finger segment includes at least one groove defining first and second cam surfaces for engagement with a cable. A plurality of lead screw assemblies each carried by the palm housing are supplied with power from a flexible shaft rotated by an actuator and output linear motion to a cable move a finger. The cable is secured within a respective groove and enables each finger to move between an opened and closed position. A decoupling assembly pivotally connected to a proximal finger segment enables a cable connected thereto to control movement of an intermediate and distal finger segment independent of movement of the proximal finger segment. The dexterous robotic hand closely resembles the function of a human hand yet is light weight and capable of grasping both heavy and light objects with a high degree of precision.

3D Visual Sensing of the Human Hand for the Remote Operation of a Robotic Hand

Directory of Open Access Journals (Sweden)

Pablo Gil

2014-02-01

Full Text Available New low cost sensors and open free libraries for 3D image processing are making important advances in robot vision applications possible, such as three-dimensional object recognition, semantic mapping, navigation and localization of robots, human detection and/or gesture recognition for human-machine interaction. In this paper, a novel method for recognizing and tracking the fingers of a human hand is presented. This method is based on point clouds from range images captured by a RGBD sensor. It works in real time and it does not require visual marks, camera calibration or previous knowledge of the environment. Moreover, it works successfully even when multiple objects appear in the scene or when the ambient light is changed. Furthermore, this method was designed to develop a human interface to control domestic or industrial devices, remotely. In this paper, the method was tested by operating a robotic hand. Firstly, the human hand was recognized and the fingers were detected. Secondly, the movement of the fingers was analysed and mapped to be imitated by a robotic hand.

Development of Hand Grip Assistive Device Control System for Old People through Electromyography (EMG) Signal Acquisitions

OpenAIRE

Khamis Herman; Mohamaddan Shahrol; Komeda Takashi; Alias Aidil Azli; Tanjong Shirley Jonathan; Julai Norhuzaimin; Hashim Nurul ‘Izzati

2017-01-01

The hand grip assistive device is a glove to assist old people who suffer from hand weakness in their daily life activities. The device earlier control system only use simple on and off switch. This required old people to use both hand to activate the device. The new control system of the hand grip assistive device was developed to allow single hand operation for old people. New control system take advantages of electromyography (EMG) and flex sensor which was implemented to the device. It wa...

Integration of robotics and neuroscience beyond the hand: What kind of synergies?. Comment on "Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands" by Marco Santello et al.

Science.gov (United States)

d'Avella, Andrea

2016-07-01

Santello et al. [1] review an impressive amount of work on the control of biological and artificial hands that demonstrates how the concept of synergies can lead to a successful integration of robotics and neuroscience. Is it possible to generalize the same approach to the control of biological and artificial limbs and bodies beyond the hand? The human hand synergies that appear most relevant for robotic hands are those defined at the kinematic level, i.e. postural synergies [2]. Postural synergies capture the geometric relations among the many joints of the hand and allow for a low dimensional characterization and synthesis of the static hand postures involved in grasping and manipulating a large set of objects. However, many other complex motor skills such as walking, reaching, throwing, and catching require controlling multi-articular time-varying trajectories rather than static postures. Dynamic control of biological and artificial limbs and bodies, especially when geometric and inertial parameters are uncertain and the joints are compliant, poses great challenges. What kind of synergies might simplify the dynamic control of motor skills involving upper and lower limbs as well as the whole body?

fMRI-compatible rehabilitation hand device

Directory of Open Access Journals (Sweden)

Tzika Aria

2006-10-01

Full Text Available Abstract Background Functional magnetic resonance imaging (fMRI has been widely used in studying human brain functions and neurorehabilitation. In order to develop complex and well-controlled fMRI paradigms, interfaces that can precisely control and measure output force and kinematics of the movements in human subjects are needed. Optimized state-of-the-art fMRI methods, combined with magnetic resonance (MR compatible robotic devices for rehabilitation, can assist therapists to quantify, monitor, and improve physical rehabilitation. To achieve this goal, robotic or mechatronic devices with actuators and sensors need to be introduced into an MR environment. The common standard mechanical parts can not be used in MR environment and MR compatibility has been a tough hurdle for device developers. Methods This paper presents the design, fabrication and preliminary testing of a novel, one degree of freedom, MR compatible, computer controlled, variable resistance hand device that may be used in brain MR imaging during hand grip rehabilitation. We named the device MR_CHIROD (Magnetic Resonance Compatible Smart Hand Interfaced Rehabilitation Device. A novel feature of the device is the use of Electro-Rheological Fluids (ERFs to achieve tunable and controllable resistive force generation. ERFs are fluids that experience dramatic changes in rheological properties, such as viscosity or yield stress, in the presence of an electric field. The device consists of four major subsystems: a an ERF based resistive element; b a gearbox; c two handles and d two sensors, one optical encoder and one force sensor, to measure the patient induced motion and force. The smart hand device is designed to resist up to 50% of the maximum level of gripping force of a human hand and be controlled in real time. Results Laboratory tests of the device indicate that it was able to meet its design objective to resist up to approximately 50% of the maximum handgrip force. The detailed

Smart indoor climate control in precision livestock farming

DEFF Research Database (Denmark)

Zhang, Guoqiang; Bjerg, Bjarne Schmidt; Wang, Xiaoshuai

2016-01-01

One of the major objectives of precision livestock farming (PLF) is to provide an optimal thermal climate control in the animal occupant zones for promoting animal production and wellbeing. To achieve this goal, smart climate models that reflect the needs of different animal species and ages or f...... condition in AOZ. In addition, the paper presents a fundamental principle of development of an integrated indoor climate sensor to reflect animal thermal wellbeing and techniques that could be used for a smart system design and control are discussed....

Do hospital visitors wash their hands? Assessing the use of alcohol-based hand sanitizer in a hospital lobby.

Science.gov (United States)

Birnbach, David J; Nevo, Igal; Barnes, Susan; Fitzpatrick, Maureen; Rosen, Lisa F; Everett-Thomas, Ruth; Sanko, Jill S; Arheart, Kristopher L

2012-05-01

Reports regarding hand hygiene compliance (HHC) among hospital visitors are limited. Although there is an implicit assumption that the availability of alcohol-based hand sanitizer (AHS) promotes visitor HHC, the degree of AHS use by visitors remains unclear. To assess AHS use, we observed visitor HHC and how it is affected by visual cues in a private university hospital. Using an observational controlled study, we tested 3 interventions: a desk sign mandating all visitors to use AHS, a free-standing AHS dispenser directly in front of a security desk, and a combination of a freestanding AHS dispenser and a sign. HHC was 0.52% at baseline and did not improve significantly when the desk sign was provided as a cue 0.67% (P = .753). However, HHC did improve significantly with use of the freestanding AHS dispenser (9.33%) and the sign and dispenser combination (11.67%) (P hand hygiene behavior. Copyright © 2012 Association for Professionals in Infection Control and Epidemiology, Inc. Published by Mosby, Inc. All rights reserved.

Does intraoperative navigation improve the accuracy of pedicle screw placement in the apical region of dystrophic scoliosis secondary to neurofibromatosis type I: comparison between O-arm navigation and free-hand technique.

Science.gov (United States)

Jin, Mengran; Liu, Zhen; Liu, Xingyong; Yan, Huang; Han, Xiao; Qiu, Yong; Zhu, Zezhang

2016-06-01

To assess the accuracy of O-arm-navigation-based pedicle screw insertion in dystrophic scoliosis secondary to NF-1 and compare it with free-hand pedicle screw insertion technique. 32 patients with dystrophic NF-1-associated scoliosis were divided into two groups. A total of 92 pedicle screws were implanted in apical region (two vertebrae above and below the apex each) in 13 patients using O-arm-based navigation (O-arm group), and 121 screws were implanted in 19 patients using free-hand technique (free-hand group). The postoperative CT images were reviewed and analyzed for pedicle violation. The screw penetration was divided into four grades: grade 0 (ideal placement), grade 1 (penetration 4 mm). The accuracy rate of pedicle screw placement (grade 0, 1) was significantly higher in the O-arm group (79 %, 73/92) compared to 67 % (81/121) of the free-hand group (P = 0.045). Meanwhile, a significantly lower prevalence of grade 2-3 perforation was observed in the O-arm group (21 vs. 33 %, P arm navigation compared to free-hand technique (2 vs. 15 %, P arm navigation (58 vs. 42 %, P arm-based pedicle screw placement in dystrophic NF-1-associated scoliosis. O-arm navigation system does facilitate pedicle screw insertion in dystrophic NF-1-associated scoliosis, demonstrating superiorities in the safety and accuracy of pedicle screw placement in comparison with free-hand technique.

Deaccessioning and Agency Costs of Free Cash Flow in Manager's Hands: A Formal Model

Directory of Open Access Journals (Sweden)

Andrej Srakar

2014-12-01

Full Text Available The problem of agency costs of free cash flow in manager's hands has been firstly noted by Easterbrook and Jensen. We present one of the first attempts to formally model the problem in light of similar situation faced by managers of museums being allowed (or disallowed to deaccession the artworks from their collections. We show that deaccessioning funds always lead to various forms of agency costs for the museum. This finding applies for any non-profit firm and its endowment. The task lying ahead is to formally prove the general conjecture also for the case of private for-profit firms.

Modeling and control of precision actuators

CERN Document Server

Kiong, Tan Kok

2013-01-01

IntroductionGrowing Interest in Precise ActuatorsTypes of Precise ActuatorsApplications of Precise ActuatorsNonlinear Dynamics and ModelingHysteresisCreepFrictionForce RipplesIdentification and Compensation of Preisach Hysteresis in Piezoelectric ActuatorsSVD-Based Identification and Compensation of Preisach HysteresisHigh-Bandwidth Identification and Compensation of Hysteretic Dynamics in Piezoelectric ActuatorsConcluding RemarksIdentification and Compensation of Frict

Control of a Supernumerary Robotic Hand by Foot: An Experimental Study in Virtual Reality.

Science.gov (United States)

Abdi, Elahe; Burdet, Etienne; Bouri, Mohamed; Bleuler, Hannes

2015-01-01

In the operational theater, the surgical team could highly benefit from a robotic supplementary hand under the surgeon's full control. The surgeon may so become more autonomous; this may reduce communication errors with the assistants and take over difficult tasks such as holding tools without tremor. In this paper, we therefore examine the possibility to control a third robotic hand with one foot's movements. Three experiments in virtual reality were designed to assess the feasibility of this control strategy, the learning curve of the subjects in different tasks and the coordination of foot movements with the two natural hands. Results show that the limbs are moved simultaneously, in parallel rather than serially. Participants' performance improved within a few minutes of practice without any specific difficulty to complete the tasks. Subjective assessment by the subjects indicated that controlling a third hand by foot has been easy and required only negligible physical and mental efforts. The sense of ownership was reported to improve through the experiments. The mental burden was not directly related to the level of motion required by a task, but depended on the type of activity and practice. The most difficult task was moving two hands and foot in opposite directions. These results suggest that a combination of practice and appropriate tasks can enhance the learning process for controlling a robotic hand by foot.

Control of a Supernumerary Robotic Hand by Foot: An Experimental Study in Virtual Reality.

Directory of Open Access Journals (Sweden)

Elahe Abdi

Full Text Available In the operational theater, the surgical team could highly benefit from a robotic supplementary hand under the surgeon's full control. The surgeon may so become more autonomous; this may reduce communication errors with the assistants and take over difficult tasks such as holding tools without tremor. In this paper, we therefore examine the possibility to control a third robotic hand with one foot's movements. Three experiments in virtual reality were designed to assess the feasibility of this control strategy, the learning curve of the subjects in different tasks and the coordination of foot movements with the two natural hands. Results show that the limbs are moved simultaneously, in parallel rather than serially. Participants' performance improved within a few minutes of practice without any specific difficulty to complete the tasks. Subjective assessment by the subjects indicated that controlling a third hand by foot has been easy and required only negligible physical and mental efforts. The sense of ownership was reported to improve through the experiments. The mental burden was not directly related to the level of motion required by a task, but depended on the type of activity and practice. The most difficult task was moving two hands and foot in opposite directions. These results suggest that a combination of practice and appropriate tasks can enhance the learning process for controlling a robotic hand by foot.

Integrated Quality Control of Precision Assemblies using Computed Tomography

DEFF Research Database (Denmark)

Stolfi, Alessandro

coor-dinate measuring machines (CMMs) when working with complex and fragile parts. This Ph.D. project at DTU Mechanical Engineering concerns the applicability of CT for quality control of precision assem-blies. Investigations to quantify the accuracy of CT measurements, reference artefacts to correct...

Electron Bunch Timing with Femtosecond Precision in a Superconducting Free-Electron Laser

Science.gov (United States)

Löhl, F.; Arsov, V.; Felber, M.; Hacker, K.; Jalmuzna, W.; Lorbeer, B.; Ludwig, F.; Matthiesen, K.-H.; Schlarb, H.; Schmidt, B.; Schmüser, P.; Schulz, S.; Szewinski, J.; Winter, A.; Zemella, J.

2010-04-01

High-gain free-electron lasers (FELs) are capable of generating femtosecond x-ray pulses with peak brilliances many orders of magnitude higher than at other existing x-ray sources. In order to fully exploit the opportunities offered by these femtosecond light pulses in time-resolved experiments, an unprecedented synchronization accuracy is required. In this Letter, we distributed the pulse train of a mode-locked fiber laser with femtosecond stability to different locations in the linear accelerator of the soft x-ray FEL FLASH. A novel electro-optic detection scheme was applied to measure the electron bunch arrival time with an as yet unrivaled precision of 6 fs (rms). With two beam-based feedback systems we succeeded in stabilizing both the arrival time and the electron bunch compression process within two magnetic chicanes, yielding a significant reduction of the FEL pulse energy jitter.

Electron Bunch Timing with Femtosecond Precision in a Superconducting Free-Electron Laser

International Nuclear Information System (INIS)

Loehl, F.; Arsov, V.; Felber, M.; Hacker, K.; Lorbeer, B.; Ludwig, F.; Matthiesen, K.-H.; Schlarb, H.; Schmidt, B.; Winter, A.; Jalmuzna, W.; Schmueser, P.; Schulz, S.; Zemella, J.; Szewinski, J.

2010-01-01

High-gain free-electron lasers (FELs) are capable of generating femtosecond x-ray pulses with peak brilliances many orders of magnitude higher than at other existing x-ray sources. In order to fully exploit the opportunities offered by these femtosecond light pulses in time-resolved experiments, an unprecedented synchronization accuracy is required. In this Letter, we distributed the pulse train of a mode-locked fiber laser with femtosecond stability to different locations in the linear accelerator of the soft x-ray FEL FLASH. A novel electro-optic detection scheme was applied to measure the electron bunch arrival time with an as yet unrivaled precision of 6 fs (rms). With two beam-based feedback systems we succeeded in stabilizing both the arrival time and the electron bunch compression process within two magnetic chicanes, yielding a significant reduction of the FEL pulse energy jitter.

Precision measurement of the 1S Lamb shift in atomic hydrogen

International Nuclear Information System (INIS)

Beausoleil, R.G.; McIntyre, D.H.; Foot, C.J.; Couillaud, B.; Hildum, E.A.; Hansch, T.W.

1987-01-01

The authors used cw Doppler-free two-photon spectroscopy to measure the 1S-2S transition frequency in atomic hydrogen gas with a precision of 6 parts in 10 10 . Their result for the energy level separation is f(1S-2S) = 2 466 061 413.3(1.5) MHz and can be used to extract a value of the 1S Lamb shift. Choosing a value of the Rydberg constant measured independently by high-resolution spectroscopy of the hydrogen Balmer-β transition, the authors obtain a value of Δf/sub Lamb/(1S) = 8 173.3(1.7) MHz, in good agreement with the theoretical prediction of 8 173.06(20) MHz. On the other hand, if they trust the theoretical determination of the 1S Lamb shift, they can interpret our experimental result as a measurement of the Rydberg constant. The authors obtain R∞ = 109 737.315(7) cm -1 , in agreement with recent precise measurements

EFFECT OF MORPHOLOGICAL CHARACTERISTICS OF PRECISION IN BASKETBALL

Directory of Open Access Journals (Sweden)

Nazim Myrtaj

2012-09-01

Full Text Available Basketball in its structure is very complicated and complex activity in which kinesiology success depends on the influence of a large number of anthropological traits and abilities, which are interconnected. Therefore, the aim of this paper is to determine the influence of morphological characteristics as anthropological characteristics of situational-motor, or the accuracy of the basketball game. The survey was conducted in 71 male subjects aged, 15 years ± 6 months, participants school basketball team “Drita” from Gjilani, Kosovo.The sample of variables obtained on the basis of 10 anthropometric measures in the IPB, under which, among other things, three possible estimates of latent anthropometric dimensions of two tests of situational-motor skills and precision. Regression analysis was applied in order to determine the statistical significance of the impact of the entire set of predictive variables on the criterion variable and individual impact of individual predictors on the criterion variable. Analyses were made to the program SPSS 14.0. From the data obtained by regression analysis can be concluded that the better the performance of situational-motor test, or test the accuracy of dribbling in a distance of 5 meters jump shot from the free throw line (MPSŠ in the patients who had a higher level (AVIS, had longer feet (ADUNA, who had a hand longer (ADURO, greater length of the foot (ADUS, the higher the upper arm (AONL and larger volume of lower leg (AOPK. The system of prediction of morphological variables has statistically significant effect on the criterion one free throw in the bin (MPSŠ at 0.000. Morphological analysis of individual predictor variables, we can conclude that a statistically significant effect on the variable with two morphological variables: length of the hand (ADUS and width of the hand (ASSA.

Visual Field Preferences of Object Analysis for Grasping with One Hand

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Ada eLe

2014-10-01

Full Text Available When we grasp an object using one hand, the opposite hemisphere predominantly guides the motor control of grasp movements (Davare et al. 2007; Rice et al. 2007. However, it is unclear whether visual object analysis for grasp control relies more on inputs (a from the contralateral than the ipsilateral visual field, (b from one dominant visual field regardless of the grasping hand, or (c from both visual fields equally. For bimanual grasping of a single object we have recently demonstrated a visual field preference for the left visual field (Le and Niemeier 2013a, 2013b, consistent with a general right-hemisphere dominance for sensorimotor control of bimanual grasps (Le et al., 2013. But visual field differences have never been tested for unimanual grasping. Therefore, here we asked right-handed participants to fixate to the left or right of an object and then grasp the object either with their right or left hand using a precision grip. We found that participants grasping with their right hand performed better with objects in the right visual field: maximum grip apertures (MGAs were more closely matched to the object width and were smaller than for objects in the left visual field. In contrast, when people grasped with their left hand, preferences switched to the left visual field. What is more, MGA scaling showed greater visual field differences compared to right-hand grasping. Our data suggest that, visual object analysis for unimanual grasping shows a preference for visual information from the ipsilateral visual field, and that the left hemisphere is better equipped to control grasps in both visual fields.

Vibration control for precision manufacturing using piezoelectric actuators

Energy Technology Data Exchange (ETDEWEB)

Martinez, D.R.; Hinnerichs, T.D.; Redmond, J.M.

1995-12-31

Piezoelectric actuators provide high frequency, force, and stiffness capabilities along with reasonable Stroke limits, all of which can be used to increase performance levels in precision manufacturing systems. This paper describes two examples of embedding piezoelectric actuators in structural components for vibration control. One example involves suppressing the self excited chatter phenomenon in the metal cutting process of a milling machine and the other involves damping vibrations induced by rigid body stepping of a photolithography platen. Finite element modeling and analyses are essential for locating and sizing the actuators and permit further simulation studies of the response of the dynamic system. Experimental results are given for embedding piezoelectric actuators in a cantilevered bar configuration, which was used as a surrogate machine tool structure. These results are incorporated into a previously developed milling process simulation and the effect of the control on the cutting process stability diagram is quantified. Experimental results are also given for embedding three piezoelectric actuators in a surrogate photolithography platen to suppress vibrations. These results demonstrate the potential benefit that can be realized by applying advances from the field of adaptive structures to problems in precision manufacturing.

Comparative study of state-of-the-art myoelectric controllers for multigrasp prosthetic hands.

Science.gov (United States)

Segil, Jacob L; Controzzi, Marco; Weir, Richard F ff; Cipriani, Christian

2014-01-01

A myoelectric controller should provide an intuitive and effective human-machine interface that deciphers user intent in real-time and is robust enough to operate in daily life. Many myoelectric control architectures have been developed, including pattern recognition systems, finite state machines, and more recently, postural control schemes. Here, we present a comparative study of two types of finite state machines and a postural control scheme using both virtual and physical assessment procedures with seven nondisabled subjects. The Southampton Hand Assessment Procedure (SHAP) was used in order to compare the effectiveness of the controllers during activities of daily living using a multigrasp artificial hand. Also, a virtual hand posture matching task was used to compare the controllers when reproducing six target postures. The performance when using the postural control scheme was significantly better (p state machines during the physical assessment when comparing within-subject averages using the SHAP percent difference metric. The virtual assessment results described significantly greater completion rates (97% and 99%) for the finite state machines, but the movement time tended to be faster (2.7 s) for the postural control scheme. Our results substantiate that postural control schemes rival other state-of-the-art myoelectric controllers.

Evaluation of head-free eye tracking as an input device for air traffic control.

Science.gov (United States)

Alonso, Roland; Causse, Mickaël; Vachon, François; Parise, Robert; Dehais, Frédéric; Terrier, Patrice

2013-01-01

The purpose of this study was to investigate the possibility to integrate a free head motion eye-tracking system as input device in air traffic control (ATC) activity. Sixteen participants used an eye tracker to select targets displayed on a screen as quickly and accurately as possible. We assessed the impact of the presence of visual feedback about gaze position and the method of target selection on selection performance under different difficulty levels induced by variations in target size and target-to-target separation. We tend to consider that the combined use of gaze dwell-time selection and continuous eye-gaze feedback was the best condition as it suits naturally with gaze displacement over the ATC display and free the hands of the controller, despite a small cost in terms of selection speed. In addition, target size had a greater impact on accuracy and selection time than target distance. These findings provide guidelines on possible further implementation of eye tracking in ATC everyday activity. We investigated the possibility to integrate a free head motion eye-tracking system as input device in air traffic control (ATC). We found that the combined use of gaze dwell-time selection and continuous eye-gaze feedback allowed the best performance and that target size had a greater impact on performance than target distance.

In a demanding task, three-handed manipulation is preferred to two-handed manipulation.

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Abdi, Elahe; Burdet, Etienne; Bouri, Mohamed; Himidan, Sharifa; Bleuler, Hannes

2016-02-25

Equipped with a third hand under their direct control, surgeons may be able to perform certain surgical interventions alone; this would reduce the need for a human assistant and related coordination difficulties. However, does human performance improve with three hands compared to two hands? To evaluate this possibility, we carried out a behavioural study on the performance of naive adults catching objects with three virtual hands controlled by their two hands and right foot. The subjects could successfully control the virtual hands in a few trials. With this control strategy, the workspace of the hands was inversely correlated with the task velocity. The comparison of performance between the three and two hands control revealed no significant difference of success in catching falling objects and in average effort during the tasks. Subjects preferred the three handed control strategy, found it easier, with less physical and mental burden. Although the coordination of the foot with the natural hands increased trial after trial, about two minutes of practice was not sufficient to develop a sense of ownership towards the third arm.

Precise Localization and Formation Control of Swarm Robots via Wireless Sensor Networks

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Han Wu

2014-01-01

Full Text Available Precise localization and formation control are one of the key technologies to achieve coordination and control of swarm robots, which is also currently a bottleneck for practical applications of swarm robotic systems. Aiming at overcoming the limited individual perception and the difficulty of achieving precise localization and formation, a localization approach combining dead reckoning (DR with wireless sensor network- (WSN- based methods is proposed in this paper. Two kinds of WSN localization technologies are adopted in this paper, that is, ZigBee-based RSSI (received signal strength indication global localization and electronic tag floors for calibration of local positioning. First, the DR localization information is combined with the ZigBee-based RSSI position information using the Kalman filter method to achieve precise global localization and maintain the robot formation. Then the electronic tag floors provide the robots with their precise coordinates in some local areas and enable the robot swarm to calibrate its formation by reducing the accumulated position errors. Hence, the overall performance of localization and formation control of the swarm robotic system is improved. Both of the simulation results and the experimental results on a real schematic system are given to demonstrate the success of the proposed approach.

Feasibility study of a hand guided robotic drill for cochleostomy.

Science.gov (United States)

Brett, Peter; Du, Xinli; Zoka-Assadi, Masoud; Coulson, Chris; Reid, Andrew; Proops, David

2014-01-01

The concept of a hand guided robotic drill has been inspired by an automated, arm supported robotic drill recently applied in clinical practice to produce cochleostomies without penetrating the endosteum ready for inserting cochlear electrodes. The smart tactile sensing scheme within the drill enables precise control of the state of interaction between tissues and tools in real-time. This paper reports development studies of the hand guided robotic drill where the same consistent outcomes, augmentation of surgeon control and skill, and similar reduction of induced disturbances on the hearing organ are achieved. The device operates with differing presentation of tissues resulting from variation in anatomy and demonstrates the ability to control or avoid penetration of tissue layers as required and to respond to intended rather than involuntary motion of the surgeon operator. The advantage of hand guided over an arm supported system is that it offers flexibility in adjusting the drilling trajectory. This can be important to initiate cutting on a hard convex tissue surface without slipping and then to proceed on the desired trajectory after cutting has commenced. The results for trials on phantoms show that drill unit compliance is an important factor in the design.

A Discrete-Time Chattering Free Sliding Mode Control with Multirate Sampling Method for Flight Simulator

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Yunjie Wu

2013-01-01

Full Text Available In order to improve the tracking accuracy of flight simulator and expend its frequency response, a multirate-sampling-method-based discrete-time chattering free sliding mode control is developed and imported into the systems. By constructing the multirate sampling sliding mode controller, the flight simulator can perfectly track a given reference signal with an arbitrarily small dynamic tracking error, and the problems caused by a contradiction of reference signal period and control period in traditional design method can be eliminated. It is proved by theoretical analysis that the extremely high dynamic tracking precision can be obtained. Meanwhile, the robustness is guaranteed by sliding mode control even though there are modeling mismatch, external disturbances and measure noise. The validity of the proposed method is confirmed by experiments on flight simulator.

Robotic hand project

OpenAIRE

Karaçizmeli, Cengiz; Çakır, Gökçe; Tükel, Dilek

2014-01-01

In this work, the mechatronic based robotic hand is controlled by the position data taken from the glove which has flex sensors mounted to capture finger bending of the human hand. The angular movement of human hand’s fingers are perceived and processed by a microcontroller, and the robotic hand is controlled by actuating servo motors. It has seen that robotic hand can simulate the movement of the human hand that put on the glove, during tests have done. This robotic hand can be used not only...

Wireless embedded control system for atomically precise manufacturing

KAUST Repository

Khan, Yasser; Randall, John N.

2011-01-01

This paper will explore the possibilities of implementing a wireless embedded control system for atomically precise manufacturing. The manufacturing process, similar to Scanning Tunneling Microscopy, takes place within an Ultra High Vacuum (UHV) chamber at a pressure of 10-10 torr. In order to create vibration isolation, and to keep internal noise to a minimum, a wireless link inside the UHV chamber becomes essential. We present a MATLAB simulation of the problem, and then demonstrate a hardware scheme between a Gumstix computer and a Linux based laptop for controlling nano-manipulators with three degrees of freedom. © 2011 IEEE.

Wireless embedded control system for atomically precise manufacturing

KAUST Repository

Khan, Yasser

2011-04-01

This paper will explore the possibilities of implementing a wireless embedded control system for atomically precise manufacturing. The manufacturing process, similar to Scanning Tunneling Microscopy, takes place within an Ultra High Vacuum (UHV) chamber at a pressure of 10-10 torr. In order to create vibration isolation, and to keep internal noise to a minimum, a wireless link inside the UHV chamber becomes essential. We present a MATLAB simulation of the problem, and then demonstrate a hardware scheme between a Gumstix computer and a Linux based laptop for controlling nano-manipulators with three degrees of freedom. © 2011 IEEE.

Development of Hand Grip Assistive Device Control System for Old People through Electromyography (EMG Signal Acquisitions

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Khamis Herman

2017-01-01

Full Text Available The hand grip assistive device is a glove to assist old people who suffer from hand weakness in their daily life activities. The device earlier control system only use simple on and off switch. This required old people to use both hand to activate the device. The new control system of the hand grip assistive device was developed to allow single hand operation for old people. New control system take advantages of electromyography (EMG and flex sensor which was implemented to the device. It was programmed into active and semi-active mode operation. EMG sensors were placed on the forearm to capture EMG signal of Flexor Digitorum Profundus muscle to activate the device. Flex sensor was used to indicate the finger position and placed on top of the finger. The signal from both sensors then used to control the device. The new control system allowed single hand operation and designed to prevent user from over depended on the device by activating it through moving their fingers.

HandTutor™ enhanced hand rehabilitation after stroke--a pilot study.

Science.gov (United States)

Carmeli, Eli; Peleg, Sara; Bartur, Gadi; Elbo, Enbal; Vatine, Jean-Jacques

2011-12-01

This study assessed the potential therapeutic benefi t of using HandTutor™ in combination with traditional rehabilitation in a post-stroke sub-acute population. The study compares an experimental group receiving traditional therapy combined with HandTutorTM treatment, against a control group receiving only traditional therapy. An assessor-blinded, randomized controlled pilot trial, was conducted in the Reuth rehabilitation unit in Israel. Thirty-one stroke patients in the sub-acute phase, were randomly assigned to one of the two groups (experimental or control) in sets of three. The experimental group (n = 16) underwent a hand rehabilitation programme using the HandTutorTM combined with traditional therapy. The control group (n = 15) received only traditional therapy. The treatment schedules for both groups were of similar duration and frequency. Improvements were evaluated using three indicators: 1) The Brunnström-Fugl-Meyer (FM) test, 2) the Box and Blocks (B&B) test and 3) improvement parameters as determined by the HandTutorTM software. Following 15 consecutive treatment sessions, a signifi cant improvement was observed within the experimental group (95% confi dence intervals) compared with the control group: B&B p = 0.015; FM p = 0.041, HandTutor™ performance accuracy on x axis and performance accuracy on y axis p stroke hand function rehabilitation.

A unified modeling and control design for precision transmission system with friction and backlash

Directory of Open Access Journals (Sweden)

Xiulan Bao

2016-05-01

Full Text Available The structural flexibility, nonlinear friction, and backlash are the major factors limiting the control performance of precision transmission systems. If uncompensated, these factors compromise the positioning and tracking accuracy of precision transmission systems and even cause limit cycles and oscillation. In this article, a framework for integrated design from dynamic modeling to controller design is proposed. A multi-state dynamic model is presented, which can unify the modeling for a multi-state, discontinuous system including the motor state, the motion state, the mechanical contact state, and the friction state. Then, a control design method related to the dynamic modeling using perturbation separation of the model parameters is presented. Using the proposed modeling method, a continuous dynamic model is established to include all different partition models. The model comprehensively describes the mechanical and electrical characteristics of the precision transmission system. A robust controller is designed using the proposed control method. Experimental results demonstrate that the proposed modeling method is accurate and the proposed control method significantly improves accuracy and robustness of the controller compared to traditional control methods.

Complex modulation of fingertip forces during precision grasp and lift after theta burst stimulation over the dorsal premotor cortex

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Drljačić Dragana

2017-01-01

Full Text Available Background/Aim. Adaptive control and fingertip force synchronization of precise grasp stability during unimanual manipulation of small objects represents an illustrative example of highly fractionated movements that are foundation of fine motor control. It is assumed that this process is controlled by several motor areas of the frontal lobe, particularly applicable to the primary motor (M-1 and dorsal premotor cortex (PMd. Aiming to examine the role of PMd during fine coordination of fingertip forces we applied theta burst repetitive magnetic stimulation (TBS to disrupt neural processing in that cortical area. Methods. Using a single-blind, randomized, crossover design, 10 healthy subjects (29 ± 3.9 years received single sessions of continuous TBS (cTBS600, intermittent TBS (iTBS600, or sham stimulation, separate from one another at least one week, over the PMd region of dominant hemisphere. Precision grasp and lift were assessed by instrumented device, recording grip (G and load (L forces, during three manipulation tasks (ramp-and-hold, oscillation force producing and simple lifting tasks, with each hand separately, before and after interventions. Results. We observed the improvement of task performance related to constant error (CE in oscillation task with the dominant hand (DH after the iTBS (p = 0.009. On the contrary, the cTBS reduced variable error (VE for non-dominant hand (NH, p = 0.005. Considering force coordination we found that iTBS worsened variables for NH (G/L ratio, p = 0.017; cross-correlation of the G and L, p = 0.047; Gain, p = 0.047. Conclusion. These results demonstrate the ability of TBS to modulate fingertip forces during precision grasping and lifting, when applied over PMd. These findings support the role of PMd in human motor control and forces generation required to hold small objects stable in our hands.

Hands4U: the effects of a multifaceted implementation strategy on hand eczema prevalence in a healthcare setting. Results of a randomized controlled trial.

Science.gov (United States)

van der Meer, Esther W C; Boot, Cécile R L; van der Gulden, Joost W J; Knol, Dirk L; Jungbauer, Frank H W; Coenraads, Pieter Jan; Anema, Johannes R

2015-05-01

Healthcare workers have an increased risk of developing hand eczema. A multifaceted implementation strategy was developed to implement a guideline to prevent hand eczema among healthcare workers. To investigate the effects of the implementation strategy on self-reported hand eczema and preventive behaviour. A randomized controlled trial was performed. A total of 48 departments (n = 1649) were randomly allocated to the multifaceted implementation strategy or the control group. The strategy consisted of education, participatory working groups, and role models. Outcome measures were self-reported hand eczema and preventive behaviour. Data were collected at baseline, and 3, 6, 9 and 12 months of follow-up. Participants in the intervention group were significantly more likely to report hand eczema [odds ratio (OR) 1.45; 95% confidence interval (CI) 1.03-2.04], and they reported significantly less hand washing (B, - 0.38; 95%CI: - 0.48 to - 0.27), reported significantly more frequent use of a moisturizer (B, 0.30; 95%CI: 0.22-0.39) and were more likely to report wearing cotton undergloves (OR 6.33; 95%CI: 3.23-12.41) than participants in the control group 12 months after baseline. The strategy implemented can be used in practice, as it showed positive effects on preventive behaviour. More research is needed to investigate the unexpected effects on hand eczema. © 2014 The Authors. Contact Dermatitis published by John Wiley & Sons Ltd.

Changes to online control and eye-hand coordination with healthy ageing.

Science.gov (United States)

O'Rielly, Jessica L; Ma-Wyatt, Anna

2018-06-01

Goal directed movements are typically accompanied by a saccade to the target location. Online control plays an important part in correction of a reach, especially if the target or goal of the reach moves during the reach. While there are notable changes to visual processing and motor control with healthy ageing, there is limited evidence about how eye-hand coordination during online updating changes with healthy ageing. We sought to quantify differences between older and younger people for eye-hand coordination during online updating. Participants completed a double step reaching task implemented under time pressure. The target perturbation could occur 200, 400 and 600 ms into a reach. We measured eye position and hand position throughout the trials to investigate changes to saccade latency, movement latency, movement time, reach characteristics and eye-hand latency and accuracy. Both groups were able to update their reach in response to a target perturbation that occurred at 200 or 400 ms into the reach. All participants demonstrated incomplete online updating for the 600 ms perturbation time. Saccade latencies, measured from the first target presentation, were generally longer for older participants. Older participants had significantly increased movement times but there was no significant difference between groups for touch accuracy. We speculate that the longer movement times enable the use of new visual information about the target location for online updating towards the end of the movement. Interestingly, older participants also produced a greater proportion of secondary saccades within the target perturbation condition and had generally shorter eye-hand latencies. This is perhaps a compensatory mechanism as there was no significant group effect on final saccade accuracy. Overall, the pattern of results suggests that online control of movements may be qualitatively different in older participants. Crown Copyright © 2018. Published by Elsevier B.V. All

Closed-loop control of grasping with a myoelectric hand prosthesis: which are the relevant feedback variables for force control?

Science.gov (United States)

Ninu, Andrei; Dosen, Strahinja; Muceli, Silvia; Rattay, Frank; Dietl, Hans; Farina, Dario

2014-09-01

In closed-loop control of grasping by hand prostheses, the feedback information sent to the user is usually the actual controlled variable, i.e., the grasp force. Although this choice is intuitive and logical, the force production is only the last step in the process of grasping. Therefore, this study evaluated the performance in controlling grasp strength using a hand prosthesis operated through a complete grasping sequence while varying the feedback variables (e.g., closing velocity, grasping force), which were provided to the user visually or through vibrotactile stimulation. The experiments were conducted on 13 volunteers who controlled the Otto Bock Sensor Hand Speed prosthesis. Results showed that vibrotactile patterns were able to replace the visual feedback. Interestingly, the experiments demonstrated that direct force feedback was not essential for the control of grasping force. The subjects were indeed able to control the grip strength, predictively, by estimating the grasping force from the prosthesis velocity of closing. Therefore, grasping without explicit force feedback is not completely blind, contrary to what is usually assumed. In our study we analyzed grasping with a specific prosthetic device, but the outcomes are also applicable for other devices, with one or more degrees-of-freedom. The necessary condition is that the electromyography (EMG) signal directly and proportionally controls the velocity/grasp force of the hand, which is a common approach among EMG controlled prosthetic devices. The results provide important indications on the design of closed-loop EMG controlled prosthetic systems.

A Compact Via-free Composite Right/Left Handed Low-pass Filter with Improved Selectivity

Science.gov (United States)

Kumar, Ashish; Choudhary, Dilip Kumar; Chaudhary, Raghvendra Kumar

2017-07-01

In this paper, a compact via-free low pass filter is designed based on composite right/left handed (CRLH) concept. The structure uses open ended concept. Rectangular slots are etched on signal transmission line (TL) to suppress the spurious band without altering the performance and size of filter. The filter is designed for low pass frequency band with cut-off frequency of 3.5 GHz. The proposed metamaterial structure has several prominent advantages in term of selectivity up to 34 dB/GHz and compactness with average insertion loss less than 0.4 dB. It has multiple applications in wireless communication (such as GSM900, global navigation satellite system (1.559-1.610 GHz), GSM1800, WLAN/WiFi (2.4-2.49 GHz) and WiMAX (2.5-2.69 GHz)). The design parameters have been measured and compared with the simulated results and found excellent agreement. The electrical size of proposed filter is 0.14λ0× 0.11λ0 (where λ0 is free space wavelength at zeroth order resonance (ZOR) frequency 2.7 GHz).

Implantable electronics of a closed-loop system for controlling prosthetic hands

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Nikas Antonios

2017-09-01

Full Text Available This paper presents the design of implantable electronics as a part of a system for prosthetic hand control. Purpose of the implant is the sensing of electrical signals originating from biological tissue and the actuation of the same, therefore closing the loop and allowing for an improved control of the prosthetic hand. The implant contains two integrated circuits for eight channel EMG monitoring and four channel stimulation, respectively. An on-board microcontroller allows for local pre-processing. All intracorporeal to extracorporeal communications are running through and are directed by the main processing platform. The external components of the control system include, in addition to the main processing and control platform, the inductive power transfer circuits and the pressure sensors for the sensory feedback. Different assembly and encapsulation options are taken into account for the implantable electronics and are unified in a single PCB design.

Calculator-Controlled Robots: Hands-On Mathematics and Science Discovery

Science.gov (United States)

Tuchscherer, Tyson

2010-01-01

The Calculator Controlled Robots activities are designed to engage students in hands-on inquiry-based missions. These activities address National science and technology standards, as well as specifically focusing on mathematics content and process standards. There are ten missions and three exploration extensions that provide activities for up to…

Musculoskeletal model-based control interface mimics physiologic hand dynamics during path tracing task

Science.gov (United States)

Crouch, Dustin L.; (Helen Huang, He

2017-06-01

Objective. We investigated the feasibility of a novel, customizable, simplified EMG-driven musculoskeletal model for estimating coordinated hand and wrist motions during a real-time path tracing task. Approach. A two-degree-of-freedom computational musculoskeletal model was implemented for real-time EMG-driven control of a stick figure hand displayed on a computer screen. After 5-10 minutes of undirected practice, subjects were given three attempts to trace 10 straight paths, one at a time, with the fingertip of the virtual hand. Able-bodied subjects completed the task on two separate test days. Main results. Across subjects and test days, there was a significant linear relationship between log-transformed measures of accuracy and speed (Pearson’s r  =  0.25, p  bodied subjects in 8 of 10 trials. For able-bodied subjects, tracing accuracy was lower at the extremes of the model’s range of motion, though there was no apparent relationship between tracing accuracy and fingertip location for the amputee. Our result suggests that, unlike able-bodied subjects, the amputee’s motor control patterns were not accustomed to the multi-joint dynamics of the wrist and hand, possibly as a result of post-amputation cortical plasticity, disuse, or sensory deficits. Significance. To our knowledge, our study is one of very few that have demonstrated the real-time simultaneous control of multi-joint movements, especially wrist and finger movements, using an EMG-driven musculoskeletal model, which differs from the many data-driven algorithms that dominate the literature on EMG-driven prosthesis control. Real-time control was achieved with very little training and simple, quick (~15 s) calibration. Thus, our model is potentially a practical and effective control platform for multifunctional myoelectric prostheses that could restore more life-like hand function for individuals with upper limb amputation.

Evaluating EMG Feature and Classifier Selection for Application to Partial-Hand Prosthesis Control

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Adenike A. Adewuyi

2016-10-01

Full Text Available Pattern recognition-based myoelectric control of upper limb prostheses has the potential to restore control of multiple degrees of freedom. Though this control method has been extensively studied in individuals with higher-level amputations, few studies have investigated its effectiveness for individuals with partial-hand amputations. Most partial-hand amputees retain a functional wrist and the ability of pattern recognition-based methods to correctly classify hand motions from different wrist positions is not well studied. In this study, focusing on partial-hand amputees, we evaluate (1 the performance of non-linear and linear pattern recognition algorithms and (2 the performance of optimal EMG feature subsets for classification of four hand motion classes in different wrist positions for 16 non-amputees and 4 amputees. Our results show that linear discriminant analysis and linear and non-linear artificial neural networks perform significantly better than the quadratic discriminant analysis for both non-amputees and partial-hand amputees. For amputees, including information from multiple wrist positions significantly decreased error (p<0.001 but no further significant decrease in error occurred when more than 4, 2, or 3 positions were included for the extrinsic (p=0.07, intrinsic (p=0.06, or combined extrinsic and intrinsic muscle EMG (p=0.08, respectively. Finally, we found that a feature set determined by selecting optimal features from each channel outperformed the commonly used time domain (p<0.001 and time domain/autoregressive feature sets (p<0.01. This method can be used as a screening filter to select the features from each channel that provide the best classification of hand postures across different wrist positions.

A Low-cost Environmental Control System for Precise Radial Velocity Spectrometers

Science.gov (United States)

Sliski, David H.; Blake, Cullen H.; Halverson, Samuel

2017-12-01

We present an environmental control system (ECS) designed to achieve milliKelvin (mK) level temperature stability for small-scale astronomical instruments. This ECS is inexpensive and is primarily built from commercially available components. The primary application for our ECS is the high-precision Doppler spectrometer MINERVA-Red, where the thermal variations of the optical components within the instrument represent a major source of systematic error. We demonstrate ±2 mK temperature stability within a 0.5 m3 thermal enclosure using resistive heaters in conjunction with a commercially available PID controller and off-the-shelf thermal sensors. The enclosure is maintained above ambient temperature, enabling rapid cooling through heat dissipation into the surrounding environment. We demonstrate peak-to-valley (PV) temperature stability of better than 5 mK within the MINERVA-Red vacuum chamber, which is located inside the thermal enclosure, despite large temperature swings in the ambient laboratory environment. During periods of stable laboratory conditions, the PV variations within the vacuum chamber are less than 3 mK. This temperature stability is comparable to the best stability demonstrated for Doppler spectrometers currently achieving m s-1 radial velocity precision. We discuss the challenges of using commercially available thermoelectrically cooled CCD cameras in a temperature-stabilized environment, and demonstrate that the effects of variable heat output from the CCD camera body can be mitigated using PID-controlled chilled water systems. The ECS presented here could potentially provide the stable operating environment required for future compact “astrophotonic” precise radial velocity (PRV) spectrometers to achieve high Doppler measurement precision with a modest budget.

Accessibility Is the Mother of Invention: When It Comes to an Innovative Hand Control System

Science.gov (United States)

Exceptional Parent, 2007

2007-01-01

This article features Sure Grip hand control, an innovative hand control system created by Keith Howell, the President and founder of Howell Ventures LTD. Howell was in his early teens when he experienced an accident that resulted in his quadriplegia. From that point on, Howell set about to manufacture a set of controls that would emulate the…

Application of precise MPD & pressure balance cementing technology

Directory of Open Access Journals (Sweden)

Yong Ma

2018-03-01

Full Text Available The precise managed pressure drilling (MPD technology is mainly used to deal with the difficulties encountered when oil and gas open hole sections with multiple pressure systems and the strata with narrow safety density window are drilled through. If its liner cementing is carried out according to the conventional method, lost circulation is inevitable in the process of cementing while the displacement efficiency of small-clearance liner cementing is satisfied. If the positive and inverse injection technology is adopted, the cementing quality cannot meet the requirements of later well test engineering of ultradeep wells. In this paper, the cementing operation of Ø114.3 mm liner in Well Longgang 70 which was drilled in the Jiange structure of the Sichuan Basin was taken as an example to explore the application of the cementing technology based on the precise MPD and pressure balancing method to the cementing of long open-hole sections (as long as 859 m with both high and low pressures running through multiple reservoirs. On the one hand, the technical measures were taken specifically to ensure the annulus filling efficiency of slurry and the pressure balance in the whole process of cementing. And on the other hand, the annulus pressure balance was precisely controlled by virtue of precise MPD devices and by injecting heavy weight drilling fluids through central pipes, and thus the wellbore pressure was kept steady in the whole process of cementing in the strata with narrow safety density window. It is indicated that Ø114.3 mm liner cementing in this well is good with qualified pressure tests and no channeling emerges at a funnel during the staged density reduction. It is concluded that this method can enhance the liner cementing quality of complex ultradeep gas wells and improve the wellbore conditions for the later safe well tests of high-pressure gas wells. Keywords: Ultradeep well, Liner cementing, Narrow safety density window, Precise

Development of EPICS based beam-line experimental control employing motor controller for precision positioning

International Nuclear Information System (INIS)

Tuli, Anupriya; Jain, Rajiv; Vora, H.S.

2015-01-01

In a Synchrotron Radiation Source the beamline experiments are carried out in radiation prone environment, inside the hutch, which demands to conduct experiments remotely. These experiments involves instrument control and data acquisition from various devices. Another factor which attributes to system complexity is precise positioning of sample and placement of detectors. A large number of stepper motors are engaged for achieving the required precision positioning. This work is a result of development of Experimental Physics and Industrial Control System (EPICS) based control system to interface a stepper motor controller developed indigenously by Laser Electronics Support Division of RRCAT. EPICS is an internationally accepted open source software environment which follows toolkit approach and standard model paradigm. The operator interface for the control system software was implemented using CSS BOY. The system was successfully tested for Ethernet based remote access. The developed control software comprises of an OPI and alarm handler (EPICS ALH). Both OPI and ALH are linked with PV's defined in database files. The development process resulted into a set of EPICS based commands for controlling stepper motor. These commands are independent of operator interface, i.e. stepper motor can be controlled by using these set of commands directly on EPICS prompt. This command set is illustrated in the above table. EPICS Alarm Handler was also tested independently by running these commands on EPIC prompt. If not using ALH, operator can read the alarm status of a PV using 'SEVR' and 'STAT' attributes. (author)

A randomized, controlled trial of a multifaceted intervention including alcohol-based hand sanitizer and hand-hygiene education to reduce illness transmission in the home.

Science.gov (United States)

Sandora, Thomas J; Taveras, Elsie M; Shih, Mei-Chiung; Resnick, Elissa A; Lee, Grace M; Ross-Degnan, Dennis; Goldmann, Donald A

2005-09-01

Good hand hygiene may reduce the spread of infections in families with children who are in out-of-home child care. Alcohol-based hand sanitizers rapidly kill viruses that are commonly associated with respiratory and gastrointestinal (GI) infections. The objective of this study was to determine whether a multifactorial campaign centered on increasing alcohol-based hand sanitizer use and hand-hygiene education reduces illness transmission in the home. A cluster randomized, controlled trial was conducted of homes of 292 families with children who were enrolled in out-of-home child care in 26 child care centers. Eligible families had > or =1 child who was 6 months to 5 years of age and in child care for > or =10 hours/week. Intervention families received a supply of hand sanitizer and biweekly hand-hygiene educational materials for 5 months; control families received only materials promoting good nutrition. Primary caregivers were phoned biweekly and reported respiratory and GI illnesses in family members. Respiratory and GI-illness-transmission rates (measured as secondary illnesses per susceptible person-month) were compared between groups, adjusting for demographic variables, hand-hygiene practices, and previous experience using hand sanitizers. Baseline demographics were similar in the 2 groups. A total of 1802 respiratory illnesses occurred during the study; 443 (25%) were secondary illnesses. A total of 252 GI illnesses occurred during the study; 28 (11%) were secondary illnesses. The secondary GI-illness rate was significantly lower in intervention families compared with control families (incidence rate ratio [IRR]: 0.41; 95% confidence interval [CI]: 0.19-0.90). The overall rate of secondary respiratory illness was not significantly different between groups (IRR: 0.97; 95% CI: 0.72-1.30). However, families with higher sanitizer usage had a marginally lower secondary respiratory illness rate than those with less usage (IRR: 0.81; 95% CI: 0.65-1.09). A

Advances in the Control System for a High Precision Dissolved Organic Carbon Analyzer

Science.gov (United States)

Liao, M.; Stubbins, A.; Haidekker, M.

2017-12-01

Dissolved organic carbon (DOC) is a master variable in aquatic ecosystems. DOC in the ocean is one of the largest carbon stores on earth. Studies of the dynamics of DOC in the ocean and other low DOC systems (e.g. groundwater) are hindered by the lack of high precision (sub-micromolar) analytical techniques. Results are presented from efforts to construct and optimize a flow-through, wet chemical DOC analyzer. This study focused on the design, integration and optimization of high precision components and control systems required for such a system (mass flow controller, syringe pumps, gas extraction, reactor chamber with controlled UV and temperature). Results of the approaches developed are presented.

Feasibility Study of a Hand Guided Robotic Drill for Cochleostomy

Directory of Open Access Journals (Sweden)

Peter Brett

2014-01-01

Full Text Available The concept of a hand guided robotic drill has been inspired by an automated, arm supported robotic drill recently applied in clinical practice to produce cochleostomies without penetrating the endosteum ready for inserting cochlear electrodes. The smart tactile sensing scheme within the drill enables precise control of the state of interaction between tissues and tools in real-time. This paper reports development studies of the hand guided robotic drill where the same consistent outcomes, augmentation of surgeon control and skill, and similar reduction of induced disturbances on the hearing organ are achieved. The device operates with differing presentation of tissues resulting from variation in anatomy and demonstrates the ability to control or avoid penetration of tissue layers as required and to respond to intended rather than involuntary motion of the surgeon operator. The advantage of hand guided over an arm supported system is that it offers flexibility in adjusting the drilling trajectory. This can be important to initiate cutting on a hard convex tissue surface without slipping and then to proceed on the desired trajectory after cutting has commenced. The results for trials on phantoms show that drill unit compliance is an important factor in the design.

Dynamics Modeling and first Design of Drag-Free Controller for ASTROD I

Science.gov (United States)

Li, H.; Theil, S.; Pettazzi, L.; Guilherme, M.-S.; Ni, W.-T.

The Astrodynamical Space Test of Relativity using Optical Devices I ASTROD I mainly aims at testing relativistic gravity and measuring the solar-system parameters with high precision by carrying out laser ranging between a spacecraft in a solar orbit and ground stations It is the first step of ASTROD with 3 spacecraft In order to design the Drag-Free and Attitude Control system DFACS for the spacecraft a numerical simulator of spacecraft and test mass dynamics as well as models of main forces and torques are established using Matlab Simulink The aims of the DFACS are to reduce the acceleration disturbance on the test mass to a level of 10 -13 m cdot s -2 cdot Hz -1 2 at a frequency of 0 1 mHz in one axis and keep the telescope pointing to the ground stations on the earth The dynamics of spacecraft and test mass is a coupled multiple degree of freedom non-linear system So the first step of the DFACS design is to reduce the order of the system with assumptions without loss of generality Then the system is linearized at nominal state With the linear state space model of the system a Linear Quadratic Gaussian Regulator LQG is derived LQR and the feed-forward of a constant disturbance constitute the controller This paper will present the numerical simulator and the first drag-free controller design for ASTROD I It will show the development of the simulator the derivation of the controller as well as first simulation results

Efficacy of paraffin bath therapy in hand osteoarthritis: a single-blinded randomized controlled trial.

Science.gov (United States)

Dilek, Banu; Gözüm, Mehtap; Şahin, Ebru; Baydar, Meltem; Ergör, Gül; El, Ozlem; Bircan, Çigdem; Gülbahar, Selmin

2013-04-01

To evaluate the efficacy of paraffin bath therapy on pain, function, and muscle strength in patients with hand osteoarthritis. Prospective single-blinded randomized controlled trial. Department of physical medicine and rehabilitation in a university hospital. Patients with bilateral hand osteoarthritis (N=56). Patients were randomized into 2 groups with a random number table by using block randomization with 4 patients in a block. Group 1 (n=29) had paraffin bath therapy (5 times per week, for 3-week duration) for both hands. Group 2 (n=27) was the control group. All patients were informed about joint-protection techniques, and paracetamol intake was recorded. The primary outcome measures were pain (at last 48h) at rest and during activities of daily living (ADL), assessed with a visual analog scale (0-10cm) at 12 weeks. The secondary outcome measures were the Australian Canadian Osteoarthritis Hand Index (AUSCAN) and the Dreiser Functional Index (DFI), used for subjective functional evaluation, loss of range of motion (ROM), grip and pinch strength, painful and tender joint counts, and paracetamol intake. A researcher blind to group allocation recorded the measures for both hands at baseline, 3 weeks, and 12 weeks at the hospital setting. At baseline, there were no significant differences between groups in any of the parameters (P>.05). After treatment, the paraffin group exhibited significant improvement in pain at rest and during ADL, ROM of the right hand, and pain and stiffness dimensions of the AUSCAN (P.05). The control group showed a significant deterioration in right hand grip and bilateral lateral pinch and right chuck pinch strength (Pparaffin group (Pparaffin group were significantly higher than the control group at 12 weeks (PParaffin bath therapy seemed to be effective both in reducing pain and tenderness and maintaining muscle strength in hand osteoarthritis. It may be regarded as a beneficial short-term therapy option, which is effective for a 12

Precision grid and hand motion for accurate needle insertion in brachytherapy

International Nuclear Information System (INIS)

McGill, Carl S.; Schwartz, Jonathon A.; Moore, Jason Z.; McLaughlin, Patrick W.; Shih, Albert J.

2011-01-01

Purpose: In prostate brachytherapy, a grid is used to guide a needle tip toward a preplanned location within the tissue. During insertion, the needle deflects en route resulting in target misplacement. In this paper, 18-gauge needle insertion experiments into phantom were performed to test effects of three parameters, which include the clearance between the grid hole and needle, the thickness of the grid, and the needle insertion speed. Measurement apparatus that consisted of two datum surfaces and digital depth gauge was developed to quantify needle deflections. Methods: The gauge repeatability and reproducibility (GR and R) test was performed on the measurement apparatus, and it proved to be capable of measuring a 2 mm tolerance from the target. Replicated experiments were performed on a 2 3 factorial design (three parameters at two levels) and analysis included averages and standard deviation along with an analysis of variance (ANOVA) to find significant single and two-way interaction factors. Results: Results showed that grid with tight clearance hole and slow needle speed increased precision and accuracy of needle insertion. The tight grid was vital to enhance precision and accuracy of needle insertion for both slow and fast insertion speed; additionally, at slow speed the tight, thick grid improved needle precision and accuracy. Conclusions: In summary, the tight grid is important, regardless of speed. The grid design, which shows the capability to reduce the needle deflection in brachytherapy procedures, can potentially be implemented in the brachytherapy procedure.

Poor Hand-Pointing to Sounds in Right Brain-Damaged Patients: Not Just a Problem of Spatial-Hearing

Science.gov (United States)

Pavani, Francesco; Farne, Alessandro; Ladavas, Elisabetta

2005-01-01

We asked 22 right brain-damaged (RBD) patients and 11 elderly healthy controls to perform hand-pointing movements to free-field unseen sounds, while modulating two non-auditory variables: the initial position of the responding hand (left, centre or right) and the presence or absence of task-irrelevant ambient vision. RBD patients suffering from…

Clean Hands Count

Medline Plus

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Estimating thumb–index finger precision grip and manipulation potential in extant and fossil primates

Science.gov (United States)

Feix, Thomas; Kivell, Tracy L.; Pouydebat, Emmanuelle; Dollar, Aaron M.

2015-01-01

Primates, and particularly humans, are characterized by superior manual dexterity compared with other mammals. However, drawing the biomechanical link between hand morphology/behaviour and functional capabilities in non-human primates and fossil taxa has been challenging. We present a kinematic model of thumb–index precision grip and manipulative movement based on bony hand morphology in a broad sample of extant primates and fossil hominins. The model reveals that both joint mobility and digit proportions (scaled to hand size) are critical for determining precision grip and manipulation potential, but that having either a long thumb or great joint mobility alone does not necessarily yield high precision manipulation. The results suggest even the oldest available fossil hominins may have shared comparable precision grip manipulation with modern humans. In particular, the predicted human-like precision manipulation of Australopithecus afarensis, approximately one million years before the first stone tools, supports controversial archaeological evidence of tool-use in this taxon. PMID:25878134

Effect of smoke-free patio policy of restaurants and bars on exposure to second-hand smoke.

Science.gov (United States)

Azagba, Sunday

2015-07-01

While there is increasing support for restricting smoking in restaurant and bar patios, there is limited evidence on the effectiveness of this policy. This study examined the effect of smoke-free patio policy of restaurants and bars on adult second-hand smoke (SHS) exposure. Data were drawn from the 2005-2012 Canadian Tobacco Use Monitoring Survey (n=89,743), a repeated cross-sectional survey of youth and adult. Regression analysis, a quasi-experimental design was used to examine the effect of provincial smoke-free patio policy on self-reported exposure to SHS. Analyses suggest that exposure to SHS on patios of bars and restaurants declined following the adoption of provincial smoke-free patio policy. Relative to pre-policy SHS exposure, regression results showed a reduction in the probability of SHS exposure of up to 25% in Alberta. Similarly, in Nova Scotia, the probability of SHS exposure declined by up to 21%. Analyses stratified by smoking status found similar significant effect on both smokers and non-smokers. Findings suggest that provincial patio smoking ban on bars and restaurants had the intended effect of protecting non-smokers from SHS exposure. This study is consistent with a large body of evidence showing that a strong smoke-free legislation is an effective public health measure. Copyright © 2015 The Authors. Published by Elsevier Inc. All rights reserved.

Hysteresis-free high-temperature precise bimorph actuators produced by direct bonding of lithium niobate wafers

Energy Technology Data Exchange (ETDEWEB)

Shur, V. Ya.; Baturin, I. S.; Mingaliev, E. A.; Zorikhin, D. V.; Udalov, A. R.; Greshnyakov, E. D. [Ferroelectric Laboratory, Institute of Natural Sciences, Ural Federal University, 51 Lenin Ave., 620000 Ekaterinburg (Russian Federation)

2015-02-02

The current paper presents a piezoelectric bimorph actuator produced by direct bonding of lithium niobate wafers with the mirrored Y and Z axes. Direct bonding technology allowed to fabricate bidomain plate with precise positioning of ideally flat domain boundary. By optimizing the cutting angle (128° Y-cut), the piezoelectric constant became as large as 27.3 pC/N. Investigation of voltage dependence of bending displacement confirmed that bimorph actuator has excellent linearity and hysteresis-free. Decrease of the applied voltage down to mV range showed the perfect linearity up to the sub-nm deflection amplitude. The frequency and temperature dependences of electromechanical transmission coefficient in wide temperature range (from 300 to 900 K) were investigated.

High precision innovative micropump for artificial pancreas

Science.gov (United States)

Chappel, E.; Mefti, S.; Lettieri, G.-L.; Proennecke, S.; Conan, C.

2014-03-01

The concept of artificial pancreas, which comprises an insulin pump, a continuous glucose meter and a control algorithm, is a major step forward in managing patient with type 1 diabetes mellitus. The stability of the control algorithm is based on short-term precision micropump to deliver rapid-acting insulin and to specific integrated sensors able to monitor any failure leading to a loss of accuracy. Debiotech's MEMS micropump, based on the membrane pump principle, is made of a stack of 3 silicon wafers. The pumping chamber comprises a pillar check-valve at the inlet, a pumping membrane which is actuated against stop limiters by a piezo cantilever, an anti-free-flow outlet valve and a pressure sensor. The micropump inlet is tightly connected to the insulin reservoir while the outlet is in direct communication with the patient skin via a cannula. To meet the requirement of a pump dedicated to closed-loop application for diabetes care, in addition to the well-controlled displacement of the pumping membrane, the high precision of the micropump is based on specific actuation profiles that balance effect of pump elasticity in low-consumption push-pull mode.

Triple-Frequency GPS Precise Point Positioning Ambiguity Resolution Using Dual-Frequency Based IGS Precise Clock Products

Directory of Open Access Journals (Sweden)

Fei Liu

2017-01-01

Full Text Available With the availability of the third civil signal in the Global Positioning System, triple-frequency Precise Point Positioning ambiguity resolution methods have drawn increasing attention due to significantly reduced convergence time. However, the corresponding triple-frequency based precise clock products are not widely available and adopted by applications. Currently, most precise products are generated based on ionosphere-free combination of dual-frequency L1/L2 signals, which however are not consistent with the triple-frequency ionosphere-free carrier-phase measurements, resulting in inaccurate positioning and unstable float ambiguities. In this study, a GPS triple-frequency PPP ambiguity resolution method is developed using the widely used dual-frequency based clock products. In this method, the interfrequency clock biases between the triple-frequency and dual-frequency ionosphere-free carrier-phase measurements are first estimated and then applied to triple-frequency ionosphere-free carrier-phase measurements to obtain stable float ambiguities. After this, the wide-lane L2/L5 and wide-lane L1/L2 integer property of ambiguities are recovered by estimating the satellite fractional cycle biases. A test using a sparse network is conducted to verify the effectiveness of the method. The results show that the ambiguity resolution can be achieved in minutes even tens of seconds and the positioning accuracy is in decimeter level.

Oscillations-free PID control of anesthetic drug delivery in neuromuscular blockade.

Science.gov (United States)

Medvedev, Alexander; Zhusubaliyev, Zhanybai T; Rosén, Olov; Silva, Margarida M

2016-07-25

The PID-control of drug delivery or the neuromuscular blockade (NMB) in closed-loop anesthesia is considered. The NMB system dynamics portrayed by a Wiener model can exhibit sustained nonlinear oscillations under realistic PID gains and for physiologically feasible values of the model parameters. Such oscillations, also repeatedly observed in clinical trials, lead to under- and over-dosing of the administered drug and undermine patient safety. This paper proposes a tuning policy for the proportional PID gain that via bifurcation analysis ensures oscillations-free performance of the control loop. Online estimates of the Wiener model parameters are needed for the controller implementation and monitoring of the closed-loop proximity to oscillation. The nonlinear dynamics of the PID-controlled NMB system are studied by bifurcation analysis. A database of patient models estimated under PID-controlled neuromuscular blockade during general anesthesia is utilized, along with the corresponding clinical measurements. The performance of three recursive algorithms is compared in the application at hand: an extended Kalman filter, a conventional particle filter (PF), and a PF making use of an orthonormal basis to estimate the probability density function from the particle set. It is shown that with a time-varying proportional PID gain, the type of equilibria of the closed-loop system remains the same as in the case of constant controller gains. The recovery time and frequency of oscillations are also evaluated in simulation over the database of patient models. Nonlinear identification techniques based on model linearization yield biased parameter estimates and thus introduce superfluous uncertainty. The bias and variance of the estimated models are related to the computational complexity of the identification algorithms, highlighting the superiority of the PFs in this safety-critical application. The study demonstrates feasibility of the proposed oscillation-free control

Testing of an End-Point Control Unit Designed to Enable Precision Control of Manipulator-Coupled Spacecraft

Science.gov (United States)

Montgomery, Raymond C.; Ghosh, Dave; Tobbe, Patrick A.; Weathers, John M.; Manouchehri, Davoud; Lindsay, Thomas S.

1994-01-01

This paper presents an end-point control concept designed to enable precision telerobotic control of manipulator-coupled spacecraft. The concept employs a hardware unit (end-point control unit EPCU) that is positioned between the end-effector of the Space Shuttle Remote Manipulator System and the payload. Features of the unit are active compliance (control of the displacement between the end-effector and the payload), to allow precision control of payload motions, and inertial load relief, to prevent the transmission of loads between the end-effector and the payload. This paper presents the concept and studies the active compliance feature using a simulation and hardware. Results of the simulation show the effectiveness of the EPCU in smoothing the motion of the payload. Results are presented from initial, limited tests of a laboratory hardware unit on a robotic arm testbed at the l Space Flight Center. Tracking performance of the arm in a constant speed automated retraction and extension maneuver of a heavy payload with and without the unit active is compared for the design speed and higher speeds. Simultaneous load reduction and tracking performance are demonstrated using the EPCU.

The human hand as an inspiration for robot hand development

CERN Document Server

Santos, Veronica

2014-01-01

“The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.

Precision grinding of microarray lens molding die with 4-axes controlled microwheel

Directory of Open Access Journals (Sweden)

Yuji Yamamoto, Hirofumi Suzuki, Takashi Onishi1, Tadashi Okino and Toshimichi Moriwaki

2007-01-01

Full Text Available This paper deals with precision grinding of microarray lens (fly eye molding die by using a resinoid bonded diamond wheel. An ultra-precision grinding system of microarray lens molding die and new truing method of resinoid bonded diamond wheel were developed. In this system, a grinding wheel was four-dimensionally controlled with 1 nm resolution by linear scale feedback system and scanned on the workpiece surface. New truing method by using a vanadium alloy tool was developed and its performance was obtained with high preciseness and low wheel wear. Finally, the microarray lens molding dies of fine grain tungsten carbide (WC was tested with the resinoid bonded diamond wheel to evaluate grinding performance.

Hand Gesture Based Wireless Robotic Arm Control for Agricultural Applications

Science.gov (United States)

Kannan Megalingam, Rajesh; Bandhyopadhyay, Shiva; Vamsy Vivek, Gedela; Juned Rahi, Muhammad

2017-08-01

One of the major challenges in agriculture is harvesting. It is very hard and sometimes even unsafe for workers to go to each plant and pluck fruits. Robotic systems are increasingly combined with new technologies to automate or semi automate labour intensive work, such as e.g. grape harvesting. In this work we propose a semi-automatic method for aid in harvesting fruits and hence increase productivity per man hour. A robotic arm fixed to a rover roams in the in orchard and the user can control it remotely using the hand glove fixed with various sensors. These sensors can position the robotic arm remotely to harvest the fruits. In this paper we discuss the design of hand glove fixed with various sensors, design of 4 DoF robotic arm and the wireless control interface. In addition the setup of the system and the testing and evaluation under lab conditions are also presented in this paper.

Ultra-precise tracking control of piezoelectric actuators via a fuzzy hysteresis model.

Science.gov (United States)

Li, Pengzhi; Yan, Feng; Ge, Chuan; Zhang, Mingchao

2012-08-01

In this paper, a novel Takagi-Sugeno (T-S) fuzzy system based model is proposed for hysteresis in piezoelectric actuators. The antecedent and consequent structures of the fuzzy hysteresis model (FHM) can be, respectively, identified on-line through uniform partition approach and recursive least squares (RLS) algorithm. With respect to controller design, the inverse of FHM is used to develop a feedforward controller to cancel out the hysteresis effect. Then a hybrid controller is designed for high-performance tracking. It combines the feedforward controller with a proportional integral differential (PID) controller favourable for stabilization and disturbance compensation. To achieve nanometer-scale tracking precision, the enhanced adaptive hybrid controller is further developed. It uses real-time input and output data to update FHM, thus changing the feedforward controller to suit the on-site hysteresis character of the piezoelectric actuator. Finally, as to 3 cases of 50 Hz sinusoidal, multiple frequency sinusoidal and 50 Hz triangular trajectories tracking, experimental results demonstrate the efficiency of the proposed controllers. Especially, being only 0.35% of the maximum desired displacement, the maximum error of 50 Hz sinusoidal tracking is greatly reduced to 5.8 nm, which clearly shows the ultra-precise nanometer-scale tracking performance of the developed adaptive hybrid controller.

Dexterous Control of Seven Functional Hand Movements Using Cortically-Controlled Transcutaneous Muscle Stimulation in a Person With Tetraplegia

Directory of Open Access Journals (Sweden)

Samuel C. Colachis

2018-04-01

Full Text Available Individuals with tetraplegia identify restoration of hand function as a critical, unmet need to regain their independence and improve quality of life. Brain-Computer Interface (BCI-controlled Functional Electrical Stimulation (FES technology addresses this need by reconnecting the brain with paralyzed limbs to restore function. In this study, we quantified performance of an intuitive, cortically-controlled, transcutaneous FES system on standardized object manipulation tasks from the Grasp and Release Test (GRT. We found that a tetraplegic individual could use the system to control up to seven functional hand movements, each with >95% individual accuracy. He was able to select one movement from the possible seven movements available to him and use it to appropriately manipulate all GRT objects in real-time using naturalistic grasps. With the use of the system, the participant not only improved his GRT performance over his baseline, demonstrating an increase in number of transfers for all objects except the Block, but also significantly improved transfer times for the heaviest objects (videocassette (VHS, Can. Analysis of underlying motor cortex neural representations associated with the hand grasp states revealed an overlap or non-separability in neural activation patterns for similarly shaped objects that affected BCI-FES performance. These results suggest that motor cortex neural representations for functional grips are likely more related to hand shape and force required to hold objects, rather than to the objects themselves. These results, demonstrating multiple, naturalistic functional hand movements with the BCI-FES, constitute a further step toward translating BCI-FES technologies from research devices to clinical neuroprosthetics.

Precision Munition Electro-Sciences Facility

Data.gov (United States)

Federal Laboratory Consortium — This facility allows the characterization of the electro-magnetic environment produced by a precision weapon in free flight. It can measure the radiofrequency (RF)...

Tuning SISO offset-free Model Predictive Control based on ARX models

DEFF Research Database (Denmark)

Huusom, Jakob Kjøbsted; Poulsen, Niels Kjølstad; Jørgensen, Sten Bay

2012-01-01

, the proposed controller is simple to tune as it has only one free tuning parameter. These two features are advantageous in predictive process control as they simplify industrial commissioning of MPC. Disturbance rejection and offset-free control is important in industrial process control. To achieve offset......In this paper, we present a tuning methodology for a simple offset-free SISO Model Predictive Controller (MPC) based on autoregressive models with exogenous inputs (ARX models). ARX models simplify system identification as they can be identified from data using convex optimization. Furthermore......-free control in face of unknown disturbances or model-plant mismatch, integrators must be introduced in either the estimator or the regulator. Traditionally, offset-free control is achieved using Brownian disturbance models in the estimator. In this paper we achieve offset-free control by extending the noise...

Design and validation of a morphing myoelectric hand posture controller based on principal component analysis of human grasping.

Science.gov (United States)

Segil, Jacob L; Weir, Richard F ff

2014-03-01

An ideal myoelectric prosthetic hand should have the ability to continuously morph between any posture like an anatomical hand. This paper describes the design and validation of a morphing myoelectric hand controller based on principal component analysis of human grasping. The controller commands continuously morphing hand postures including functional grasps using between two and four surface electromyography (EMG) electrodes pairs. Four unique maps were developed to transform the EMG control signals in the principal component domain. A preliminary validation experiment was performed by 10 nonamputee subjects to determine the map with highest performance. The subjects used the myoelectric controller to morph a virtual hand between functional grasps in a series of randomized trials. The number of joints controlled accurately was evaluated to characterize the performance of each map. Additional metrics were studied including completion rate, time to completion, and path efficiency. The highest performing map controlled over 13 out of 15 joints accurately.

Effects of prosthesis use on the capability to control myoelectric robotic prosthetic hands.

Science.gov (United States)

Atzori, Manfredo; Hager, Anne-Gabrielle Mittaz; Elsig, Simone; Giatsidis, Giorgio; Bassetto, Franco; Muller, Henning

2015-08-01

The natural control of robotic prosthetic hands with non-invasive techniques is still a challenge: myoelectric prostheses currently give some control capabilities; the application of pattern recognition techniques is promising and recently started to be applied in practice but still many questions are open in the field. In particular, the effects of clinical factors on movement classification accuracy and the capability to control myoelectric prosthetic hands are analyzed in very few studies. The effect of regularly using prostheses on movement classification accuracy has been previously studied, showing differences between users of myoelectric and cosmetic prostheses. In this paper we compare users of myoelectric and body-powered prostheses and intact subjects. 36 machine-learning methods are applied on 6 amputees and 40 intact subjects performing 40 movements. Then, statistical analyses are performed in order to highlight significant differences between the groups of subjects. The statistical analyses do not show significant differences between the two groups of amputees, while significant differences are obtained between amputees and intact subjects. These results constitute new information in the field and suggest new interpretations to previous hypotheses, thus adding precious information towards natural control of robotic prosthetic hands.

Smoke-Free Policies in New Zealand Public Tertiary Education Institutions

Science.gov (United States)

Robertson, Lindsay A.; Marsh, L.

2015-01-01

The Framework Convention on Tobacco Control mandates the creation of smoke-free environments to protect non-smokers from second-hand smoke and reduce demand for tobacco. We aimed to examine the extent and nature of smoke-free campus policies at tertiary education institutions throughout New Zealand, and examine the policy development process.…

Data-driven gradient algorithm for high-precision quantum control

Science.gov (United States)

Wu, Re-Bing; Chu, Bing; Owens, David H.; Rabitz, Herschel

2018-04-01

In the quest to achieve scalable quantum information processing technologies, gradient-based optimal control algorithms (e.g., grape) are broadly used for implementing high-precision quantum gates, but their performance is often hindered by deterministic or random errors in the system model and the control electronics. In this paper, we show that grape can be taught to be more effective by jointly learning from the design model and the experimental data obtained from process tomography. The resulting data-driven gradient optimization algorithm (d-grape) can in principle correct all deterministic gate errors, with a mild efficiency loss. The d-grape algorithm may become more powerful with broadband controls that involve a large number of control parameters, while other algorithms usually slow down due to the increased size of the search space. These advantages are demonstrated by simulating the implementation of a two-qubit controlled-not gate.

HAND2 Target Gene Regulatory Networks Control Atrioventricular Canal and Cardiac Valve Development.

Science.gov (United States)

Laurent, Frédéric; Girdziusaite, Ausra; Gamart, Julie; Barozzi, Iros; Osterwalder, Marco; Akiyama, Jennifer A; Lincoln, Joy; Lopez-Rios, Javier; Visel, Axel; Zuniga, Aimée; Zeller, Rolf

2017-05-23

The HAND2 transcriptional regulator controls cardiac development, and we uncover additional essential functions in the endothelial to mesenchymal transition (EMT) underlying cardiac cushion development in the atrioventricular canal (AVC). In Hand2-deficient mouse embryos, the EMT underlying AVC cardiac cushion formation is disrupted, and we combined ChIP-seq of embryonic hearts with transcriptome analysis of wild-type and mutants AVCs to identify the functionally relevant HAND2 target genes. The HAND2 target gene regulatory network (GRN) includes most genes with known functions in EMT processes and AVC cardiac cushion formation. One of these is Snai1, an EMT master regulator whose expression is lost from Hand2-deficient AVCs. Re-expression of Snai1 in mutant AVC explants partially restores this EMT and mesenchymal cell migration. Furthermore, the HAND2-interacting enhancers in the Snai1 genomic landscape are active in embryonic hearts and other Snai1-expressing tissues. These results show that HAND2 directly regulates the molecular cascades initiating AVC cardiac valve development. Copyright © 2017 The Author(s). Published by Elsevier Inc. All rights reserved.

High-Precision Control of a Piezo-Driven Nanopositioner Using Fuzzy Logic Controllers

Directory of Open Access Journals (Sweden)

Mohammed Altaher

2018-01-01

Full Text Available This paper presents single- and dual-loop fuzzy control schemes to precisely control the piezo-driven nanopositioner in the x- and y-axis directions. Various issues are associated with this control problem, such as low stability margin due to the sharp resonant peak, nonlinear dynamics, parameter uncertainty, etc. As such, damping controllers are often utilised to damp the mechanical resonance of the nanopositioners. The Integral Resonant Controller (IRC is used in this paper as a damping controller to damp the mechanical resonance. A further inherent problem is the hysteresis phenomenon (disturbance, which leads to degrading the positioning performance (accuracy of the piezo-driven stage. The common approach to treat this disturbance is to invoke tracking controllers in a closed-loop feedback scheme in conjunction with the damping controllers. The traditional approach uses the Integral Controller (I or Proportional Integral (PI as a tracking controller, whereas this paper introduces the Proportional and Integral (PI-like Fuzzy Logic Controller (FLC as a tracking controller. The effectiveness of the proposed control schemes over conventional schemes is confirmed through comparative simulation studies, and results are presented. The stability boundaries of the proposed control schemes are determined in the same way as with a conventional controller. Robustness against variations in the resonant frequency of the proposed control schemes is verified.

Bio-inspired grasp control in a robotic hand with massive sensorial input.

Science.gov (United States)

Ascari, Luca; Bertocchi, Ulisse; Corradi, Paolo; Laschi, Cecilia; Dario, Paolo

2009-02-01

The capability of grasping and lifting an object in a suitable, stable and controlled way is an outstanding feature for a robot, and thus far, one of the major problems to be solved in robotics. No robotic tools able to perform an advanced control of the grasp as, for instance, the human hand does, have been demonstrated to date. Due to its capital importance in science and in many applications, namely from biomedics to manufacturing, the issue has been matter of deep scientific investigations in both the field of neurophysiology and robotics. While the former is contributing with a profound understanding of the dynamics of real-time control of the slippage and grasp force in the human hand, the latter tries more and more to reproduce, or take inspiration by, the nature's approach, by means of hardware and software technology. On this regard, one of the major constraints robotics has to overcome is the real-time processing of a large amounts of data generated by the tactile sensors while grasping, which poses serious problems to the available computational power. In this paper a bio-inspired approach to tactile data processing has been followed in order to design and test a hardware-software robotic architecture that works on the parallel processing of a large amount of tactile sensing signals. The working principle of the architecture bases on the cellular nonlinear/neural network (CNN) paradigm, while using both hand shape and spatial-temporal features obtained from an array of microfabricated force sensors, in order to control the sensory-motor coordination of the robotic system. Prototypical grasping tasks were selected to measure the system performances applied to a computer-interfaced robotic hand. Successful grasps of several objects, completely unknown to the robot, e.g. soft and deformable objects like plastic bottles, soft balls, and Japanese tofu, have been demonstrated.

Hand washing promotion for preventing diarrhoea.

Science.gov (United States)

Ejemot-Nwadiaro, Regina I; Ehiri, John E; Arikpo, Dachi; Meremikwu, Martin M; Critchley, Julia A

2015-09-03

provision of soap) at child day-care facilities or schools prevents around one-third of diarrhoea episodes in high income countries (rate ratio 0.70; 95% CI 0.58 to 0.85; nine trials, 4664 participants, high quality evidence), and may prevent a similar proportion in LMICs but only two trials from urban Egypt and Kenya have evaluated this (rate ratio 0.66, 95% CI 0.43 to 0.99; two trials, 45,380 participants, low quality evidence). Only three trials reported measures of behaviour change and the methods of data collection were susceptible to bias. In one trial from the USA hand washing behaviour was reported to improve; and in the trial from Kenya that provided free soap, hand washing did not increase, but soap use did (data not pooled; three trials, 1845 participants, low quality evidence).Hand washing promotion among communities in LMICs probably prevents around one-quarter of diarrhoea episodes (rate ratio 0.72, 95% CI 0.62 to 0.83; eight trials, 14,726 participants, moderate quality evidence). However, six of these eight trials were from Asian settings, with only single trials from South America and sub-Saharan Africa. In six trials, soap was provided free alongside hand washing education, and the overall average effect size was larger than in the two trials which did not provide soap (soap provided: rate ratio 0.66, 95% CI 0.56 to 0.78; six trials, 11,422 participants; education only: rate ratio: 0.84, 95% CI 0.67 to 1.05; two trials, 3304 participants). There was increased hand washing at major prompts (before eating/cooking, after visiting the toilet or cleaning the baby's bottom), and increased compliance to hand hygiene procedure (behavioural outcome) in the intervention groups than the control in community trials (data not pooled: three trials, 3490 participants, high quality evidence).Hand washing promotion for the one trial conducted in a hospital among high-risk population showed significant reduction in mean episodes of diarrhoea (1.68 fewer) in the intervention

DNA Nanotechnology for Precise Control over Drug Delivery and Gene Therapy.

Science.gov (United States)

Angell, Chava; Xie, Sibai; Zhang, Liangfang; Chen, Yi

2016-03-02

Nanomedicine has been growing exponentially due to its enhanced drug targeting and reduced drug toxicity. It uses the interactions where nanotechnological components and biological systems communicate with each other to facilitate the delivery performance. At this scale, the physiochemical properties of delivery systems strongly affect their capacities. Among current delivery systems, DNA nanotechnology shows many advantages because of its unprecedented engineering abilities. Through molecular recognition, DNA nanotechnology can be used to construct a variety of nanostructures with precisely controllable size, shape, and surface chemistry, which can be appreciated in the delivery process. In this review, different approaches that are currently used for the construction of DNA nanostructures are reported. Further, the utilization of these DNA nanostructures with the well-defined parameters for the precise control in drug delivery and gene therapy is discussed. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

The effectiveness of origami on overall hand function after injury: A pilot controlled trial

OpenAIRE

Wilson, L; Roden, P; Taylor, Y; Marston, L

2008-01-01

This pilot study measured the effectiveness of using origami to improve the overall hand function of outpatients attending an NHS hand injury unit. The initiative came from one of the authors who had used origami informally in the clinical setting and observed beneficial effects. These observed effects were tested experimentally. The design was a pilot non-randomised controlled trial with 13 participants. Allocation of the seven control group members was based on patient preference. The exper...

Effects of prolonged wakefulness combined with alcohol and hands-free cell phone divided attention tasks on simulated driving.

Science.gov (United States)

Iudice, A; Bonanni, E; Gelli, A; Frittelli, C; Iudice, G; Cignoni, F; Ghicopulos, I; Murri, L

2005-03-01

Simulated driving ability was assessed following administration of alcohol, at an estimated blood level of 0.05%, and combined prolonged wakefulness, while participants were undertaking divided attention tasks over a hands-free mobile phone. Divided attention tasks were structured to provide a sustained cognitive workload to the subjects. Twenty three young healthy individuals drove 10 km simulated driving under four conditions in a counterbalanced, within-subject design: alcohol, alcohol and 19 h wakefulness, alcohol and 24 h wakefulness, and while sober. Study measures were: simulated driving, self-reported sleepiness, critical flicker fusion threshold (CFFT), Stroop word-colour interference test (Stroop) and simple visual reaction times (SVRT). As expected, subjective sleepiness was highly correlated with both sleep restriction and alcohol consumption. The combination of alcohol and 24 h sustained wakefulness produced the highest driving impairment, significantly beyond the alcohol effect itself. Concurrent alcohol and 19 h wakefulness significantly affected only driving time-to-collision. No significant changes of study measures occurred following alcohol intake in unrestricted sleep conditions. CFFT, SVRT and Stroop results showed a similar trend in the four study conditions. Thus apparently 'safe' blood alcohol levels in combination with prolonged wakefulness resulted in significant driving impairments. In normal sleep conditions alcohol effects on driving were partially counteracted by the concomitant hands-free phone based psychometric tasks. 2005 John Wiley & Sons, Ltd.

Vibration control for precision manufacturing at Sandia National Laboratories

International Nuclear Information System (INIS)

Hinnerichs, T.; Martinez, D.

1995-01-01

Sandia National Laboratories performs R and D in structural dynamics and vibration suppression for precision applications in weapon systems, space, underwater, transportation and civil structures. Over the last decade these efforts have expanded into the areas of active vibration control and ''smart'' structures and material systems. In addition, Sandia has focused major resources towards technology to support weapon product development and agile manufacturing capability for defense and industrial applications. This paper will briefly describe the structural dynamics modeling and verification process currently in place at Sandia that supports vibration control and some specific applications of these techniques to manufacturing in the areas of lithography, machine tools and flexible robotics

Vibration control for precision manufacturing at Sandia National Laboratories

Energy Technology Data Exchange (ETDEWEB)

Hinnerichs, T.; Martinez, D. [Sandia National Labs., Albuquerque, NM (United States). Structural Dynamics and Vibration Control Dept.

1995-04-01

Sandia National Laboratories performs R and D in structural dynamics and vibration suppression for precision applications in weapon systems, space, underwater, transportation and civil structures. Over the last decade these efforts have expanded into the areas of active vibration control and ``smart`` structures and material systems. In addition, Sandia has focused major resources towards technology to support weapon product development and agile manufacturing capability for defense and industrial applications. This paper will briefly describe the structural dynamics modeling and verification process currently in place at Sandia that supports vibration control and some specific applications of these techniques to manufacturing in the areas of lithography, machine tools and flexible robotics.

Estimating thumb-index finger precision grip and manipulation potential in extant and fossil primates.

Science.gov (United States)

Feix, Thomas; Kivell, Tracy L; Pouydebat, Emmanuelle; Dollar, Aaron M

2015-05-06

Primates, and particularly humans, are characterized by superior manual dexterity compared with other mammals. However, drawing the biomechanical link between hand morphology/behaviour and functional capabilities in non-human primates and fossil taxa has been challenging. We present a kinematic model of thumb-index precision grip and manipulative movement based on bony hand morphology in a broad sample of extant primates and fossil hominins. The model reveals that both joint mobility and digit proportions (scaled to hand size) are critical for determining precision grip and manipulation potential, but that having either a long thumb or great joint mobility alone does not necessarily yield high precision manipulation. The results suggest even the oldest available fossil hominins may have shared comparable precision grip manipulation with modern humans. In particular, the predicted human-like precision manipulation of Australopithecus afarensis, approximately one million years before the first stone tools, supports controversial archaeological evidence of tool-use in this taxon. © 2015 The Author(s) Published by the Royal Society. All rights reserved.

Robot training for hand motor recovery in subacute stroke patients: A randomized controlled trial.

Science.gov (United States)

Orihuela-Espina, Felipe; Roldán, Giovana Femat; Sánchez-Villavicencio, Israel; Palafox, Lorena; Leder, Ronald; Sucar, Luis Enrique; Hernández-Franco, Jorge

2016-01-01

Evidence of superiority of robot training for the hand over classical therapies in stroke patients remains controversial. During the subacute stage, hand training is likely to be the most useful. To establish whether robot active assisted therapies provides any additional motor recovery for the hand when administered during the subacute stage (robot based therapies for hand recovery will show significant differences at subacute stages. A randomized clinical trial. A between subjects randomized controlled trial was carried out on subacute stroke patients (n = 17) comparing robot active assisted therapy (RT) with a classical occupational therapy (OT). Both groups received 40 sessions ensuring at least 300 repetitions per session. Treatment duration was (mean ± std) 2.18 ± 1.25 months for the control group and 2.44 ± 0.88 months for the study group. The primary outcome was motor dexterity changes assessed with the Fugl-Meyer (FMA) and the Motricity Index (MI). Both groups (OT: n = 8; RT: n = 9) exhibited significant improvements over time (Non-parametric Cliff's delta-within effect sizes: dwOT-FMA = 0.5, dwOT-MI = 0.5, dwRT-FMA = 1, dwRT-MI = 1). Regarding differences between the therapies; the Fugl-Meyer score indicated a significant advantage for the hand training with the robot (FMA hand: WRS: W = 8, p hand prehension for RT with respect to OT but failed to reach significance (MI prehension: W = 17.5, p = 0.080). No harm occurred. Robotic therapies may be useful during the subacute stages of stroke - both endpoints (FM hand and MI prehension) showed the expected trend with bigger effect size for the robotic intervention. Additional benefit of the robotic therapy over the control therapy was only significant when the difference was measured with FM, demanding further investigation with larger samples. Implications of this study are important for decision making during therapy administration and resource allocation. Copyright © 2016 Hanley

Hand washing promotion for preventing diarrhoea

Science.gov (United States)

Ejemot-Nwadiaro, Regina I; Ehiri, John E; Arikpo, Dachi; Meremikwu, Martin M; Critchley, Julia A

2015-01-01

syndrome (AIDS) (148 participants). Hand washing promotion (education activities, sometimes with provision of soap) at child day-care facilities or schools prevents around one-third of diarrhoea episodes in high income countries (rate ratio 0.70; 95% CI 0.58 to 0.85; nine trials, 4664 participants, high quality evidence), and may prevent a similar proportion in LMICs but only two trials from urban Egypt and Kenya have evaluated this (rate ratio 0.66, 95% CI 0.43 to 0.99; two trials, 45,380 participants, low quality evidence). Only three trials reported measures of behaviour change and the methods of data collection were susceptible to bias. In one trial from the USA hand washing behaviour was reported to improve; and in the trial from Kenya that provided free soap, hand washing did not increase, but soap use did (data not pooled; three trials, 1845 participants, low quality evidence). Hand washing promotion among communities in LMICs probably prevents around one-quarter of diarrhoea episodes (rate ratio 0.72, 95% CI 0.62 to 0.83; eight trials, 14,726 participants, moderate quality evidence). However, six of these eight trials were from Asian settings, with only single trials from South America and sub-Saharan Africa. In six trials, soap was provided free alongside hand washing education, and the overall average effect size was larger than in the two trials which did not provide soap (soap provided: rate ratio 0.66, 95% CI 0.56 to 0.78; six trials, 11,422 participants; education only: rate ratio: 0.84, 95% CI 0.67 to 1.05; two trials, 3304 participants). There was increased hand washing at major prompts (before eating/cooking, after visiting the toilet or cleaning the baby's bottom), and increased compliance to hand hygiene procedure (behavioural outcome) in the intervention groups than the control in community trials (data not pooled: three trials, 3490 participants, high quality evidence). Hand washing promotion for the one trial conducted in a hospital among high

Atomically precise cluster catalysis towards quantum controlled catalysts

International Nuclear Information System (INIS)

Watanabe, Yoshihide

2014-01-01

Catalysis of atomically precise clusters supported on a substrate is reviewed in relation to the type of reactions. The catalytic activity of supported clusters has generally been discussed in terms of electronic structure. Several lines of evidence have indicated that the electronic structure of clusters and the geometry of clusters on a support, including the accompanying cluster-support interaction, are strongly correlated with catalytic activity. The electronic states of small clusters would be easily affected by cluster–support interactions. Several studies have suggested that it is possible to tune the electronic structure through atomic control of the cluster size. It is promising to tune not only the number of cluster atoms, but also the hybridization between the electronic states of the adsorbed reactant molecules and clusters in order to realize a quantum-controlled catalyst. (review)

An Approach to Precise Nitrogen Management Using Hand-Held Crop Sensor Measurements and Winter Wheat Yield Mapping in a Mediterranean Environment

Directory of Open Access Journals (Sweden)

Lucía Quebrajo

2015-03-01

Full Text Available Regardless of the crop production system, nutrients inputs must be controlled at or below a certain economic threshold to achieve an acceptable level of profitability. The use of management zones and variable-rate fertilizer applications is gaining popularity in precision agriculture. Many researchers have evaluated the application of final yield maps and geo-referenced geophysical measurements (e.g., apparent soil electrical conductivity-ECa as a method of establishing relatively homogeneous management zones within the same plot. Yield estimation models based on crop conditions at certain growth stages, soil nutrient statuses, agronomic factors, moisture statuses, and weed/pest pressures are a primary goal in precision agriculture. This study attempted to achieve the following objectives: (1 to investigate the potential for predicting winter wheat yields using vegetation measurements (the Normalized Difference Vegetation Index—NDVI at the beginning of the season, thereby allowing for a yield response to nitrogen (N fertilizer; and (2 evaluate the feasibility of using inexpensive optical sensor measurements in a Mediterranean environment. A field experiment was conducted in two commercial wheat fields near Seville, in southwestern Spain. Yield data were collected at harvest using a yield monitoring system (RDS Ceres II-volumetric meter installed on a combine. Wheat yield and NDVI values of 3498 ± 481 kg ha−1 and 0.67 ± 0.04 nm nm−1 (field 1 and 3221 ± 531 kg ha−1 and 0.68 ± 0.05 nm nm−1 (field 2 were obtained. In both fields, the yield and NDVI exhibited a strong Pearson correlation, with rxy = 0.64 and p < 10−4 in field 1 and rxy = 0.78 and p < 10−4 in field 2. The preliminary results indicate that hand-held crop sensor-based N management can be applied to wheat production in Spain and has the potential to increase agronomic N-use efficiency on a long-term basis.

Control of free-flying space robot manipulator systems

Science.gov (United States)

Cannon, Robert H., Jr.

1990-01-01

New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

Inspections of Hand Washing Supplies and Hand Sanitizer in Public Schools

Science.gov (United States)

Ramos, Mary M.; Blea, Mary; Trujillo, Rebecca; Greenberg, Cynthia

2010-01-01

Hand washing and hand antisepsis are proven infection control measures in the school setting, yet barriers such as lack of soap, paper towels, and hand sanitizer can hinder compliance. This pilot study measured the prevalence of hand cleaning supplies in public schools. Ten school districts (93 schools) participated in school nurse inspections. In…

Computer-designed surgical guide template compared with free-hand operation for mesiodens extraction in premaxilla using “trapdoor” method

Science.gov (United States)

Hu, Ying Kai; Xie, Qian Yang; Yang, Chi; Xu, Guang Zhou

2017-01-01

Abstract The aim of this study was to introduce a novel method of mesiodens extraction using a vascularized pedicled bone flap by piezosurgery and to compare the differences between a computer-aided design surgical guide template and free-hand operation. A total of 8 patients with mesiodens, 4 with a surgical guide (group I), and 4 without it (group II) were included in the study. The surgical design was to construct a trapdoor pedicle on the superior mucoperiosteal attachment with application of piezosurgery. The bone lid was repositioned after mesiodens extraction. Group I patients underwent surgeries based on the preoperative planning with surgical guide templates, while group II patients underwent free-hand operation. The outcome variables were success rate, intraoperative time, anterior nasal spine (ANS) position, changes of nasolabial angle (NLA), and major complications. Data from the 2 groups were compared by SPSS 17.0, using Wilcoxon test. The operative time was significantly shorter in group I patients. All the mesiodentes were extracted successfully and no obvious differences of preoperative and postoperative ANS position and NLA value were found in both groups. The patients were all recovered uneventfully. Surgical guide templates can enhance clinical accuracy and reduce operative time by facilitating accurate osteotomies. PMID:28658139

Design and control of the precise tracking bed based on complex electromechanical design theory

Science.gov (United States)

Ren, Changzhi; Liu, Zhao; Wu, Liao; Chen, Ken

2010-05-01

The precise tracking technology is wide used in astronomical instruments, satellite tracking and aeronautic test bed. However, the precise ultra low speed tracking drive system is one high integrated electromechanical system, which one complexly electromechanical design method is adopted to improve the efficiency, reliability and quality of the system during the design and manufacture circle. The precise Tracking Bed is one ultra-exact, ultra-low speed, high precision and huge inertial instrument, which some kind of mechanism and environment of the ultra low speed is different from general technology. This paper explores the design process based on complex electromechanical optimizing design theory, one non-PID with a CMAC forward feedback control method is used in the servo system of the precise tracking bed and some simulation results are discussed.

Illusory movement perception improves motor control for prosthetic hands

Science.gov (United States)

Marasco, Paul D.; Hebert, Jacqueline S.; Sensinger, Jon W.; Shell, Courtney E.; Schofield, Jonathon S.; Thumser, Zachary C.; Nataraj, Raviraj; Beckler, Dylan T.; Dawson, Michael R.; Blustein, Dan H.; Gill, Satinder; Mensh, Brett D.; Granja-Vazquez, Rafael; Newcomb, Madeline D.; Carey, Jason P.; Orzell, Beth M.

2018-01-01

To effortlessly complete an intentional movement, the brain needs feedback from the body regarding the movement’s progress. This largely non-conscious kinesthetic sense helps the brain to learn relationships between motor commands and outcomes to correct movement errors. Prosthetic systems for restoring function have predominantly focused on controlling motorized joint movement. Without the kinesthetic sense, however, these devices do not become intuitively controllable. Here we report a method for endowing human amputees with a kinesthetic perception of dexterous robotic hands. Vibrating the muscles used for prosthetic control via a neural-machine interface produced the illusory perception of complex grip movements. Within minutes, three amputees integrated this kinesthetic feedback and improved movement control. Combining intent, kinesthesia, and vision instilled participants with a sense of agency over the robotic movements. This feedback approach for closed-loop control opens a pathway to seamless integration of minds and machines. PMID:29540617

Eye-in-Hand Manipulation for Remote Handling: Experimental Setup

Science.gov (United States)

Niu, Longchuan; Suominen, Olli; Aref, Mohammad M.; Mattila, Jouni; Ruiz, Emilio; Esque, Salvador

2018-03-01

A prototype for eye-in-hand manipulation in the context of remote handling in the International Thermonuclear Experimental Reactor (ITER)1 is presented in this paper. The setup consists of an industrial robot manipulator with a modified open control architecture and equipped with a pair of stereoscopic cameras, a force/torque sensor, and pneumatic tools. It is controlled through a haptic device in a mock-up environment. The industrial robot controller has been replaced by a single industrial PC running Xenomai that has a real-time connection to both the robot controller and another Linux PC running as the controller for the haptic device. The new remote handling control environment enables further development of advanced control schemes for autonomous and semi-autonomous manipulation tasks. This setup benefits from a stereovision system for accurate tracking of the target objects with irregular shapes. The overall environmental setup successfully demonstrates the required robustness and precision that remote handling tasks need.

Robotically enhanced rubber hand illusion.

Science.gov (United States)

Arata, Jumpei; Hattori, Masashi; Ichikawa, Shohei; Sakaguchi, Masamichi

2014-01-01

The rubber hand illusion is a well-known multisensory illusion. In brief, watching a rubber hand being stroked by a paintbrush while one's own unseen hand is synchronously stroked causes the rubber hand to be attributed to one's own body and to "feel like it's my hand." The rubber hand illusion is thought to be triggered by the synchronized tactile stimulation of both the subject's hand and the fake hand. To extend the conventional rubber hand illusion, we introduce robotic technology in the form of a master-slave telemanipulator. The developed one degree-of-freedom master-slave system consists of an exoskeleton master equipped with an optical encoder that is worn on the subject's index finger and a motor-actuated index finger on the rubber hand, which allows the subject to perform unilateral telemanipulation. The moving rubber hand illusion has been studied by several researchers in the past with mechanically connected rigs between the subject's body and the fake limb. The robotic instruments let us investigate the moving rubber hand illusion with less constraints, thus behaving closer to the classic rubber hand illusion. In addition, the temporal delay between the body and the fake limb can be precisely manipulated. The experimental results revealed that the robotic instruments significantly enhance the rubber hand illusion. The time delay is significantly correlated with the effect of the multisensory illusion, and the effect significantly decreased at time delays over 100 ms. These findings can potentially contribute to the investigations of neural mechanisms in the field of neuroscience and of master-slave systems in the field of robotics.

Development of practical field minimised personal hands free headset for mobile phones with high performance robustness

International Nuclear Information System (INIS)

Gosnell, M.E.; Huber, G.

2001-01-01

This paper presents the development of a practical means of minimising exposure of the user's head to radiated emissions from mobile phones. The invention allows the production of a commercially viable product similar to the existing and widely accepted hands free headsets. The description of the design evolution concentrates on various techniques for attenuating the power emissions at the earpiece and the corresponding results will be disclosed including measurements taken with the mobile held in several typical positions. The design focuses on maximising immunity to phone and wire position with maximum attenuation in the commercial mobile bands. Copyright (2001) Australasian Radiation Protection Society Inc

Golf Injuries to the Hand, Wrist, or Elbow

Science.gov (United States)

... Therapist? Media Find a Hand Surgeon Home Anatomy Golf Injuries to the Hand, Wrist or Elbow Email ... enjoyment of the game injury free. Types of Golf Injuries Golf injuries can include tendonitis, sprains or ...

A measurement control program to meet desired levels of precision and accuracy

International Nuclear Information System (INIS)

Bruckner, L.A.

1991-01-01

Measurement control programs are usually designed to test for precision and accuracy. Many instruments, however, display non-random data patterns such as biases or seasonal variations which are statistically significant but are of no practical significance. Application of the usual statistical tests can cause these instruments to be removed from service unnecessarily. It is tempting to try to overcome this problem by frequently adjusting the instrument or by arbitrarily changing the parameters of the statistical tests so that failures occur less often. This, of course invalidates the statistical tests. In the author's opinion, the correct way to handle this problem is to identify the desired levels of precision and accuracy, and then to combine these levels with valid statistical techniques in the measurement control-program. This paper describes one way to accomplish this

Bacteriological aspects of hand washing: A key for health promotion and infections control

Directory of Open Access Journals (Sweden)

Ramezan Ali Ataee

2017-01-01

Full Text Available The aim of this review is to show the historical aspects of hands washing for healthy life and explains how can reduce the transmission of community-acquired infectious agents by healthcare workers and patients. This review article is prepared based on available database. The key words used were hands washing, risk assessment, hands hygiene, bacterial flora, contamination, infection, nosocomial, tap water, sanitizer, bacterial resistance, hands bacterial flora, washing methods, antiseptics, healthcare workers, healthcare personnel, from PubMed, ScienceDirect, Embase, Scopus, Web of Sciences, and Google Scholar. Data were descriptively analyzed. The insistence on hand washing has a history of 1400 years. The research results indicate that the bacteria released from the female washed hands in wet and dry condition was lower than from the male′s hands with a significance level (3 CFU vs. 8 CFU; confidence interval 95%, P ≤ 0.001. The valuable results of the study indicated that released amount of bacterial flora from wet hands is more than 10 times in compared to dry hands. In addition, established monitoring systems for washing hands before and after patient′s manipulation as well as after toilet were dominant indices to prevent the transfer of infectious agents to the patients. Increasing awareness and belief of the healthcare workers have shown an important role by about 30% reduction in the transfection. Hand washing could reduce the episodes of transmission of infectious agents in both community and healthcare settings. However, hand washing is an important key factor to prevent transmission of infectious agents to patients. There is no standard method for measuring compliance. Thus, permanent monitoring of hand washing to reduce the transmission of infections is crucial. Finally, the personnel must believe that hand washing is an inevitable approach to infection control.

Control Capabilities of Myoelectric Robotic Prostheses by Hand Amputees: A Scientific Research and Market Overview.

Science.gov (United States)

Atzori, Manfredo; Müller, Henning

2015-01-01

Hand amputation can dramatically affect the capabilities of a person. Cortical reorganization occurs in the brain, but the motor and somatosensorial cortex can interact with the remnant muscles of the missing hand even many years after the amputation, leading to the possibility to restore the capabilities of hand amputees through myoelectric prostheses. Myoelectric hand prostheses with many degrees of freedom are commercially available and recent advances in rehabilitation robotics suggest that their natural control can be performed in real life. The first commercial products exploiting pattern recognition to recognize the movements have recently been released, however the most common control systems are still usually unnatural and must be learned through long training. Dexterous and naturally controlled robotic prostheses can become reality in the everyday life of amputees but the path still requires many steps. This mini-review aims to improve the situation by giving an overview of the advancements in the commercial and scientific domains in order to outline the current and future chances in this field and to foster the integration between market and scientific research.

Control Capabilities of Myoelectric Robotic Prostheses by Hand Amputees: A Scientific Research and Market Overview

Directory of Open Access Journals (Sweden)

Manfredo eAtzori

2015-11-01

Full Text Available Hand amputation can dramatically affect the capabilities of a person. Cortical reorganization occurs in the brain, but the motor and somatosensorial cortex can interact with the remnant muscles of the missing hand even many years after the amputation, leading to the possibility to restore the capabilities of hand amputees through myoelectric prostheses. Myoelectric hand prostheses with many degrees of freedom are commercially available and recent advances in rehabilitation robotics suggest that their natural control can be performed in real life. The first commercial products exploiting pattern recognition to recognize the movements have recently been released, however the most common control systems are still usually unnatural and must be learned through long training. Dexterous and naturally controlled robotic prostheses can become reality in the everyday life of amputees but the path still requires many steps. This mini-review aims to improve the situation by giving an overview of the advancements in the commercial and scientific domains in order to outline the current and future chances in this field and to foster the integration between market and scientific research.

sEMG Signal Acquisition Strategy towards Hand FES Control

Directory of Open Access Journals (Sweden)

Cinthya Lourdes Toledo-Peral

2018-01-01

Full Text Available Due to damage of the nervous system, patients experience impediments in their daily life: severe fatigue, tremor or impaired hand dexterity, hemiparesis, or hemiplegia. Surface electromyography (sEMG signal analysis is used to identify motion; however, standardization of electrode placement and classification of sEMG patterns are major challenges. This paper describes a technique used to acquire sEMG signals for five hand motion patterns from six able-bodied subjects using an array of recording and stimulation electrodes placed on the forearm and its effects over functional electrical stimulation (FES and volitional sEMG combinations, in order to eventually control a sEMG-driven FES neuroprosthesis for upper limb rehabilitation. A two-part protocol was performed. First, personalized templates to place eight sEMG bipolar channels were designed; with these data, a universal template, called forearm electrode set (FELT, was built. Second, volitional and evoked movements were recorded during FES application. 95% classification accuracy was achieved using two sessions per movement. With the FELT, it was possible to perform FES and sEMG recordings simultaneously. Also, it was possible to extract the volitional and evoked sEMG from the raw signal, which is highly important for closed-loop FES control.

Distortion control in 20MnCr5 bevel gears after liquid nitriding process to maintain precision dimensions

Science.gov (United States)

Mahendiran, M.; Kavitha, M.

2018-02-01

Robotic and automotive gears are generally very high precision components with limitations in tolerances. Bevel gears are more widely used and dimensionally very close tolerance components that need stability without any backlash or distortion for smooth and trouble free functions. Nitriding is carried out to enhance wear resistance of the surface. The aim of this paper is to reduce the distortion in liquid nitriding process, though plasma nitriding is preferred for high precision components. Various trials were conducted to optimize the process parameters, considering pre dimensional setting for nominal nitriding layer growth. Surface cleaning, suitable fixtures and stress relieving operations were also done to optimize the process. Micro structural analysis and Vickers hardness testing were carried out for analyzing the phase changes, variation in surface hardness and case depth. CNC gear testing machine was used for determining the distortion level. The presence of white layer was found for about 10-15μm in the case depth of 250± 3.5μm showing an average surface hardness of 670 HV. Hence the economical liquid nitriding process was successfully used for producing high hardness and wear resistant coating over 20MnCr5 material with less distortion and reduced secondary grinding process for dimensional control.

Near-infrared free carrier absorption in heavily doped silicon

International Nuclear Information System (INIS)

Baker-Finch, Simeon C.; McIntosh, Keith R.; Yan, Di; Fong, Kean Chern; Kho, Teng C.

2014-01-01

Free carrier absorption in heavily doped silicon can have a significant impact on devices operating in the infrared. In the near infrared, the free carrier absorption process can compete with band to band absorption processes, thereby reducing the number of available photons to optoelectronic devices such as solar cells. In this work, we fabricate 18 heavily doped regions by phosphorus and boron diffusion into planar polished silicon wafers; the simple sample structure facilitates accurate and precise measurement of the free carrier absorptance. We measure and model reflectance and transmittance dispersion to arrive at a parameterisation for the free carrier absorption coefficient that applies in the wavelength range between 1000 and 1500 nm, and the range of dopant densities between ∼10 18 and 3 × 10 20  cm −3 . Our measurements indicate that previously published parameterisations underestimate the free carrier absorptance in phosphorus diffusions. On the other hand, published parameterisations are generally consistent with our measurements and model for boron diffusions. Our new model is the first to be assigned uncertainty and is well-suited to routine device analysis

Practical controller design for ultra-precision positioning of stages with a pneumatic artificial muscle actuator

Science.gov (United States)

Tang, T. F.; Chong, S. H.

2017-06-01

This paper presents a practical controller design method for ultra-precision positioning of pneumatic artificial muscle actuator stages. Pneumatic artificial muscle (PAM) actuators are safe to use and have numerous advantages which have brought these actuators to wide applications. However, PAM exhibits strong non-linear characteristics, and these limitations lead to low controllability and limit its application. In practice, the non-linear characteristics of PAM mechanism are difficult to be precisely modeled, and time consuming to model them accurately. The purpose of the present study is to clarify a practical controller design method that emphasizes a simple design procedure that does not acquire plants parameters modeling, and yet is able to demonstrate ultra-precision positioning performance for a PAM driven stage. The practical control approach adopts continuous motion nominal characteristic trajectory following (CM NCTF) control as the feedback controller. The constructed PAM driven stage is in low damping characteristic and causes severe residual vibration that deteriorates motion accuracy of the system. Therefore, the idea to increase the damping characteristic by having an acceleration feedback compensation to the plant has been proposed. The effectiveness of the proposed controller was verified experimentally and compared with a classical PI controller in point-to-point motion. The experiment results proved that the CM NCTF controller demonstrates better positioning performance in smaller motion error than the PI controller. Overall, the CM NCTF controller has successfully to reduce motion error to 3µm, which is 88.7% smaller than the PI controller.

Strong signatures of right-handed compositeness

Energy Technology Data Exchange (ETDEWEB)

Redi, Michele [INFN, Sesto Fiorentino, Firenze (Italy); Sanz, Veronica [York Univ., Toronto, ON (Canada). Dept. of Physics and Astronomy; Sussex Univ., Brighton (United Kingdom). Dept. of Physics and Astronomy; Vries, Maikel de; Weiler, Andreas [Deutsches Elektronen-Synchrotron (DESY), Hamburg (Germany)

2013-05-15

Right-handed light quarks could be significantly composite, yet compatible with experimental searches at the LHC and precision tests on Standard Model couplings. In these scenarios, that are motivated by flavor physics, one expects large cross sections for the production of new resonances coupled to light quarks. We study experimental strong signatures of right-handed compositeness at the LHC, and constrain the parameter space of these models with recent results by ATLAS and CMS. We show that the LHC sensitivity could be significantly improved if dedicated searches were performed, in particular in multi-jet signals.

Free-piston reciprocating cryogenic expander utilizing phase controller

Science.gov (United States)

Cha, Jeongmin; Park, Jiho; Kim, Kyungjoong; Jeong, Sangkwon

2017-02-01

In a free-piston expander which eliminates mechanical linkages, a prescribed behaviour of the free-piston movement is the key to an expander performance. In this paper, we have proposed an idea of reducing complexity of the free-piston expander. It is to replace both multiple solenoid valves and reservoirs that are indispensable in a previous machine with a combination of a single orifice-reservoir assembly. It functions as a phase controller like that of a pulse tube refrigerator so that it generates time-delay of pressure variation between the warm-end and the reservoir resulting in the intended expansion of the cold-end volume down to the pre-set reservoir pressure. The modeling of this unique free-piston reciprocating expander utilizing phase controller is developed to understand and predict the performance of the new-type expander. Additionally, the operating parameters are analysed at the specified conditions to enable one to develop a more efficient free-piston type cryogenic expander.

Primary Coolant pH Control for Soluble Boron-Free PWRs

International Nuclear Information System (INIS)

Cheon, Yang Ho; Lee, Nam Yeong; Park, Byeong Ho; Park, Seong Chan; Kim, Eun Kee

2015-01-01

These should be considered when evaluating and designing the operating pH program for nuclear power plants. This paper discusses the advanced water chemistry strategies to keep pace with the recent global trends related to pH control in the primary water system for soluble boron pressurized water reactor (PWR) plants. Finally, the objective of this work is to study primary coolant pH control for soluble boron-free PWR plants. This paper reviewed the advanced water chemistry strategies to keep pace with the recent global trends related to pH control in the primary water chemistry system for soluble boron PWR plants. The new chemistry trend for the primary coolant is towards adaption of the constant and elevated chemistry. Finally, this work studied primary coolant pH control for soluble boron-free PWR plants. The ammonia-based water chemistry related to pH control for boron-free PWR plants was discussed. The ammonia-based water chemistry is not recommended to avoid fluctuation of the pH value by ammonia radiolysis and to reduce C-14 production in reactor coolant from reaction with dissolved nitrogen. Also, the potassium-based water chemistry related to pH control for boron-free PWR plants was discussed. KOH has a potential as an alternative pH control agent for soluble boron-free PWR plants. The potassium-based water chemistry related to pH control is recommended for boron-free operation as follows

A Method for Precision Closed-Loop Irrigation Using a Modified PID Control Algorithm

Science.gov (United States)

Goodchild, Martin; Kühn, Karl; Jenkins, Malcolm; Burek, Kazimierz; Dutton, Andrew

2016-04-01

The benefits of closed-loop irrigation control have been demonstrated in grower trials which show the potential for improved crop yields and resource usage. Managing water use by controlling irrigation in response to soil moisture changes to meet crop water demands is a popular approach but requires knowledge of closed-loop control practice. In theory, to obtain precise closed-loop control of a system it is necessary to characterise every component in the control loop to derive the appropriate controller parameters, i.e. proportional, integral & derivative (PID) parameters in a classic PID controller. In practice this is often difficult to achieve. Empirical methods are employed to estimate the PID parameters by observing how the system performs under open-loop conditions. In this paper we present a modified PID controller, with a constrained integral function, that delivers excellent regulation of soil moisture by supplying the appropriate amount of water to meet the needs of the plant during the diurnal cycle. Furthermore, the modified PID controller responds quickly to changes in environmental conditions, including rainfall events which can result in: controller windup, under-watering and plant stress conditions. The experimental work successfully demonstrates the functionality of a constrained integral PID controller that delivers robust and precise irrigation control. Coir substrate strawberry growing trial data is also presented illustrating soil moisture control and the ability to match water deliver to solar radiation.

Dynamics, control and sensor issues pertinent to robotic hands for the EVA retriever system

Science.gov (United States)

Mclauchlan, Robert A.

1987-01-01

Basic dynamics, sensor, control, and related artificial intelligence issues pertinent to smart robotic hands for the Extra Vehicular Activity (EVA) Retriever system are summarized and discussed. These smart hands are to be used as end effectors on arms attached to manned maneuvering units (MMU). The Retriever robotic systems comprised of MMU, arm and smart hands, are being developed to aid crewmen in the performance of routine EVA tasks including tool and object retrieval. The ultimate goal is to enhance the effectiveness of EVA crewmen.

New portable hand-held radiation instruments for measurements and monitoring

International Nuclear Information System (INIS)

Fehlau, P.E.

1987-01-01

Hand-held radiation monitors are often used to search pedestrians and motor vehicles for special nuclear material (SNM) as part of a physical protection plan for nuclear materials. Recently, the Los Alamos Advanced Nuclear Technology group has commercialized an improved hand-held monitor that can be used for both physical-protection monitoring and verification measurements in nuclear material control and waste management. The new monitoring instruments are smaller and lighter; operate much longer on a battery charge; are available with NaI(Tl) or neutron and gamma-ray sensitive plastic scintillation detectors; and are less expensive than other comparable instruments. They also have a second operating mode for making precise measurements over counting times as long as 99 s. This mode permits making basic verification measurements that may be needed before transporting nuclear material or waste outside protected areas. Improved verification measurements can be made with a second new hand-held instrument that has a stabilized detector and three separate gamma-ray energy windows to obtain spectral information for SNM quantity, enrichment, or material-type verification

The Design and Development of the Precision Planter Sowing Depth Control System

Directory of Open Access Journals (Sweden)

Liping WEN

2014-01-01

Full Text Available In view the accuracy requirements of sowing depth control for precision planter, we carried out the design and development of control system. This paper main includes the working principle of the control system, the hardware and software design of electro-hydraulic proportional control system. It also respectively explains the software programming of PLC, the software programming of touch screen. Practical application shows that this system has advantages of stable operation, high reliability, convenient operation and maintenance, with high promotion and use value.

Strengthening and stretching for rheumatoid arthritis of the hand (SARAH: design of a randomised controlled trial of a hand and upper limb exercise intervention - ISRCTN89936343

Directory of Open Access Journals (Sweden)

Adams Jo

2012-11-01

Full Text Available Abstract Background Rheumatoid Arthritis (RA commonly affects the hands and wrists with inflammation, deformity, pain, weakness and restricted mobility leading to reduced function. The effectiveness of exercise for RA hands is uncertain, although evidence from small scale studies is promising. The Strengthening And Stretching for Rheumatoid Arthritis of the Hand (SARAH trial is a pragmatic, multi-centre randomised controlled trial evaluating the clinical and cost effectiveness of adding an optimised exercise programme for hands and upper limbs to best practice usual care for patients with RA. Methods/design 480 participants with problematic RA hands will be recruited through 17 NHS trusts. Treatments will be provided by physiotherapists and occupational therapists. Participants will be individually randomised to receive either best practice usual care (joint protection advice, general exercise advice, functional splinting and assistive devices or best practice usual care supplemented with an individualised exercise programme of strengthening and stretching exercises. The study assessors will be blinded to treatment allocation and will follow participants up at four and 12 months. The primary outcome measure is the Hand function subscale of the Michigan Hand Outcome Questionnaire, and secondary outcomes include hand and wrist impairment measures, quality of life, and resource use. Economic and qualitative studies will also be carried out in parallel. Discussion This paper describes the design and development of a trial protocol of a complex intervention study based in therapy out-patient departments. The findings will provide evidence to support or refute the use of an optimised exercise programme for RA of the hand in addition to best practice usual care. Trial registration Current Controlled Trials ISRCTN89936343

Efficacy of the Precise Climate Controller on the reduction of indoor microorganisms

OpenAIRE

Moungthong, Greetha; Klamkam, Pana; Mahakit, Prasit; Chalermwatanachai, Thanit; Thunyaharn, Sudaluck; Monyakul, Veerapol

2014-01-01

Background Nowadays, there are many methods to reduce microorganisms in the air, such as dehumidifier, air purifier or humidity and temperature controller. The Precise Climate Controller is an instrument for controlling humidity and temperature, a concept that is demonstrated. Objective To determine the efficacy of this device, in order to reduce the quantity of the fungi and bacteria in the closed system. Methods This study is a perspective experimental study and is conducted as follows - th...

Effect of clinical parameters on the control of myoelectric robotic prosthetic hands.

Science.gov (United States)

Atzori, Manfredo; Gijsberts, Arjan; Castellini, Claudio; Caputo, Barbara; Hager, Anne-Gabrielle Mittaz; Elsig, Simone; Giatsidis, Giorgio; Bassetto, Franco; Müller, Henning

2016-01-01

Improving the functionality of prosthetic hands with noninvasive techniques is still a challenge. Surface electromyography (sEMG) currently gives limited control capabilities; however, the application of machine learning to the analysis of sEMG signals is promising and has recently been applied in practice, but many questions still remain. In this study, we recorded the sEMG activity of the forearm of 11 male subjects with transradial amputation who were mentally performing 40 hand and wrist movements. The classification performance and the number of independent movements (defined as the subset of movements that could be distinguished with >90% accuracy) were studied in relationship to clinical parameters related to the amputation. The analysis showed that classification accuracy and the number of independent movements increased significantly with phantom limb sensation intensity, remaining forearm percentage, and temporal distance to the amputation. The classification results suggest the possibility of naturally controlling up to 11 movements of a robotic prosthetic hand with almost no training. Knowledge of the relationship between classification accuracy and clinical parameters adds new information regarding the nature of phantom limb pain as well as other clinical parameters, and it can lay the foundations for future "functional amputation" procedures in surgery.

Altered brain functions in HIV positive patients free of HIV- associated neurocognitive disorders: A MRI study during unilateral hand movements

Directory of Open Access Journals (Sweden)

Jing Zhao

2015-03-01

Full Text Available This paper aimed to investigate the brain activity of human immunodeficiency virus (HIV positive patients with normal cognition during unilateral hand movement and whether highly active antiretroviral therapy (HAART could affect the brain function. Functional magnetic resonance imaging (fMRI was performed for 60 HIV positive (HIV+ subjects and −42 healthy age-matched right-handed control subjects. Each subject was evaluated by the neuropsychological test and examined with fMRI during left and right hand movement tasks. HIV+ subjects showed greater activation in anterior cingulum, precuneus, occipital lobes, ipsilateral postcentral gyrus and contralateral cerebellum compared with control group during right hand movement task. However, during left hand movement no statistically significant difference was detected between these two groups. HAART medication for HIV+ subjects lowered the increased activity to normal level. Meanwhile patients receiving the regimen of zidovudine, lamivudine and efavirenz showed lower activity at bilateral caudate and ipsilateral inferior frontal gyrus in comparison with subjects receiving other HAART regimens. Therefore, HIV+ subjects demonstrated brain asymmetry in motor cortex, with increased activity present during right hand movement but absent during left hand movement. HAART proves effective in HIV+ subjects even with normal cognition and the specific regimen of HAART could prevent cerebral abnormal functions. Meanwhile, this study validates that during motor tasks, fMRI can detect the brain signal changes prior to the occurrences of other HIV- associated dysfunctions.

Precision and accuracy, two steps towards the standardization of XRPD measurements

International Nuclear Information System (INIS)

Berti, G.

1996-01-01

Any standardization process requires to get at results comprehensible, reproducible and traceable. Precision and accuracy of the measurements play a key role in getting at these requirements. The adoption of either physical (standard) or mathematical models allows for describing the whole diffraction measurement process with the necessary physical significance. From an other hand, the adoption of procedure, which are capable of controlling the measurement process, renders it reproducible and traceable. The falling of those requirements make difficult to transfer or replicate elsewhere experiences which may give even excellent result in a given laboratory

Precision and accuracy, two steps towards the standardization of XRPD measurements

Energy Technology Data Exchange (ETDEWEB)

Berti, G [Pisa Univ. (Italy). Dept. of Earth Sciences

1996-09-01

Any standardization process requires to get at results comprehensible, reproducible and traceable. Precision and accuracy of the measurements play a key role in getting at these requirements. The adoption of either physical (standard) or mathematical models allows for describing the whole diffraction measurement process with the necessary physical significance. From an other hand, the adoption of procedure, which are capable of controlling the measurement process, renders it reproducible and traceable. The falling of those requirements make difficult to transfer or replicate elsewhere experiences which may give even excellent result in a given laboratory.

Control system for JAERI Free Electron Laser

International Nuclear Information System (INIS)

Sugimoto, Masayoshi

1992-01-01

A control system comprising of the personal computers network and the CAMAC stations for the JAERI Free Electron Laser is designed and is in the development stage. It controls the equipment and analyzes the electron and optical beam experiments. The concept and the prototype of the control system are described. (author)

Controlling cell-free metabolism through physiochemical perturbations.

Science.gov (United States)

Karim, Ashty S; Heggestad, Jacob T; Crowe, Samantha A; Jewett, Michael C

2018-01-01

Building biosynthetic pathways and engineering metabolic reactions in cells can be time-consuming due to complexities in cellular metabolism. These complexities often convolute the combinatorial testing of biosynthetic pathway designs needed to define an optimal biosynthetic system. To simplify the optimization of biosynthetic systems, we recently reported a new cell-free framework for pathway construction and testing. In this framework, multiple crude-cell extracts are selectively enriched with individual pathway enzymes, which are then mixed to construct full biosynthetic pathways on the time scale of a day. This rapid approach to building pathways aids in the study of metabolic pathway performance by providing a unique freedom of design to modify and control biological systems for both fundamental and applied biotechnology. The goal of this work was to demonstrate the ability to probe biosynthetic pathway performance in our cell-free framework by perturbing physiochemical conditions, using n-butanol synthesis as a model. We carried out three unique case studies. First, we demonstrated the power of our cell-free approach to maximize biosynthesis yields by mapping physiochemical landscapes using a robotic liquid-handler. This allowed us to determine that NAD and CoA are the most important factors that govern cell-free n-butanol metabolism. Second, we compared metabolic profile differences between two different approaches for building pathways from enriched lysates, heterologous expression and cell-free protein synthesis. We discover that phosphate from PEP utilization, along with other physiochemical reagents, during cell-free protein synthesis-coupled, crude-lysate metabolic system operation inhibits optimal cell-free n-butanol metabolism. Third, we show that non-phosphorylated secondary energy substrates can be used to fuel cell-free protein synthesis and n-butanol biosynthesis. Taken together, our work highlights the ease of using cell-free systems to explore

Quantitative Assessment of the Arm/Hand Movements in Parkinson’s Disease Using a Wireless Armband Device

Directory of Open Access Journals (Sweden)

Sofija Spasojević

2017-08-01

Full Text Available We present an approach for quantitative assessment of the arm/hand movements in patients with Parkinson’s disease (PD, from sensor data acquired with a wearable, wireless armband device (Myo sensor. We propose new Movement Performance Indicators that can be adopted by practitioners for the quantitative evaluation of motor performance and support their clinical evaluations. In addition, specific Movement Performance Indicators can indicate the presence of the bradykinesia symptom. The study includes seventeen PD patients and sixteen age-matched controls. A set of representative arm/hand movements is defined under the supervision of movement disorder specialist. In order to assist the evaluations, and for progress monitoring purposes, as well as for assessing the amount of bradykinesia in PD, a total set of 84 Movement Performance Indicators are computed from the sensor readings. Subsequently, we investigate whether wireless armband device, with the use of the proposed Movement Performance Indicators can be utilized: (1 for objective and precise quantitative evaluation of the arm/hand movements of Parkinson’s patients, (2 for assessment of the bradykinesia motor symptom, and (3 as an adequate low-cost alternative for the sensor glove. We conducted extensive analysis of proposed Movement Performance Indicators and results are indicating following clinically relevant characteristics: (i adequate reliability as measured by ICC; (ii high accuracy in discrimination between the patients and controls, and between the disease stages (support to disease diagnosis and progress monitoring, respectively; (iii substantial difference in comparison between the left-hand and the right-hand movements across controls and patients, as well as between disease stage groups; (iv statistically significant correlation with clinical scales (tapping test and UPDRS-III Motor Score; and (v quantitative evaluation of bradykinesia symptom. Results suggest that the proposed

Micropropulsion Systems for Precision Controlled Space Flight

DEFF Research Database (Denmark)

Larsen, Jack

. This project is thus concentrating on developing a method by which an entire, ecient, control system compensating for the disturbances from the space environment and thereby enabling precision formation flight can be realized. The space environment is initially studied and the knowledge gained is used......Space science is subject to a constantly increasing demand for larger coherence lengths or apertures of the space observation systems, which in turn translates into a demand for increased dimensions and subsequently cost and complexity of the systems. When this increasing demand reaches...... the pratical limitations of increasing the physical dimensions of the spacecrafts, the observation platforms will have to be distributed on more spacecrafts flying in very accurate formations. Consequently, the observation platform becomes much more sensitive to disturbances from the space environment...

Neuro-prosthetic interplay. Comment on "Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands" by M. Santello et al.

Science.gov (United States)

Schieber, Marc H.

2016-07-01

Control of the human hand has been both difficult to understand scientifically and difficult to emulate technologically. The article by Santello and colleagues in the current issue of Physics of Life Reviews[1] highlights the accelerating pace of interaction between the neuroscience of controlling body movement and the engineering of robotic hands that can be used either autonomously or as part of a motor neuroprosthesis, an artificial body part that moves under control from a human subject's own nervous system. Motor neuroprostheses typically involve a brain-computer interface (BCI) that takes signals from the subject's nervous system or muscles, interprets those signals through a decoding algorithm, and then applies the resulting output to control the artificial device.

Weed Control in Soybean (Glycine max)

International Nuclear Information System (INIS)

Kipkemoi, P.L.

2002-01-01

Weed Compete for limited growth factors with crop plants. This result in loss of crop vigour and hence reduces crop yields. A study was conducted in 1997 and 2001 to evaluate the use of herbicides and hand hoeing for weed control in soybeans. Crop establishment was by hand planting. The herbicides were applied using CP3 Knap sack sprayer calibrated to deliver a spray volume of 150l/ha. Hand weeding treatment were done as appropriate. The trial layout was randomised complete block design with four replications in both years. The tested herbicides did not satisfactorily control the weeds present at the experimental site in both years. Hand weeding on the other hand gave good control of the weeds which were reflected in high soybean yields. In these trials yields were negatively correlated with the number of weeds present. The tested herbicides alone appeared to be inadequate in controlling weeds in soybean. Compared with the weed-free treatment a single application of soil-applied or post-emergence herbicides did not control a broad spectrum of weeds and reduced soybean yields. It can also be inferred that soybean yield losses are minimised if they are kept weed free for at most 6 weeks after emergence

Working hard to make a simple definition of synergies. Comment on: "Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands" by Marco Santello et al.

Science.gov (United States)

Alessandro, Cristiano; Oliveira Barroso, Filipe; Tresch, Matthew

2016-07-01

The paper ;Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands; [1] presents a comprehensive review of the work carried out as part of the EU funded project ;The Hand Embodied;. The work uses the concept of ;synergy; to study the neuromuscular control of the human hand and to design novel robotics systems. The project has been very productive and has made important contributions. We are therefore confident that it will lead to further advancements and experiments in the future.

Hand Hygiene With Alcohol-Based Hand Rub: How Long Is Long Enough?

Science.gov (United States)

Pires, Daniela; Soule, Hervé; Bellissimo-Rodrigues, Fernando; Gayet-Ageron, Angèle; Pittet, Didier

2017-05-01

BACKGROUND Hand hygiene is the core element of infection prevention and control. The optimal hand-hygiene gesture, however, remains poorly defined. OBJECTIVE We aimed to evaluate the influence of hand-rubbing duration on the reduction of bacterial counts on the hands of healthcare personnel (HCP). METHODS We performed an experimental study based on the European Norm 1500. Hand rubbing was performed for 10, 15, 20, 30, 45, or 60 seconds, according to the WHO technique using 3 mL alcohol-based hand rub. Hand contamination with E. coli ATCC 10536 was followed by hand rubbing and sampling. A generalized linear mixed model with a random effect on the subject adjusted for hand size and gender was used to analyze the reduction in bacterial counts after each hand-rubbing action. In addition, hand-rubbing durations of 15 and 30 seconds were compared to assert non-inferiority (0.6 log10). RESULTS In total, 32 HCP performed 123 trials. All durations of hand rubbing led to significant reductions in bacterial counts (Phand rubbing were not significantly different from those obtained after 30 seconds. The mean bacterial reduction after 15 seconds of hand rubbing was 0.11 log10 lower (95% CI, -0.46 to 0.24) than after 30 seconds, demonstrating non-inferiority. CONCLUSIONS Hand rubbing for 15 seconds was not inferior to 30 seconds in reducing bacterial counts on hands under the described experimental conditions. There was no gain in reducing bacterial counts from hand rubbing longer than 30 seconds. Further studies are needed to assess the clinical significance of our findings. Infect Control Hosp Epidemiol 2017;38:547-552.

The left hand doesn't know what the right hand is doing: the disruptive effects of attention to the hands in skilled typewriting.

Science.gov (United States)

Logan, Gordon D; Crump, Matthew J C

2009-10-01

Everyone knows that attention to the details disrupts skilled performance, but little empirical evidence documents this fact. We show that attention to the hands disrupts skilled typewriting. We had skilled typists type words preceded by cues that told them to type only the letters assigned to one hand or to type all of the letters. Cuing the hands disrupted performance markedly, slowing typing and increasing the error rate (Experiment 1); these deleterious effects were observed even when no keystrokes were actually inhibited (Experiment 3). However, cuing the same letters with colors was not disruptive (Experiment 2). We account for the disruption with a hierarchical control model, in which an inner loop controls the hands and an outer loop controls what is typed. Typing letters using only one hand requires the outer loop to monitor the inner loop's output; the outer loop slows inner-loop cycle time to increase the likelihood of inhibiting responses with the unwanted hand. This produces the disruption.

[Hand hygiene: first measure to control nosocomial infection].

Science.gov (United States)

Christiaens, G; Barbier, C; Mutsers, J; Warnotte, J; De Mol, P; Bouffioux, C

2006-01-01

Hand hygiene prevents cross infection in hospi tals, however adherence to guidelines is commonly poor. The hand-hygiene promotion programme started on May 2004 at the University Hospital of Liège after a baseline survey of compliance. We attempted to promote hand hygiene and most par ticularly alcohol-based hand disinfection. We measured MRSA transmission rates and consumption of alcohol-based handrub solution and soap in parallel. During the campaign, consump tion of alcohol-based handrub solution and soap increased by 56% and 24% respectively and MRSA transmission rates decreased from 11,04 to 7,07 cases per 1000 admissions.

Active and Precise Control of Microdroplet Division Using Horizontal Pneumatic Valves in Bifurcating Microchannel

Directory of Open Access Journals (Sweden)

Shuichi Shoji

2013-05-01

Full Text Available This paper presents a microfluidic system for the active and precise control of microdroplet division in a micro device. Using two horizontal pneumatic valves formed at downstream of bifurcating microchannel, flow resistances of downstream channels were variably controlled. With the resistance control, volumetric ratio of downstream flows was changed and water-in-oil microdroplets were divided into two daughter droplets of different volume corresponding to the ratio. The microfluidic channels and pneumatic valves were fabricated by single-step soft lithography process of PDMS (polydimethylsiloxane using SU-8 mold. A wide range control of the daughter droplets’ volume ratio was achieved by the simple channel structure. Volumetric ratio between large and small daughter droplets are ranged from 1 to 70, and the smallest droplet volume of 14 pL was obtained. The proposed microfluidic device is applicable for precise and high throughput droplet based digital synthesis.

From foraging to operant conditioning: a new computer-controlled Skinner box to study free-flying nectar gathering behavior in bees.

Science.gov (United States)

Sokolowski, Michel B C; Abramson, Charles I

2010-05-15

The experimental study of nectar foraging behavior in free-flying bees requires the use of automated devices to control solution delivery and measure dependent variables associated with nectar gathering. We describe a new computer-controlled artificial flower and provide calibration data to measure the precision of the apparatus. Our device is similar to a "Skinner box" and we present data of an experiment where various amounts of a 50% sugar solution are presented randomly to individual bees. These data show large individual variations among subjects across several dependent variables. Finally, we discuss possible applications of our device to problems in behavioral sciences. Copyright (c) 2010 Elsevier B.V. All rights reserved.

Design and control of precision drop-on-demand herbicide application in agricultural robotics

OpenAIRE

Urdal, Frode; Utstumo, Trygve; Vatne, Jan Kåre; Ellingsen, Simen Andreas Ådnøy; Gravdahl, Jan Tommy

2014-01-01

This is the author’s final, accepted and refereed manuscript to the article. Drop-on-demand weed control is a field of research within Precision Agriculture, where the herbicide application is controlled down to individual droplets. This paper focuses on the fluid dynamics and electronics design of the droplet dispensing. The droplets are formed through an array of nozzles, controlled by two-way solenoid valves. A much used control circuit for opening and closing a soleno...

Illusory movement perception improves motor control for prosthetic hands.

Science.gov (United States)

Marasco, Paul D; Hebert, Jacqueline S; Sensinger, Jon W; Shell, Courtney E; Schofield, Jonathon S; Thumser, Zachary C; Nataraj, Raviraj; Beckler, Dylan T; Dawson, Michael R; Blustein, Dan H; Gill, Satinder; Mensh, Brett D; Granja-Vazquez, Rafael; Newcomb, Madeline D; Carey, Jason P; Orzell, Beth M

2018-03-14

To effortlessly complete an intentional movement, the brain needs feedback from the body regarding the movement's progress. This largely nonconscious kinesthetic sense helps the brain to learn relationships between motor commands and outcomes to correct movement errors. Prosthetic systems for restoring function have predominantly focused on controlling motorized joint movement. Without the kinesthetic sense, however, these devices do not become intuitively controllable. We report a method for endowing human amputees with a kinesthetic perception of dexterous robotic hands. Vibrating the muscles used for prosthetic control via a neural-machine interface produced the illusory perception of complex grip movements. Within minutes, three amputees integrated this kinesthetic feedback and improved movement control. Combining intent, kinesthesia, and vision instilled participants with a sense of agency over the robotic movements. This feedback approach for closed-loop control opens a pathway to seamless integration of minds and machines. Copyright © 2018 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works.

Depth camera-based 3D hand gesture controls with immersive tactile feedback for natural mid-air gesture interactions.

Science.gov (United States)

Kim, Kwangtaek; Kim, Joongrock; Choi, Jaesung; Kim, Junghyun; Lee, Sangyoun

2015-01-08

Vision-based hand gesture interactions are natural and intuitive when interacting with computers, since we naturally exploit gestures to communicate with other people. However, it is agreed that users suffer from discomfort and fatigue when using gesture-controlled interfaces, due to the lack of physical feedback. To solve the problem, we propose a novel complete solution of a hand gesture control system employing immersive tactile feedback to the user's hand. For this goal, we first developed a fast and accurate hand-tracking algorithm with a Kinect sensor using the proposed MLBP (modified local binary pattern) that can efficiently analyze 3D shapes in depth images. The superiority of our tracking method was verified in terms of tracking accuracy and speed by comparing with existing methods, Natural Interaction Technology for End-user (NITE), 3D Hand Tracker and CamShift. As the second step, a new tactile feedback technology with a piezoelectric actuator has been developed and integrated into the developed hand tracking algorithm, including the DTW (dynamic time warping) gesture recognition algorithm for a complete solution of an immersive gesture control system. The quantitative and qualitative evaluations of the integrated system were conducted with human subjects, and the results demonstrate that our gesture control with tactile feedback is a promising technology compared to a vision-based gesture control system that has typically no feedback for the user's gesture inputs. Our study provides researchers and designers with informative guidelines to develop more natural gesture control systems or immersive user interfaces with haptic feedback.

Depth Camera-Based 3D Hand Gesture Controls with Immersive Tactile Feedback for Natural Mid-Air Gesture Interactions

Directory of Open Access Journals (Sweden)

Kwangtaek Kim

2015-01-01

Full Text Available Vision-based hand gesture interactions are natural and intuitive when interacting with computers, since we naturally exploit gestures to communicate with other people. However, it is agreed that users suffer from discomfort and fatigue when using gesture-controlled interfaces, due to the lack of physical feedback. To solve the problem, we propose a novel complete solution of a hand gesture control system employing immersive tactile feedback to the user’s hand. For this goal, we first developed a fast and accurate hand-tracking algorithm with a Kinect sensor using the proposed MLBP (modified local binary pattern that can efficiently analyze 3D shapes in depth images. The superiority of our tracking method was verified in terms of tracking accuracy and speed by comparing with existing methods, Natural Interaction Technology for End-user (NITE, 3D Hand Tracker and CamShift. As the second step, a new tactile feedback technology with a piezoelectric actuator has been developed and integrated into the developed hand tracking algorithm, including the DTW (dynamic time warping gesture recognition algorithm for a complete solution of an immersive gesture control system. The quantitative and qualitative evaluations of the integrated system were conducted with human subjects, and the results demonstrate that our gesture control with tactile feedback is a promising technology compared to a vision-based gesture control system that has typically no feedback for the user’s gesture inputs. Our study provides researchers and designers with informative guidelines to develop more natural gesture control systems or immersive user interfaces with haptic feedback.

Economic Evaluation of a Multifaceted Implementation Strategy for the Prevention of Hand Eczema Among Healthcare Workers in Comparison with a Control Group: The Hands4U Study.

Science.gov (United States)

van der Meer, Esther W C; van Dongen, Johanna M; Boot, Cécile R L; van der Gulden, Joost W J; Bosmans, Judith E; Anema, Johannes R

2016-05-01

The aim of this study was to evaluate the cost-effectiveness of a multifaceted implementation strategy for the prevention of hand eczema in comparison with a control group among healthcare workers. A total of 48 departments (n=1,649) were randomly allocated to the implementation strategy or the control group. Data on hand eczema and costs were collected at baseline and every 3 months. Cost-effectiveness analyses were performed using linear multilevel analyses. The probability of the implementation strategy being cost-effective gradually increased with an increasing willingness-to-pay, to 0.84 at a ceiling ratio of €590,000 per person with hand eczema prevented (societal perspective). The implementation strategy appeared to be not cost-effective in comparison with the control group (societal perspective), nor was it cost-beneficial to the employer. However, this study had some methodological problems which should be taken into account when interpreting the results.

Second-hand smoke in public spaces: how effective has partial smoke-free legislation been in Malaysia?

Science.gov (United States)

Abidin, Emilia Zainal; Hashim, Zailina; Semple, Sean

2013-01-01

This study was performed to gather data on second-hand smoke (SHS) concentrations in a range of public venues following the implementation of partial Smoke-Free Legislation in Malaysia in 2004. PM2.5 was measured as a marker of SHS levels in a total of 61 restaurants, entertainment centres, internet cafes and pubs in Kuala Lumpur, Malaysia. Under the current smoke-free laws smoking was prohibited in 42 of the 61 premises. Active smoking was observed in nearly one-third (n=12) of these. For premises where smoking was prohibited and no active smoking observed, the mean (standard deviation) indoor PM2.5 concentration was 33.4 (23.8) μg/m3 compared to 187.1 (135.1) μg/m3 in premises where smoking was observed The highest mean PM2.5 was observed in pubs [361.5 (199.3) μg/m3]. This study provides evidence of high levels of SHS across a range of hospitality venues, including about one-third of those where smoking is prohibited, despite 8 years of smoke-free legislation. Compliance with the legislation appeared to be particularly poor in entertainment centres and internet cafes. Workers and non-smoking patrons continue to be exposed to high concentrations of SHS within the hospitality industry in Malaysia and there is an urgent need for increased enforcement of existing legislation and consideration of more comprehensive laws to protect health.

A real-time vision-based hand gesture interaction system for virtual EAST

International Nuclear Information System (INIS)

Wang, K.R.; Xiao, B.J.; Xia, J.Y.; Li, Dan; Luo, W.L.

2016-01-01

Highlights: • Hand gesture interaction is first introduced to EAST model interaction. • We can interact with EAST model by a bared hand and a web camera. • We can interact with EAST model with a distance to screen. • Interaction is free, direct and effective. - Abstract: The virtual Experimental Advanced Superconducting Tokamak device (VEAST) is a very complicated 3D model, to interact with which, the traditional interaction devices are limited and inefficient. However, with the development of human-computer interaction (HCI), the hand gesture interaction has become a much popular choice in recent years. In this paper, we propose a real-time vision-based hand gesture interaction system for VEAST. By using one web camera, we can use our bare hand to interact with VEAST at a certain distance, which proves to be more efficient and direct than mouse. The system is composed of four modules: initialization, hand gesture recognition, interaction control and system settings. The hand gesture recognition method is based on codebook (CB) background modeling and open finger counting. Firstly, we build a background model with CB algorithm. Then, we segment the hand region by detecting skin color regions with “elliptical boundary model” in CbCr flat of YCbCr color space. Open finger which is used as a key feature of gesture can be tracked by an improved curvature-based method. Based on the method, we define nine gestures for interaction control of VEAST. Finally, we design a test to demonstrate effectiveness of our system.

A real-time vision-based hand gesture interaction system for virtual EAST

Energy Technology Data Exchange (ETDEWEB)

Wang, K.R., E-mail: wangkr@mail.ustc.edu.cn [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei, Anhui (China); University of Science and Technology of China, Hefei, Anhui (China); Xiao, B.J.; Xia, J.Y. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei, Anhui (China); University of Science and Technology of China, Hefei, Anhui (China); Li, Dan [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei, Anhui (China); Luo, W.L. [709th Research Institute, Shipbuilding Industry Corporation (China)

2016-11-15

Highlights: • Hand gesture interaction is first introduced to EAST model interaction. • We can interact with EAST model by a bared hand and a web camera. • We can interact with EAST model with a distance to screen. • Interaction is free, direct and effective. - Abstract: The virtual Experimental Advanced Superconducting Tokamak device (VEAST) is a very complicated 3D model, to interact with which, the traditional interaction devices are limited and inefficient. However, with the development of human-computer interaction (HCI), the hand gesture interaction has become a much popular choice in recent years. In this paper, we propose a real-time vision-based hand gesture interaction system for VEAST. By using one web camera, we can use our bare hand to interact with VEAST at a certain distance, which proves to be more efficient and direct than mouse. The system is composed of four modules: initialization, hand gesture recognition, interaction control and system settings. The hand gesture recognition method is based on codebook (CB) background modeling and open finger counting. Firstly, we build a background model with CB algorithm. Then, we segment the hand region by detecting skin color regions with “elliptical boundary model” in CbCr flat of YCbCr color space. Open finger which is used as a key feature of gesture can be tracked by an improved curvature-based method. Based on the method, we define nine gestures for interaction control of VEAST. Finally, we design a test to demonstrate effectiveness of our system.

Universal Robot Hand Equipped with Tactile and Joint Torque Sensors: Development and Experiments on Stiffness Control and Object Recognition

Directory of Open Access Journals (Sweden)

Hiroyuki NAKAMOTO

2007-04-01

Full Text Available Various humanoid robots have been developed and multifunction robot hands which are able to attach those robots like human hand is needed. But a useful robot hand has not been depeveloped, because there are a lot of problems such as control method of many degrees of freedom and processing method of enormous sensor outputs. Realizing such robot hand, we have developed five-finger robot hand. In this paper, the detailed structure of developed robot hand is described. The robot hand we developed has five fingers of multi-joint that is equipped with joint torque sensors and tactile sensors. We report experimental results of a stiffness control with the developed robot hand. Those results show that it is possible to change the stiffness of joints. Moreover we propose an object recognition method with the tactile sensor. The validity of that method is assured by experimental results.

Recognizing the Operating Hand and the Hand-Changing Process for User Interface Adjustment on Smartphones.

Science.gov (United States)

Guo, Hansong; Huang, He; Huang, Liusheng; Sun, Yu-E

2016-08-20

As the size of smartphone touchscreens has become larger and larger in recent years, operability with a single hand is getting worse, especially for female users. We envision that user experience can be significantly improved if smartphones are able to recognize the current operating hand, detect the hand-changing process and then adjust the user interfaces subsequently. In this paper, we proposed, implemented and evaluated two novel systems. The first one leverages the user-generated touchscreen traces to recognize the current operating hand, and the second one utilizes the accelerometer and gyroscope data of all kinds of activities in the user's daily life to detect the hand-changing process. These two systems are based on two supervised classifiers constructed from a series of refined touchscreen trace, accelerometer and gyroscope features. As opposed to existing solutions that all require users to select the current operating hand or confirm the hand-changing process manually, our systems follow much more convenient and practical methods and allow users to change the operating hand frequently without any harm to the user experience. We conduct extensive experiments on Samsung Galaxy S4 smartphones, and the evaluation results demonstrate that our proposed systems can recognize the current operating hand and detect the hand-changing process with 94.1% and 93.9% precision and 94.1% and 93.7% True Positive Rates (TPR) respectively, when deciding with a single touchscreen trace or accelerometer-gyroscope data segment, and the False Positive Rates (FPR) are as low as 2.6% and 0.7% accordingly. These two systems can either work completely independently and achieve pretty high accuracies or work jointly to further improve the recognition accuracy.

Real-Time Control System for Improved Precision and Throughput in an Ultrafast Carbon Fiber Placement Robot Using a SoC FPGA Extended Processing Platform

Directory of Open Access Journals (Sweden)

Gilberto Ochoa-Ruiz

2017-01-01

Full Text Available We present an architecture for accelerating the processing and execution of control commands in an ultrafast fiber placement robot. The system consists of a robotic arm designed by Coriolis Composites whose purpose is to move along a surface, on which composite fibers are deposed, via an independently controlled head. In first system implementation, the control commands were sent via Profibus by a PLC, limiting the reaction time and thus the precision of the fiber placement and the maximum throughput. Therefore, a custom real-time solution was imperative in order to ameliorate the performance and to meet the stringent requirements of the target industry (avionics, aeronautical systems. The solution presented in this paper is based on the use of a SoC FPGA processing platform running a real-time operating system (FreeRTOS, which has enabled an improved comamnd retrieval mechanism. The system’s placement precision was improved by a factor of 20 (from 1 mm to 0.05 mm, while the maximum achievable throughput was 1 m/s, compared to the average 30 cm/s provided by the original solution, enabling fabricating more complex and larger pieces in a significant fraction of the time.

Multi-sensor control for precise assembly of optical components

Directory of Open Access Journals (Sweden)

Ma Li

2014-06-01

Full Text Available In order to perform an optical assembly accurately, a multi-sensor control strategy is developed which includes an attitude measurement system, a vision system, a loss measurement system and a force sensor. A 3-DOF attitude measuring method using linear variable differential transformers (LVDT is designed to adjust the relation of position and attitude between the spherical mirror and the resonator. A micro vision feedback system is set up to extract the light beam and the diaphragm, which can achieve the coarse positioning of the spherical mirror in the optical assembly process. A rapid self-correlation method is presented to analyze the spectrum signal for the fine positioning. In order to prevent the damage of the optical components and realize sealing of the resonator, a hybrid force-position control is constructed to control the contact force of the optical components. The experimental results show that the proposed multi-sensor control strategy succeeds in accomplishing the precise assembly of the optical components, which consists of parallel adjustment, macro coarse adjustment, macro approach, micro fine adjustment, micro approach and optical contact. Therefore, the results validate the multi-sensor control strategy.

Precise Modeling Based on Dynamic Phasors for Droop-Controlled Parallel-Connected Inverters

DEFF Research Database (Denmark)

Wang, L.; Guo, X.Q.; Gu, H.R.

2012-01-01

This paper deals with the precise modeling of droop controlled parallel inverters. This is very attractive since that is a common structure that can be found in a stand-alone droopcontrolled MicroGrid. The conventional small-signal dynamic is not able to predict instabilities of the system, so...

Stable Myoelectric Control of a Hand Prosthesis using Non-Linear Incremental Learning

Directory of Open Access Journals (Sweden)

Arjan eGijsberts

2014-02-01

Full Text Available Stable myoelectric control of hand prostheses remains an open problem. The only successful human-machine interface is surface electromyography, typically allowing control of a few degrees of freedom. Machine learning techniques may have the potential to remove these limitations, but their performance is thus far inadequate: myoelectric signals change over time under the influence of various factors, deteriorating control performance. It is therefore necessary, in the standard approach, to regularly retrain a new model from scratch.We hereby propose a non-linear incremental learning method in which occasional updates with a modest amount of novel training data allow continual adaptation to the changes in the signals. In particular, Incremental Ridge Regression and an approximation of the Gaussian Kernel known as Random Fourier Features are combined to predict finger forces from myoelectric signals, both finger-by-finger and grouped in grasping patterns.We show that the approach is effective and practically applicable to this problem by first analyzing its performance while predicting single-finger forces. Surface electromyography and finger forces were collected from 10 intact subjects during four sessions spread over two different days; the results of the analysis show that small incremental updates are indeed effective to maintain a stable level of performance.Subsequently, we employed the same method on-line to teleoperate a humanoid robotic arm equipped with a state-of-the-art commercial prosthetic hand. The subject could reliably grasp, carry and release everyday-life objects, enforcing stable grasping irrespective of the signal changes, hand/arm movements and wrist pronation and supination.

Surface EMG in advanced hand prosthetics.

Science.gov (United States)

Castellini, Claudio; van der Smagt, Patrick

2009-01-01

One of the major problems when dealing with highly dexterous, active hand prostheses is their control by the patient wearing them. With the advances in mechatronics, building prosthetic hands with multiple active degrees of freedom is realisable, but actively controlling the position and especially the exerted force of each finger cannot yet be done naturally. This paper deals with advanced robotic hand control via surface electromyography. Building upon recent results, we show that machine learning, together with a simple downsampling algorithm, can be effectively used to control on-line, in real time, finger position as well as finger force of a highly dexterous robotic hand. The system determines the type of grasp a human subject is willing to use, and the required amount of force involved, with a high degree of accuracy. This represents a remarkable improvement with respect to the state-of-the-art of feed-forward control of dexterous mechanical hands, and opens up a scenario in which amputees will be able to control hand prostheses in a much finer way than it has so far been possible.

The Ninapro database: A resource for sEMG naturally controlled robotic hand prosthetics.

Science.gov (United States)

Atzori, Manfredo; Muller, Henning

2015-01-01

The dexterous natural control of robotic prosthetic hands with non-invasive techniques is still a challenge: surface electromyography gives some control capabilities but these are limited, often not natural and require long training times; the application of pattern recognition techniques recently started to be applied in practice. While results in the scientific literature are promising they have to be improved to reach the real needs. The Ninapro database aims to improve the field of naturally controlled robotic hand prosthetics by permitting to worldwide research groups to develop and test movement recognition and force control algorithms on a benchmark database. Currently, the Ninapro database includes data from 67 intact subjects and 11 amputated subject performing approximately 50 different movements. The data are aimed at permitting the study of the relationships between surface electromyography, kinematics and dynamics. The Ninapro acquisition protocol was created in order to be easy to be reproduced. Currently, the number of datasets included in the database is increasing thanks to the collaboration of several research groups.

Utilization of special computerized tomography and nuclear medicine techniques for quality control and for the optimization of combined precision chemotherapy and precision radiation therapy

International Nuclear Information System (INIS)

Wiley, A.L. Jr.; Wirtanen, G.W.; Chien, I.-C.

1984-01-01

A combination of precision (selective, intra-arterial) chemotherapy and precision radiotherapy can be used for advanced pancreatic, biliary tract, and sarcomatous malignancies. There were some remarkable responses, but also a few poor responses and even some morbidity. Accordingly, methods are developed of pre-selecting those patients whose tumors are likely to respond to such therapy, as well as methods for improving the therapeutic ratio by the rational optimization of combined therapy. Specifically, clinical tumor blood flow characteristics (monitored with nuclear medicine techniques) may provide useful criteria for such selection. The authors also evaluate qualitatively the drug distribution or exposure space with specialized color-coded computerized tomography images, which demonstrate spatially dependent enhancement of intra-arterial contrast in tumor and in adjacent normal tissues. Such clinical data can improve the quality control aspects of intra-arterial chemotherapy administration, as well as the possibility of achievement of a significant therapeutic ratio by the integration of precision chemotherapy and precision radiation therapy. (Auth.)

Randomized Controlled Trial of Antiseptic Hand Hygiene Methods in an Outpatient Surgery Clinic.

Science.gov (United States)

Therattil, Paul J; Yueh, Janet H; Kordahi, Anthony M; Cherla, Deepa V; Lee, Edward S; Granick, Mark S

2015-12-01

Outpatient wound care plays an integral part in any plastic surgery practice. However, compliance with hand hygiene measures has shown to be low, due to skin irritation and lack of time. The objective of this trial was to determine whether single-use, long-acting antiseptics can be as effective as standard multiple-use hand hygiene methods in an outpatient surgical setting. A prospective, randomized controlled trial was performed in the authors' outpatient plastic surgery clinic at Rutgers New Jersey Medical School, Newark, NJ to compare the efficacy of an ethyl alcohol-based sanitizer (Avagard D Instant Hand Aniseptic, 3M Health Care, St. Paul, MN), a benzalkonium chloride-based sanitizer (Soft & Shield, Bioderm Technologies, Inc, Trenton, NJ, distributed by NAPP Technologies, Hackensack, NJ ), and soap and- water handwashing. Subjects included clinic personnel, who were followed throughout the course of a 3-hour clinic session with hourly hand bacterial counts taken. During the course of the trial, 95 subjects completed the clinic session utilizing 1 of the hand hygiene methods (36 ethyl alcohol-based sanitizer, 38 benzalkonium chloride-based sanitizer, and 21 soap-and-water handwashing). There was no difference between hand bacterial counts using the different methods at 4 hourly time points (P greater than 0.05). Hand bacterial counts increased significantly over the 3-hour clinic session with the ethyl alcohol-based sanitizer (9.24 to 21.90 CFU, P less than 0.05), benzalkonium chloride-based sanitizer (6.69 to 21.59 CFU, P less than 0.05), and soap-and-water handwashing (8.43 to 22.75 CFU, P less than 0.05). There does not appear to be any difference in efficacy between single-use, long-acting sanitizer, and standard multiple-use hand hygiene methods. Hand bacterial counts increased significantly over the course of the 3-hour clinic session regardless of the hand hygiene measure used. Hand condition of subjects was improved with the ethyl alcohol

Precision control of recombinant gene transcription for CHO cell synthetic biology.

Science.gov (United States)

Brown, Adam J; James, David C

2016-01-01

The next generation of mammalian cell factories for biopharmaceutical production will be genetically engineered to possess both generic and product-specific manufacturing capabilities that may not exist naturally. Introduction of entirely new combinations of synthetic functions (e.g. novel metabolic or stress-response pathways), and retro-engineering of existing functional cell modules will drive disruptive change in cellular manufacturing performance. However, before we can apply the core concepts underpinning synthetic biology (design, build, test) to CHO cell engineering we must first develop practical and robust enabling technologies. Fundamentally, we will require the ability to precisely control the relative stoichiometry of numerous functional components we simultaneously introduce into the host cell factory. In this review we discuss how this can be achieved by design of engineered promoters that enable concerted control of recombinant gene transcription. We describe the specific mechanisms of transcriptional regulation that affect promoter function during bioproduction processes, and detail the highly-specific promoter design criteria that are required in the context of CHO cell engineering. The relative applicability of diverse promoter development strategies are discussed, including re-engineering of natural sequences, design of synthetic transcription factor-based systems, and construction of synthetic promoters. This review highlights the potential of promoter engineering to achieve precision transcriptional control for CHO cell synthetic biology. Copyright © 2015. Published by Elsevier Inc.

‎ Late Recovery from Stuttering: The Role of Hand ‎Dominancy, Fine Motor and ‎Inhibition Control

Directory of Open Access Journals (Sweden)

Hiwa Mohammadi

2016-02-01

Full Text Available Objective: There are controversial reports about factors that affect recovery from stuttering. In the ‎present study, the effect of hand dominancy, fine motor and inhibition control on late ‎recovery from stuttering was investigated among a group of Kurdish-Persian children who ‎stuttered in Iran.‎Method: Twenty-two Kurdish-Persian children aged 7-14 years who stuttered were followed for 6 ‎years. Based on the evaluation of three experienced speech therapists and parental judgments, ‎these children were classified into recovered or persistent groups. Data about fine motor ‎control of hand and inhibition control were obtained, using Purdue Pegboard and Victoria ‎Strop Color Word Tests, respectively. Risk factors including sex, age, and family history of ‎stuttering, handedness, inhibitory control and fine motor control of hand were compared ‎between the groups and modeled to predict recovery from stuttering using logistic regression.‎Results: From the 22 participants, 5 (22.7% recovered from stuttering. The recovered and persistent ‎groups did not show significant differences in the interference effect. By dividing the scores ‎of the Purdue Pegboard tests to the right and left hand, we created a new Handedness Index ‎‎(HI. HI was significantly higher in the recovered group. The score of right hand was higher ‎than the left in the recovered group, but no difference was found between the two hands in ‎the persistent group. Among the investigated risk factors, only HI could predict the recovery ‎from or persistency of stuttering with 94% sensitivity and 84% specificity.‎Conclusion: Handedness Index can predict the recovery from stuttering significantly among children who ‎stutter.‎

An introduction about precise measurements of QED γ structure functions

International Nuclear Information System (INIS)

Courau, A.

1989-11-01

Pure QED processes are theoretically exactly computable. However precise measurements and theoretical expectations of QED γ structure functions within a given experimental acceptance are not so trivial. Yet such a study is quite interesting. It supplies on the one hand a good QED test and, on the other hand, a good exercise for testing the procedure used for the determination of the hadronic γ structure functions

Control of free-flying space robot manipulator systems

Science.gov (United States)

Cannon, Robert H., Jr.

1989-01-01

Control techniques for self-contained, autonomous free-flying space robots are being tested and developed. Free-flying space robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require astronaut extra-vehicular activity (EVA). Use of robots will provide economic savings as well as improved astronaut safety by reducing and in many cases, eliminating the need for human EVA. The focus of the work is to develop and carry out a set of research projects using laboratory models of satellite robots. These devices use air-cushion-vehicle (ACV) technology to simulate in two dimensions the drag-free, zero-g conditions of space. Current work is divided into six major projects or research areas. Fixed-base cooperative manipulation work represents our initial entry into multiple arm cooperation and high-level control with a sophisticated user interface. The floating-base cooperative manipulation project strives to transfer some of the technologies developed in the fixed-base work onto a floating base. The global control and navigation experiment seeks to demonstrate simultaneous control of the robot manipulators and the robot base position so that tasks can be accomplished while the base is undergoing a controlled motion. The multiple-vehicle cooperation project's goal is to demonstrate multiple free-floating robots working in teams to carry out tasks too difficult or complex for a single robot to perform. The Location Enhancement Arm Push-off (LEAP) activity's goal is to provide a viable alternative to expendable gas thrusters for vehicle propulsion wherein the robot uses its manipulators to throw itself from place to place. Because the successful execution of the LEAP technique requires an accurate model of the robot and payload mass properties, it was deemed an attractive testbed for adaptive control technology.

Plasma luminescence feedback control system for precise ultrashort pulse laser tissue ablation

Science.gov (United States)

Kim, Beop-Min; Feit, Michael D.; Rubenchik, Alexander M.; Gold, David M.; Darrow, Christopher B.; Marion, John E., II; Da Silva, Luiz B.

1998-05-01

Plasma luminescence spectroscopy was used for precise ablation of bone tissue without damaging nearby soft tissue using an ultrashort pulse laser. Strong contrast of the luminescence spectra between bone marrow and spinal cord provided the real time feedback control so bone tissue is selectively ablated while preserving the spinal cord.

Modeling and control of an anthropomorphic robotic hand

OpenAIRE

Bensalah, Choukri

2016-01-01

Mención Europea en el título de doctor This thesis presents methods and tools for enabling the successful use of robotic hands. For highly dexterous and/or anthropomorphic robotic hands, these methods have to share some common goals, such as overcoming the potential complexity of the mechanical design and the ability of performing accurate tasks with low and efficient computational cost. A prerequisite for dexterity is to increase the workspace of the robotic hand. For th...

A Scalable Weight-Free Learning Algorithm for Regulatory Control of Cell Activity in Spiking Neuronal Networks.

Science.gov (United States)

Zhang, Xu; Foderaro, Greg; Henriquez, Craig; Ferrari, Silvia

2018-03-01

Recent developments in neural stimulation and recording technologies are providing scientists with the ability of recording and controlling the activity of individual neurons in vitro or in vivo, with very high spatial and temporal resolution. Tools such as optogenetics, for example, are having a significant impact in the neuroscience field by delivering optical firing control with the precision and spatiotemporal resolution required for investigating information processing and plasticity in biological brains. While a number of training algorithms have been developed to date for spiking neural network (SNN) models of biological neuronal circuits, exiting methods rely on learning rules that adjust the synaptic strengths (or weights) directly, in order to obtain the desired network-level (or functional-level) performance. As such, they are not applicable to modifying plasticity in biological neuronal circuits, in which synaptic strengths only change as a result of pre- and post-synaptic neuron firings or biological mechanisms beyond our control. This paper presents a weight-free training algorithm that relies solely on adjusting the spatiotemporal delivery of neuron firings in order to optimize the network performance. The proposed weight-free algorithm does not require any knowledge of the SNN model or its plasticity mechanisms. As a result, this training approach is potentially realizable in vitro or in vivo via neural stimulation and recording technologies, such as optogenetics and multielectrode arrays, and could be utilized to control plasticity at multiple scales of biological neuronal circuits. The approach is demonstrated by training SNNs with hundreds of units to control a virtual insect navigating in an unknown environment.

Inexpensive and Time-Efficient Hand Hygiene Interventions Increase Elementary School Children's Hand Hygiene Rates

Science.gov (United States)

Snow, Michelle; White, George L.; Kim, Han S.

2008-01-01

Routine hand hygiene has been cited by the World Health Organization and the Centers for Disease Control and Prevention as a cost-effective and important hygiene measure in preventing the spread of infectious diseases. Several studies have explored children's hand hygiene habits, effects of scheduled hand hygiene, hand hygiene environmental…

Ability of Hand Hygiene Interventions Using Alcohol-Based Hand Sanitizers and Soap To Reduce Microbial Load on Farmworker Hands Soiled during Harvest.

Science.gov (United States)

de Aceituno, Anna Fabiszewski; Bartz, Faith E; Hodge, Domonique Watson; Shumaker, David J; Grubb, James E; Arbogast, James W; Dávila-Aviña, Jorgé; Venegas, Fabiola; Heredia, Norma; García, Santos; Leon, Juan S

2015-11-01

Effective hand hygiene is essential to prevent the spread of pathogens on produce farms and reduce foodborne illness. The U.S. Food and Drug Administration Food Safety Modernization Act Proposed Rule for Produce Safety recommends the use of soap and running water for hand hygiene of produce handlers. The use of alcohol-based hand sanitizer (ABHS) may be an effective alternative hygiene intervention where access to water is limited. There are no published data on the efficacy of either soap or ABHS-based interventions to reduce microbial contamination in agricultural settings. The goal of this study was to assess the ability of two soap-based (traditional or pumice) and two ABHS-based (label-use or two-step) hygiene interventions to reduce microbes (coliforms, Escherichia coli, and Enterococcus spp.) and soil (absorbance of hand rinsate at 600 nm [A600]) on farmworker hands after harvesting produce, compared with the results for a no-hand-hygiene control. With no hand hygiene, farmworker hands were soiled (median A600, 0.48) and had high concentrations of coliforms (geometric mean, 3.4 log CFU per hand) and Enterococcus spp. (geometric mean, 5.3 log CFU per hand) after 1 to 2 h of harvesting tomatoes. Differences in microbial loads in comparison to the loads in the control group varied by indicator organism and hygiene intervention (0 to 2.3 log CFU per hand). All interventions yielded lower concentrations of Enterococcus spp. and E. coli (P hands (P hand washing with soap at reducing indicator organisms on farmworker hands. Based on these results, ABHS is an efficacious hand hygiene solution for produce handlers, even on soiled hands.

Comparing the Precision of Information Retrieval of MeSH-Controlled Vocabulary Search Method and a Visual Method in the Medline Medical Database.

Science.gov (United States)

Hariri, Nadjla; Ravandi, Somayyeh Nadi

2014-01-01

Medline is one of the most important databases in the biomedical field. One of the most important hosts for Medline is Elton B. Stephens CO. (EBSCO), which has presented different search methods that can be used based on the needs of the users. Visual search and MeSH-controlled search methods are among the most common methods. The goal of this research was to compare the precision of the retrieved sources in the EBSCO Medline base using MeSH-controlled and visual search methods. This research was a semi-empirical study. By holding training workshops, 70 students of higher education in different educational departments of Kashan University of Medical Sciences were taught MeSH-Controlled and visual search methods in 2012. Then, the precision of 300 searches made by these students was calculated based on Best Precision, Useful Precision, and Objective Precision formulas and analyzed in SPSS software using the independent sample T Test, and three precisions obtained with the three precision formulas were studied for the two search methods. The mean precision of the visual method was greater than that of the MeSH-Controlled search for all three types of precision, i.e. Best Precision, Useful Precision, and Objective Precision, and their mean precisions were significantly different (P searches. Fifty-three percent of the participants in the research also mentioned that the use of the combination of the two methods produced better results. For users, it is more appropriate to use a natural, language-based method, such as the visual method, in the EBSCO Medline host than to use the controlled method, which requires users to use special keywords. The potential reason for their preference was that the visual method allowed them more freedom of action.

Learning in robotic manipulation: The role of dimensionality reduction in policy search methods. Comment on "Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands" by Marco Santello et al.

Science.gov (United States)

Ficuciello, Fanny; Siciliano, Bruno

2016-07-01

A question that often arises, among researchers working on artificial hands and robotic manipulation, concerns the real meaning of synergies. Namely, are they a realistic representation of the central nervous system control of manipulation activities at different levels and of the sensory-motor manipulation apparatus of the human being, or do they constitute just a theoretical framework exploiting analytical methods to simplify the representation of grasping and manipulation activities? Apparently, this is not a simple question to answer and, in this regard, many minds from the field of neuroscience and robotics are addressing the issue [1]. The interest of robotics is definitely oriented towards the adoption of synergies to tackle the control problem of devices with high number of degrees of freedom (DoFs) which are required to achieve motor and learning skills comparable to those of humans. The synergy concept is useful for innovative underactuated design of anthropomorphic hands [2], while the resulting dimensionality reduction simplifies the control of biomedical devices such as myoelectric hand prostheses [3]. Synergies might also be useful in conjunction with the learning process [4]. This aspect is less explored since few works on synergy-based learning have been realized in robotics. In learning new tasks through trial-and-error, physical interaction is important. On the other hand, advanced mechanical designs such as tendon-driven actuation, underactuated compliant mechanisms and hyper-redundant/continuum robots might exhibit enhanced capabilities of adapting to changing environments and learning from exploration. In particular, high DoFs and compliance increase the complexity of modelling and control of these devices. An analytical approach to manipulation planning requires a precise model of the object, an accurate description of the task, and an evaluation of the object affordance, which all make the process rather time consuming. The integration of

Model-free adaptive control optimization using a chaotic particle swarm approach

Energy Technology Data Exchange (ETDEWEB)

Santos Coelho, Leandro dos [Industrial and Systems Engineering Graduate Program, LAS/PPGEPS, Pontifical Catholic University of Parana, PUCPR, Imaculada Conceicao, 1155, 80215-901 Curitiba, Parana (Brazil)], E-mail: leandro.coelho@pucpr.br; Rodrigues Coelho, Antonio Augusto [Department of Automation and Systems, Federal University of Santa Catarina, Box 476, 88040-900 Florianopolis, Santa Catarina (Brazil)], E-mail: aarc@das.ufsc.br

2009-08-30

It is well known that conventional control theories are widely suited for applications where the processes can be reasonably described in advance. However, when the plant's dynamics are hard to characterize precisely or are subject to environmental uncertainties, one may encounter difficulties in applying the conventional controller design methodologies. Despite the difficulty in achieving high control performance, the fine tuning of controller parameters is a tedious task that always requires experts with knowledge in both control theory and process information. Nowadays, more and more studies have focused on the development of adaptive control algorithms that can be directly applied to complex processes whose dynamics are poorly modeled and/or have severe nonlinearities. In this context, the design of a Model-Free Learning Adaptive Control (MFLAC) based on pseudo-gradient concepts and optimization procedure by a Particle Swarm Optimization (PSO) approach using constriction coefficient and Henon chaotic sequences (CPSOH) is presented in this paper. PSO is a stochastic global optimization technique inspired by social behavior of bird flocking. The PSO models the exploration of a problem space by a population of particles. Each particle in PSO has a randomized velocity associated to it, which moves through the space of the problem. Since chaotic mapping enjoys certainty, ergodicity and the stochastic property, the proposed CPSOH introduces chaos mapping which introduces some flexibility in particle movements in each iteration. The chaotic sequences allow also explorations at early stages and exploitations at later stages during the search procedure of CPSOH. Motivation for application of CPSOH approach is to overcome the limitation of the conventional MFLAC design, which cannot guarantee satisfactory control performance when the plant has different gains for the operational range when designed by trial-and-error by user. Numerical results of the MFLAC with

Model-free adaptive control optimization using a chaotic particle swarm approach

International Nuclear Information System (INIS)

Santos Coelho, Leandro dos; Rodrigues Coelho, Antonio Augusto

2009-01-01

It is well known that conventional control theories are widely suited for applications where the processes can be reasonably described in advance. However, when the plant's dynamics are hard to characterize precisely or are subject to environmental uncertainties, one may encounter difficulties in applying the conventional controller design methodologies. Despite the difficulty in achieving high control performance, the fine tuning of controller parameters is a tedious task that always requires experts with knowledge in both control theory and process information. Nowadays, more and more studies have focused on the development of adaptive control algorithms that can be directly applied to complex processes whose dynamics are poorly modeled and/or have severe nonlinearities. In this context, the design of a Model-Free Learning Adaptive Control (MFLAC) based on pseudo-gradient concepts and optimization procedure by a Particle Swarm Optimization (PSO) approach using constriction coefficient and Henon chaotic sequences (CPSOH) is presented in this paper. PSO is a stochastic global optimization technique inspired by social behavior of bird flocking. The PSO models the exploration of a problem space by a population of particles. Each particle in PSO has a randomized velocity associated to it, which moves through the space of the problem. Since chaotic mapping enjoys certainty, ergodicity and the stochastic property, the proposed CPSOH introduces chaos mapping which introduces some flexibility in particle movements in each iteration. The chaotic sequences allow also explorations at early stages and exploitations at later stages during the search procedure of CPSOH. Motivation for application of CPSOH approach is to overcome the limitation of the conventional MFLAC design, which cannot guarantee satisfactory control performance when the plant has different gains for the operational range when designed by trial-and-error by user. Numerical results of the MFLAC with CPSOH

Hand eczema classification

DEFF Research Database (Denmark)

Diepgen, T L; Andersen, Klaus Ejner; Brandao, F M

2008-01-01

of the disease is rarely evidence based, and a classification system for different subdiagnoses of hand eczema is not agreed upon. Randomized controlled trials investigating the treatment of hand eczema are called for. For this, as well as for clinical purposes, a generally accepted classification system...... A classification system for hand eczema is proposed. Conclusions It is suggested that this classification be used in clinical work and in clinical trials....

Multi-fingered robotic hand

Science.gov (United States)

Ruoff, Carl F. (Inventor); Salisbury, Kenneth, Jr. (Inventor)

1990-01-01

A robotic hand is presented having a plurality of fingers, each having a plurality of joints pivotally connected one to the other. Actuators are connected at one end to an actuating and control mechanism mounted remotely from the hand and at the other end to the joints of the fingers for manipulating the fingers and passing externally of the robot manipulating arm in between the hand and the actuating and control mechanism. The fingers include pulleys to route the actuators within the fingers. Cable tension sensing structure mounted on a portion of the hand are disclosed, as is covering of the tip of each finger with a resilient and pliable friction enhancing surface.

Recognizing the Operating Hand and the Hand-Changing Process for User Interface Adjustment on Smartphones

Directory of Open Access Journals (Sweden)

Hansong Guo

2016-08-01

Full Text Available As the size of smartphone touchscreens has become larger and larger in recent years, operability with a single hand is getting worse, especially for female users. We envision that user experience can be significantly improved if smartphones are able to recognize the current operating hand, detect the hand-changing process and then adjust the user interfaces subsequently. In this paper, we proposed, implemented and evaluated two novel systems. The first one leverages the user-generated touchscreen traces to recognize the current operating hand, and the second one utilizes the accelerometer and gyroscope data of all kinds of activities in the user’s daily life to detect the hand-changing process. These two systems are based on two supervised classifiers constructed from a series of refined touchscreen trace, accelerometer and gyroscope features. As opposed to existing solutions that all require users to select the current operating hand or confirm the hand-changing process manually, our systems follow much more convenient and practical methods and allow users to change the operating hand frequently without any harm to the user experience. We conduct extensive experiments on Samsung Galaxy S4 smartphones, and the evaluation results demonstrate that our proposed systems can recognize the current operating hand and detect the hand-changing process with 94.1% and 93.9% precision and 94.1% and 93.7% True Positive Rates (TPR respectively, when deciding with a single touchscreen trace or accelerometer-gyroscope data segment, and the False Positive Rates (FPR are as low as 2.6% and 0.7% accordingly. These two systems can either work completely independently and achieve pretty high accuracies or work jointly to further improve the recognition accuracy.

Recognizing the Operating Hand and the Hand-Changing Process for User Interface Adjustment on Smartphones †

Science.gov (United States)

Guo, Hansong; Huang, He; Huang, Liusheng; Sun, Yu-E

2016-01-01

As the size of smartphone touchscreens has become larger and larger in recent years, operability with a single hand is getting worse, especially for female users. We envision that user experience can be significantly improved if smartphones are able to recognize the current operating hand, detect the hand-changing process and then adjust the user interfaces subsequently. In this paper, we proposed, implemented and evaluated two novel systems. The first one leverages the user-generated touchscreen traces to recognize the current operating hand, and the second one utilizes the accelerometer and gyroscope data of all kinds of activities in the user’s daily life to detect the hand-changing process. These two systems are based on two supervised classifiers constructed from a series of refined touchscreen trace, accelerometer and gyroscope features. As opposed to existing solutions that all require users to select the current operating hand or confirm the hand-changing process manually, our systems follow much more convenient and practical methods and allow users to change the operating hand frequently without any harm to the user experience. We conduct extensive experiments on Samsung Galaxy S4 smartphones, and the evaluation results demonstrate that our proposed systems can recognize the current operating hand and detect the hand-changing process with 94.1% and 93.9% precision and 94.1% and 93.7% True Positive Rates (TPR) respectively, when deciding with a single touchscreen trace or accelerometer-gyroscope data segment, and the False Positive Rates (FPR) are as low as 2.6% and 0.7% accordingly. These two systems can either work completely independently and achieve pretty high accuracies or work jointly to further improve the recognition accuracy. PMID:27556461

New frontiers in the rubber hand experiment: when a robotic hand becomes one's own.

Science.gov (United States)

Caspar, Emilie A; De Beir, Albert; Magalhaes De Saldanha Da Gama, Pedro A; Yernaux, Florence; Cleeremans, Axel; Vanderborght, Bram

2015-09-01

The rubber hand illusion is an experimental paradigm in which participants consider a fake hand to be part of their body. This paradigm has been used in many domains of psychology (i.e., research on pain, body ownership, agency) and is of clinical importance. The classic rubber hand paradigm nevertheless suffers from limitations, such as the absence of active motion or the reliance on approximate measurements, which makes strict experimental conditions difficult to obtain. Here, we report on the development of a novel technology-a robotic, user- and computer-controllable hand-that addresses many of the limitations associated with the classic rubber hand paradigm. Because participants can actively control the robotic hand, the device affords higher realism and authenticity. Our robotic hand has a comparatively low cost and opens up novel and innovative methods. In order to validate the robotic hand, we have carried out three experiments. The first two studies were based on previous research using the rubber hand, while the third was specific to the robotic hand. We measured both sense of agency and ownership. Overall, results show that participants experienced a "robotic hand illusion" in the baseline conditions. Furthermore, we also replicated previous results about agency and ownership.

The control of a free-piston engine generator. Part 1: Fundamental analyses

Energy Technology Data Exchange (ETDEWEB)

Mikalsen, R.; Roskilly, A.P. [Sir Joseph Swan Institute for Energy Research, Newcastle University, Newcastle upon Tyne, NE1 7RU, England (United Kingdom)

2010-04-15

Free-piston engines are under investigation by a number of research groups due to potential fuel efficiency and exhaust emissions advantages over conventional technology. The main challenge with such engines is the control of the piston motion, and this has not yet been fully resolved for all types of free-piston engines. This paper discusses the basic features of a single piston free-piston engine generator under development at Newcastle University and investigates engine control issues using a full-cycle simulation model. Control variables and disturbances are identified, and a control strategy is proposed. It is found that the control of the free-piston engine is a challenge, but that the proposed control strategy is feasible. Engine speed control does, however, represent a challenge in the current design. (author)

Research on Precision Tracking on Fast Steering Mirror and Control Strategy

Science.gov (United States)

Di, Lin; Yi-ming, Wu; Fan, Zhu

2018-01-01

Fast steering mirror is a device used for controlling the beam direction precisely. Due to the short travel of the push-pull FSM, a compound fast steering mirror system driven by both limited-angle voice coil motor and push-pull FSM together is proposed. In the compound FSM system, limited-angle voice coil motor quickly swings at wide angle, while the push-pull FSM do high frequency movement in a small range, which provides the system with the high bandwidth and long travel. In the control strategy, the method of combining feed-forward control in Kalman filtering with auto-disturbance rejection control is used to improve trajectory tracking accuracy. The simulation result shows that tracking accuracy measured by the compound method can be improved by more than 5 times than that of the conventional PID.

The hot hand belief and framing effects.

Science.gov (United States)

MacMahon, Clare; Köppen, Jörn; Raab, Markus

2014-09-01

Recent evidence of the hot hand in sport-where success breeds success in a positive recency of successful shots, for instance-indicates that this pattern does not actually exist. Yet the belief persists. We used 2 studies to explore the effects of framing on the hot hand belief in sport. We looked at the effect of sport experience and task on the perception of baseball pitch behavior as well as the hot hand belief and free-throw behavior in basketball. Study 1 asked participants to designate outcomes with different alternation rates as the result of baseball pitches or coin tosses. Study 2 examined basketball free-throw behavior and measured predicted success before each shot as well as general belief in the hot hand pattern. The results of Study 1 illustrate that experience and stimulus alternation rates influence the perception of chance in human performance tasks. Study 2 shows that physically performing an act and making judgments are related. Specifically, beliefs were related to overall performance, with more successful shooters showing greater belief in the hot hand and greater predicted success for upcoming shots. Both of these studies highlight that the hot hand belief is influenced by framing, which leads to instability and situational contingencies. We show the specific effects of framing using accumulated experience of the individual with the sport and knowledge of its structure and specific experience with sport actions (basketball shots) prior to judgments.

Symmetric grey box identification and distributed beam-based controller design for free-electron lasers

Energy Technology Data Exchange (ETDEWEB)

Pfeiffer, Sven

2014-09-15

The European X-ray Free-Electron Laser (XFEL) at the Deutsches Elektronen Synchtrotron (DESY) in Hamburg will, starting in 2015, open up completely new research opportunities for scientist and industrial users by exploiting ultrashort X-ray laser pulses. Bunches of electrons are accelerated by a radio frequency field inside superconducting cavities up to an energy of 17.5 GeV. A periodic arrangement of magnets forces the accelerated electrons onto a tight slalom path leading to a process in that the electrons emit extremely short and intense X-ray flashes. The generation of equidistant X-ray flashes with a constant intensity requires an extremely high precision field control in combination with beam-based signals. FLASH, which can be seen as a pilot test facility, allows to develop and test controller concepts even before the European XFEL is in operation. In this thesis it is shown that a physical white box model structure, which describes the behavior of each subsystem within the radio frequency field control loop, obeys as first-order approximation the special orthogonal group of dimension two (SO(2)). Presented is a grey box identification approach, which combines the physical model structure with general identification methods. The accelerator modules are operated in a pulsed mode. Thus, the excitation of the system and therefore the identification of the input-output behavior is only possible within a short time period. Developed is an adaptive identification approach with a specified SO(2) symmetric model structure. The proposed controller design strategy fulfills the requirements of a high precision field performance. Adapting the feedforward signal by using an iterative learning control (ILC) algorithm reduces remaining repetitive field errors from pulse to pulse. It is shown, that exploiting the SO(2) symmetric structure and using the developed tensor based ILC representation simplifies the feedforward update computation. Magnetic chicanes, so

Symmetric grey box identification and distributed beam-based controller design for free-electron lasers

International Nuclear Information System (INIS)

Pfeiffer, Sven

2014-09-01

The European X-ray Free-Electron Laser (XFEL) at the Deutsches Elektronen Synchtrotron (DESY) in Hamburg will, starting in 2015, open up completely new research opportunities for scientist and industrial users by exploiting ultrashort X-ray laser pulses. Bunches of electrons are accelerated by a radio frequency field inside superconducting cavities up to an energy of 17.5 GeV. A periodic arrangement of magnets forces the accelerated electrons onto a tight slalom path leading to a process in that the electrons emit extremely short and intense X-ray flashes. The generation of equidistant X-ray flashes with a constant intensity requires an extremely high precision field control in combination with beam-based signals. FLASH, which can be seen as a pilot test facility, allows to develop and test controller concepts even before the European XFEL is in operation. In this thesis it is shown that a physical white box model structure, which describes the behavior of each subsystem within the radio frequency field control loop, obeys as first-order approximation the special orthogonal group of dimension two (SO(2)). Presented is a grey box identification approach, which combines the physical model structure with general identification methods. The accelerator modules are operated in a pulsed mode. Thus, the excitation of the system and therefore the identification of the input-output behavior is only possible within a short time period. Developed is an adaptive identification approach with a specified SO(2) symmetric model structure. The proposed controller design strategy fulfills the requirements of a high precision field performance. Adapting the feedforward signal by using an iterative learning control (ILC) algorithm reduces remaining repetitive field errors from pulse to pulse. It is shown, that exploiting the SO(2) symmetric structure and using the developed tensor based ILC representation simplifies the feedforward update computation. Magnetic chicanes, so

Fully embedded myoelectric control for a wearable robotic hand orthosis.

Science.gov (United States)

Ryser, Franziska; Butzer, Tobias; Held, Jeremia P; Lambercy, Olivier; Gassert, Roger

2017-07-01

To prevent learned non-use of the affected hand in chronic stroke survivors, rehabilitative training should be continued after discharge from the hospital. Robotic hand orthoses are a promising approach for home rehabilitation. When combined with intuitive control based on electromyography, the therapy outcome can be improved. However, such systems often require extensive cabling, experience in electrode placement and connection to external computers. This paper presents the framework for a stand-alone, fully wearable and real-time myoelectric intention detection system based on the Myo armband. The hard and software for real-time gesture classification were developed and combined with a routine to train and customize the classifier, leading to a unique ease of use. The system including training of the classifier can be set up within less than one minute. Results demonstrated that: (1) the proposed algorithm can classify five gestures with an accuracy of 98%, (2) the final system can online classify three gestures with an accuracy of 94.3% and, in a preliminary test, (3) classify three gestures from data acquired from mildly to severely impaired stroke survivors with an accuracy of over 78.8%. These results highlight the potential of the presented system for electromyography-based intention detection for stroke survivors and, with the integration of the system into a robotic hand orthosis, the potential for a wearable platform for all day robot-assisted home rehabilitation.

Method of Grasping Control by Computing Internal and External Impedances for Two Robot Fingers, and Its Application to Admittance Control of a Robot Hand-Arm System

Directory of Open Access Journals (Sweden)

Jian Huang

2015-08-01

Full Text Available Impedance control is an important technology used in the grasping control of a robot hand. Numerous studies related to grasping algorithms have been reported in recent years, with the contact force between robot fingers and the object to be grasped being primarily discussed in most cases. Generally, a coupling effect occurs between the internal loop of the grasping operation and the external loop of the interaction with the environment when a multi-fingered robot hand is used to complete a contact task. Therefore, a robot hand cannot hold an object using a large external force to complete a wide range of tasks by applying the conventional method. In this paper, the coupling of the internal/external forces occurring in grasping operations using multiple fingers is analysed. Then, improved impedance control based on the previous method is proposed as an effective tool to solve the problem of grasping failure caused by single-finger contact. Furthermore, a method for applying the improved grasping algorithm to the admittance control of a robot hand-arm system is also proposed. The proposed method divides the impedance effect into the grasping control of the hand and the cooperative control of the arm, so that expanding the task space and increasing the flexibility of impedance adjustment can be achieved. Experiments were conducted to demonstrate the effectiveness of the proposed method.

Donor-site morbidity of the radial forearm free flap versus the ulnar forearm free flap.

Science.gov (United States)

Hekner, Dominique D; Abbink, Jan H; van Es, Robert J; Rosenberg, Antoine; Koole, Ronald; Van Cann, Ellen M

2013-08-01

Donor-site morbidity following harvest of the radial forearm free flap was compared with that following harvest of the ulnar forearm free flap. Twenty-eight radial forearm and 27 ulnar forearm flaps were harvested in 55 patients with head and neck defects. Pressure perception was measured with Semmes-Weinstein monofilaments. Cold perception was tested with chloroethyl. Donor-site healing was evaluated. Patients were interviewed about grip and pinch strength and donor-site appearance. In the radial forearm free flap group, pressure perception and cold perception were reduced in the donor hand, whereas in the ulnar group, no differences were observed between the donor and unoperated hands. In the radial forearm group, 15 percent of patients experienced reduced strength in the donor hand, whereas in the ulnar forearm group, none of the patients reported reduced strength in the donor hand. In the radial forearm group, 14 percent had partial or complete loss of the skin graft, whereas in the ulnar forearm group, 4 percent had partial loss of the skin graft. In the radial forearm group, 18 percent of patients were dissatisfied with the appearance of the donor site, and no complaints were reported in the ulnar forearm group. The authors' study shows less donor site-morbidity following harvest of the ulnar forearm free flap than following harvest of the radial forearm free flap. These results emphasize that the ulnar forearm free flap should be considered as an alternative for the radial forearm free flap for reconstruction of soft-tissue defects. Therapeutic, III.

Humans can integrate force feedback to toes in their sensorimotor control of a robotic hand.

Science.gov (United States)

Panarese, Alessandro; Edin, Benoni B; Vecchi, Fabrizio; Carrozza, Maria C; Johansson, Roland S

2009-12-01

Tactile sensory feedback is essential for dexterous object manipulation. Users of hand myoelectric prostheses without tactile feedback must depend essentially on vision to control their device. Indeed, improved tactile feedback is one of their main priorities. Previous research has provided evidence that conveying tactile feedback can improve prostheses control, although additional effort is required to solve problems related to pattern recognition learning, unpleasant sensations, sensory adaptation, and low spatiotemporal resolution. Still, these studies have mainly focused on providing stimulation to hairy skin regions close to the amputation site, i.e., usually to the upper arm. Here, we explored the possibility to provide tactile feedback to the glabrous skin of toes, which have mechanical and neurophysiological properties similar to the fingertips. We explored this paradigm in a grasp-and-lift task, in which healthy participants controlled two opposing digits of a robotic hand by changing the spacing of their index finger and thumb. The normal forces applied by the robotic fingertips to a test object were fed back to the right big and second toe. We show that within a few lifting trials, all the participants incorporated the force feedback received by the foot in their sensorimotor control of the robotic hand.

Smoke-Free Workplaces Are Associated with Protection from Second-Hand Smoke at Homes in Nigeria: Evidence for Population-Level Decisions

Directory of Open Access Journals (Sweden)

Dorota Kaleta

2015-01-01

Full Text Available The evidence suggests that smoke-free workplace policies may change social norms towards exposing others to second-hand smoke at home. The aim of the study was to assess whether being employed in a smoke-free workplace (SFWP is associated with living in a smoke-free home (SFH. We used the data from the Global Adult Tobacco Survey conducted in Nigeria in 2012, in which 9,765 individuals were interviewed including 1,856 persons who worked indoors. The percentage of Nigerians employed in SFWP that reported living in a SFH was higher compared to those employed in a workplace where smoking occurred (95% versus 73%. Working in a SFWP was associated with a significantly higher likelihood of living in a SFH (OR = 5.3; p<0.001. Urban inhabitants indicated more frequently that they lived in SFH compared to rural residents (OR = 2.0; p=0.006. The odds of living in a SFH were significantly higher among nonsmokers and nonsmokeless tobacco users compared to smokers and smokeless tobacco users (OR = 28.8; p<0.001; OR = 7.0; p<0.001. These findings support the need for implementation of comprehensive smoke-free policies in Nigeria that result in substantial health benefits.

Mind the hand

DEFF Research Database (Denmark)

Davidsen, Jacob; Christiansen, Ellen Tove

2014-01-01

Apart from touching the screen, what is the role of the hands for children collaborating around touchscreens? Based on embodied and multimodal interaction analysis of 8- and 9-year old pairs collaborating around touchscreens, we conclude that children use their hands to constrain and control acce...

LISA Pathfinder drag-free control and system implications

International Nuclear Information System (INIS)

Fichter, Walter; Gath, Peter; Vitale, Stefano; Bortoluzzi, Daniele

2005-01-01

The top-level requirement of the LISA Pathfinder mission is the verification of pure relative free fall between two test masses with an accuracy of about 3 x 10 -14 m s -2 Hz -1/2 in a measurement bandwidth between 1 mHz and 30 mHz. The drag-free control system is one of the key technology elements that shall be verified. Its design is strongly connected to the overall system and experimental design, in particular, via the following issues: the differential test mass motion and thus the science measurements depend on the control system; design constraints, such as negative stiffness of test masses and electrostatic actuation cross-talk, have an impact on science and control system performance; derived requirements for control system components, in particular, the micro-propulsion system, must be within reasonable and feasible limits. In this paper, the control design approach is outlined and the system-related issues are addressed

Learning to play the violin: motor control by freezing, not freeing degrees of freedom.

Science.gov (United States)

Konczak, Jürgen; Vander Velden, Heidi; Jaeger, Lukas

2009-05-01

Playing a violin requires precise patterns of limb coordination that are acquired over years of practice. In the present study, the authors investigated how motion at proximal arm joints influenced the precision of bow movements in novice learners and experts. The authors evaluated the performances of 11 children (4-12 years old), 3 beginning-to-advanced level adult players, and 2 adult concert violinists, using a musical work that all had mastered as their first violin piece. The authors found that learning to play the violin was not associated with a release or freeing of joint degrees of freedom. Instead, learning was characterized by an experience-dependent suppression of sagittal shoulder motion, as documented by an observed reduction in joint angular amplitude. This reduction in the amplitude of shoulder flexion-extension correlated highly with a decrease of bow-movement variability. The remaining mechanical degrees of freedom at the elbow and shoulder showed patterns of neither suppression nor freeing. Only violinists with more than 700 practice hr achieved sagittal shoulder range of motion comparable to experts. The findings imply that restricting joint amplitude at selected joint degrees of freedom, while leaving other degrees of freedom unconstrained, constitutes an appropriate strategy for learning complex, high-precision motor patterns in children and adults. The findings also highlight that mastering even seemingly simple bowing movements constitutes a prolonged learning process.

Design and validation of a portable, inexpensive and multi-beam timing light system using the Nintendo Wii hand controllers.

Science.gov (United States)

Clark, Ross A; Paterson, Kade; Ritchie, Callan; Blundell, Simon; Bryant, Adam L

2011-03-01

Commercial timing light systems (CTLS) provide precise measurement of athletes running velocity, however they are often expensive and difficult to transport. In this study an inexpensive, wireless and portable timing light system was created using the infrared camera in Nintendo Wii hand controllers (NWHC). System creation with gold-standard validation. A Windows-based software program using NWHC to replicate a dual-beam timing gate was created. Firstly, data collected during 2m walking and running trials were validated against a 3D kinematic system. Secondly, data recorded during 5m running trials at various intensities from standing or flying starts were compared to a single beam CTLS and the independent and average scores of three handheld stopwatch (HS) operators. Intraclass correlation coefficient and Bland-Altman plots were used to assess validity. Absolute error quartiles and percentage of trials in absolute error threshold ranges were used to determine accuracy. The NWHC system was valid when compared against the 3D kinematic system (ICC=0.99, median absolute error (MAR)=2.95%). For the flying 5m trials the NWHC system possessed excellent validity and precision (ICC=0.97, MAR8%). A NWHC timing light system is inexpensive, portable and valid for assessing running velocity. Errors in the 5m standing start trials may have been due to erroneous event detection by either the commercial or NWHC-based timing light systems. Copyright © 2010 Sports Medicine Australia. Published by Elsevier Ltd. All rights reserved.

Assessment of Myoelectric Controller Performance and Kinematic Behavior of a Novel Soft Synergy-Inspired Robotic Hand for Prosthetic Applications.

Science.gov (United States)

Fani, Simone; Bianchi, Matteo; Jain, Sonal; Pimenta Neto, José Simões; Boege, Scott; Grioli, Giorgio; Bicchi, Antonio; Santello, Marco

2016-01-01

Myoelectric artificial limbs can significantly advance the state of the art in prosthetics, since they can be used to control mechatronic devices through muscular activity in a way that mimics how the subjects used to activate their muscles before limb loss. However, surveys indicate that dissatisfaction with the functionality of terminal devices underlies the widespread abandonment of prostheses. We believe that one key factor to improve acceptability of prosthetic devices is to attain human likeness of prosthesis movements, a goal which is being pursued by research on social and human-robot interactions. Therefore, to reduce early abandonment of terminal devices, we propose that controllers should be designed so as to ensure effective task accomplishment in a natural fashion. In this work, we have analyzed and compared the performance of three types of myoelectric controller algorithms based on surface electromyography to control an underactuated and multi-degrees of freedom prosthetic hand, the SoftHand Pro. The goal of the present study was to identify the myoelectric algorithm that best mimics the native hand movements. As a preliminary step, we first quantified the repeatability of the SoftHand Pro finger movements and identified the electromyographic recording sites for able-bodied individuals with the highest signal-to-noise ratio from two pairs of muscles, i.e., flexor digitorum superficialis/extensor digitorum communis, and flexor carpi radialis/extensor carpi ulnaris. Able-bodied volunteers were then asked to execute reach-to-grasp movements, while electromyography signals were recorded from flexor digitorum superficialis/extensor digitorum communis as this was identified as the muscle pair characterized by high signal-to-noise ratio and intuitive control. Subsequently, we tested three myoelectric controllers that mapped electromyography signals to position of the SoftHand Pro. We found that a differential electromyography-to-position mapping ensured the

Assessment of Myoelectric Controller Performance and Kinematic Behavior of a Novel Soft Synergy-inspired Robotic Hand for Prosthetic Applications

Directory of Open Access Journals (Sweden)

Simone Fani

2016-10-01

Full Text Available Myoelectric-artificial limbs can significantly advance the state of the art in prosthetics, since they can be used to control mechatronic devices through muscular activity in a way that mimics how the subjects used to activate their muscles before limb loss. However, surveys indicate that dissatisfaction with the functionality of terminal devices underlies the widespread abandonment of prostheses. We believe that one key factor to improve acceptability of prosthetic devices is to attain human-likeness of prosthesis movements, a goal which is being pursued by research on social and human-robot interactions. Therefore, to reduce early abandonment of terminal devices, we propose that controllers should be designed such as to ensure effective task accomplishment in a natural fashion. In this work, we have analyzed and compared the performance of three types of myoelectric controller algorithms based on surface electromyography to control an under-actuated and multi-degrees of freedom prosthetic hand, the SoftHand Pro. The goal of the present study was to identify the myoelectric algorithm that best mimics the native hand movements. As a preliminary step, we first quantified the repeatability of the SoftHand Pro finger movements and identified the electromyographic recording sites for able-bodied individuals with the highest signal-to-noise ratio from two pairs of muscles, i.e. flexor digitorum superficialis/extensor digitorum communis, and flexor carpi radialis/extensor carpi ulnaris. Able-bodied volunteers were then asked to execute reach-to-grasp movements, while electromyography signals were recorded from flexor digitorum superficialis/extensor digitorum communis as this was identified as the muscle pair characterized by high signal-to-noise ratio and intuitive control. Subsequently, we tested three myoelectric controllers that mapped electromyography signals to position of the SoftHand Pro. We found that a differential electromyography

Kinect technology for hand tracking control of surgical robots: technical and surgical skill comparison to current robotic masters.

Science.gov (United States)

Kim, Yonjae; Leonard, Simon; Shademan, Azad; Krieger, Axel; Kim, Peter C W

2014-06-01

Current surgical robots are controlled by a mechanical master located away from the patient, tracking surgeon's hands by wire and pulleys or mechanical linkage. Contactless hand tracking for surgical robot control is an attractive alternative, because it can be executed with minimal footprint at the patient's bedside without impairing sterility, while eliminating current disassociation between surgeon and patient. We compared technical and technologic feasibility of contactless hand tracking to the current clinical standard master controllers. A hand-tracking system (Kinect™-based 3Gear), a wire-based mechanical master (Mantis Duo), and a clinical mechanical linkage master (da Vinci) were evaluated for technical parameters with strong clinical relevance: system latency, static noise, robot slave tremor, and controller range. Five experienced surgeons performed a skill comparison study, evaluating the three different master controllers for efficiency and accuracy in peg transfer and pointing tasks. da Vinci had the lowest latency of 89 ms, followed by Mantis with 374 ms and 3Gear with 576 ms. Mantis and da Vinci produced zero static error. 3Gear produced average static error of 0.49 mm. The tremor of the robot used by the 3Gear and Mantis system had a radius of 1.7 mm compared with 0.5 mm for da Vinci. The three master controllers all had similar range. The surgeons took 1.98 times longer to complete the peg transfer task with the 3Gear system compared with Mantis, and 2.72 times longer with Mantis compared with da Vinci (p value 2.1e-9). For the pointer task, surgeons were most accurate with da Vinci with average error of 0.72 mm compared with Mantis's 1.61 mm and 3Gear's 2.41 mm (p value 0.00078). Contactless hand-tracking technology as a surgical master can execute simple surgical tasks. Whereas traditional master controllers outperformed, given that contactless hand-tracking is a first-generation technology, clinical potential is promising and could

Access to waterless hand sanitizer improves student hand hygiene behavior in primary schools in Nairobi, Kenya.

Science.gov (United States)

Pickering, Amy J; Davis, Jennifer; Blum, Annalise G; Scalmanini, Jenna; Oyier, Beryl; Okoth, George; Breiman, Robert F; Ram, Pavani K

2013-09-01

Handwashing is difficult in settings with limited resources and water access. In primary schools within urban Kibera, Kenya, we investigated the impact of providing waterless hand sanitizer on student hand hygiene behavior. Two schools received a waterless hand sanitizer intervention, two schools received a handwashing with soap intervention, and two schools received no intervention. Hand cleaning behavior after toilet use was monitored for 2 months using structured observation. Hand cleaning after toileting was 82% at sanitizer schools (N = 2,507 toileting events), 38% at soap schools (N = 3,429), and 37% at control schools (N = 2,797). Students at sanitizer schools were 23% less likely to have observed rhinorrhea than control students (P = 0.02); reductions in student-reported gastrointestinal and respiratory illness symptoms were not statistically significant. Providing waterless hand sanitizer markedly increased student hand cleaning after toilet use, whereas the soap intervention did not. Waterless hand sanitizer may be a promising option to improve student hand cleansing behavior, particularly in schools with limited water access.

Hand held control unit for controlling a display screen-oriented computer game, and a display screen-oriented computer game having one or more such control units

NARCIS (Netherlands)

2001-01-01

A hand-held control unit is used to control a display screen-oriented computer game. The unit comprises a housing with a front side, a set of control members lying generally flush with the front side for through actuating thereof controlling actions of in-game display items, and an output for

Precision of INR measured with a patient operated whole blood coagulometer

DEFF Research Database (Denmark)

Attermann, Jørn; Andersen, Niels Trolle; Korsgaard, Helle

2003-01-01

INTRODUCTION: The objective of the present study was to evaluate the precision of a portable whole blood coagulometer (CoaguChek S) in the hands of self-managing patients on oral anticoagulant therapy (OAT). MATERIALS AND METHODS: Fifteen patients on self-managed OAT performed measurements of INR...... and between patients was 15.0% and 14.7%, respectively. CONCLUSION: The precision of CoaguChek S is satisfactory....

The SmartHand transradial prosthesis

Directory of Open Access Journals (Sweden)

Carrozza Maria Chiara

2011-05-01

Full Text Available Abstract Background Prosthetic components and control interfaces for upper limb amputees have barely changed in the past 40 years. Many transradial prostheses have been developed in the past, nonetheless most of them would be inappropriate if/when a large bandwidth human-machine interface for control and perception would be available, due to either their limited (or inexistent sensorization or limited dexterity. SmartHand tackles this issue as is meant to be clinically experimented in amputees employing different neuro-interfaces, in order to investigate their effectiveness. This paper presents the design and on bench evaluation of the SmartHand. Methods SmartHand design was bio-inspired in terms of its physical appearance, kinematics, sensorization, and its multilevel control system. Underactuated fingers and differential mechanisms were designed and exploited in order to fit all mechatronic components in the size and weight of a natural human hand. Its sensory system was designed with the aim of delivering significant afferent information to the user through adequate interfaces. Results SmartHand is a five fingered self-contained robotic hand, with 16 degrees of freedom, actuated by 4 motors. It integrates a bio-inspired sensory system composed of 40 proprioceptive and exteroceptive sensors and a customized embedded controller both employed for implementing automatic grasp control and for potentially delivering sensory feedback to the amputee. It is able to perform everyday grasps, count and independently point the index. The weight (530 g and speed (closing time: 1.5 seconds are comparable to actual commercial prostheses. It is able to lift a 10 kg suitcase; slippage tests showed that within particular friction and geometric conditions the hand is able to stably grasp up to 3.6 kg cylindrical objects. Conclusions Due to its unique embedded features and human-size, the SmartHand holds the promise to be experimentally fitted on transradial

Compensatory motor control after stroke: an alternative joint strategy for object-dependent shaping of hand posture.

Science.gov (United States)

Raghavan, Preeti; Santello, Marco; Gordon, Andrew M; Krakauer, John W

2010-06-01

Efficient grasping requires planned and accurate coordination of finger movements to approximate the shape of an object before contact. In healthy subjects, hand shaping is known to occur early in reach under predominantly feedforward control. In patients with hemiparesis after stroke, execution of coordinated digit motion during grasping is impaired as a result of damage to the corticospinal tract. The question addressed here is whether patients with hemiparesis are able to compensate for their execution deficit with a qualitatively different grasp strategy that still allows them to differentiate hand posture to object shape. Subjects grasped a rectangular, concave, and convex object while wearing an instrumented glove. Reach-to-grasp was divided into three phases based on wrist kinematics: reach acceleration (reach onset to peak horizontal wrist velocity), reach deceleration (peak horizontal wrist velocity to reach offset), and grasp (reach offset to lift-off). Patients showed reduced finger abduction, proximal interphalangeal joint (PIP) flexion, and metacarpophalangeal joint (MCP) extension at object grasp across all three shapes compared with controls; however, they were able to partially differentiate hand posture for the convex and concave shapes using a compensatory strategy that involved increased MCP flexion rather than the PIP flexion seen in controls. Interestingly, shape-specific hand postures did not unfold initially during reach acceleration as seen in controls, but instead evolved later during reach deceleration, which suggests increased reliance on sensory feedback. These results indicate that kinematic analysis can identify and quantify within-limb compensatory motor control strategies after stroke. From a clinical perspective, quantitative study of compensation is important to better understand the process of recovery from brain injury. From a motor control perspective, compensation can be considered a model for how joint redundancy is exploited

The Free-Hand Technique for S2-Alar-Iliac Screw Placement: A Safe and Effective Method for Sacropelvic Fixation in Adult Spinal Deformity.

Science.gov (United States)

Shillingford, Jamal N; Laratta, Joseph L; Tan, Lee A; Sarpong, Nana O; Lin, James D; Fischer, Charla R; Lehman, Ronald A; Kim, Yongjung J; Lenke, Lawrence G

2018-02-21

Spinopelvic fixation is an integral part of achieving solid fusion across the lumbosacral junction, especially in deformity procedures requiring substantial correction or long-segment constructs. Traditional S2-alar-iliac (S2AI) screw-placement techniques utilize fluoroscopy, increasing operative time and radiation exposure to the patient and surgeon. We describe a novel free-hand technique for S2AI screw placement in patients with adult spinal deformity. We reviewed the records of 45 consecutive patients who underwent spinopelvic fixation performed with use of S2AI screws by the senior surgeon and various fellows or residents over a 12-month period (2015 to 2016). In each case, the S2AI screws were placed utilizing a free-hand technique without fluoroscopic or image guidance. Screw position and accuracy were assessed by intraoperative O-arm imaging and analyzed using 3-dimensional interactive manipulation of computed tomography images. A total of 100 screws were placed, 51 by the senior surgeon and 49 by trainees. The mean patient age was 57.4 ± 12.7 years at the time of surgery; 37 (82.2%) of the patients were female. Preoperative diagnoses included adult idiopathic scoliosis (n = 19), adult degenerative scoliosis (n = 15), flatback syndrome (n = 2), fixed sagittal imbalance (n = 6), and distal junctional kyphosis (n = 3). Five (5%) of the screws were placed with moderate to severe cortical breaches, all of which perforated the pelvis posteriorly, with no clinically notable neurovascular or visceral complications. The breach rate did not differ significantly between the senior surgeon and trainees. The free-hand technique for S2AI screw placement, when performed in a standardized manner, was demonstrated to be safe and reliable in constructs requiring spinopelvic fixation. The accuracy of screw placement relies on visible and palpable anatomic landmarks that obviate the need for intraoperative fluoroscopy or image guidance, potentially reducing operative time

Googling your hand hygiene data: Using Google Forms, Google Sheets, and R to collect and automate analysis of hand hygiene compliance monitoring.

Science.gov (United States)

Wiemken, Timothy L; Furmanek, Stephen P; Mattingly, William A; Haas, Janet; Ramirez, Julio A; Carrico, Ruth M

2018-06-01

Hand hygiene is one of the most important interventions in the quest to eliminate healthcare-associated infections, and rates in healthcare facilities are markedly low. Since hand hygiene observation and feedback are critical to improve adherence, we created an easy-to-use, platform-independent hand hygiene data collection process and an automated, on-demand reporting engine. A 3-step approach was used for this project: 1) creation of a data collection form using Google Forms, 2) transfer of data from the form to a spreadsheet using Google Spreadsheets, and 3) creation of an automated, cloud-based analytics platform for report generation using R and RStudio Shiny software. A video tutorial of all steps in the creation and use of this free tool can be found on our YouTube channel: https://www.youtube.com/watch?v=uFatMR1rXqU&t. The on-demand reporting tool can be accessed at: https://crsp.louisville.edu/shiny/handhygiene. This data collection and automated analytics engine provides an easy-to-use environment for evaluating hand hygiene data; it also provides rapid feedback to healthcare workers. By reducing some of the data management workload required of the infection preventionist, more focused interventions may be instituted to increase global hand hygiene rates and reduce infection. Copyright © 2018 Association for Professionals in Infection Control and Epidemiology, Inc. Published by Elsevier Inc. All rights reserved.

studies on solvent extraction of free hydrogen cyanide from river water

African Journals Online (AJOL)

A method for free and strongly complexed cyanide measurement in river water was developed. Recovery tests from solution with and without river water, using various solvent combinations and background control were investigated to obtain an accurate and precise extraction method for the measurement of hydrogen ...

Clean Hands Count

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Clinical application of computerized evaluation and re-education biofeedback prototype for sensorimotor control of the hand in stroke patients.

Science.gov (United States)

Hsu, Hsiu-Yun; Lin, Cheng-Feng; Su, Fong-Chin; Kuo, Huan-Ting; Chiu, Haw-Yen; Kuo, Li-Chieh

2012-05-09

Hemianaesthesia patients usually exhibit awkward and inefficient finger movements of the affected hands. Conventionally, most interventions emphasize the improvement of motor deficits, but rarely address sensory capability and sensorimotor control following stroke. Thus it is critical for stroke patients with sensory problems to incorporate appropriate strategies for dealing with sensory impairment, into traditional hand function rehabilitation programs. In this study, we used a custom-designed computerized evaluation and re-education biofeedback (CERB) prototype to analyze hand grasp performances, and monitor the training effects on hand coordination for stroke patients with sensory disturbance and without motor deficiency. The CERB prototype was constructed to detect momentary pinch force modulation for 14 sub-acute and chronic stroke patients with sensory deficiency and 14 healthy controls. The other ten chronic stroke patients (ranges of stroke period: 6-60 months) were recruited to investigate the effects of 4-weeks computerized biofeedback treatments on the hand control ability. The biofeedback procedures provide visual and auditory cues to the participants when the interactive force of hand-to-object exceeded the target latitude in a pinch-up-holding task to trigger optimal motor strategy. Follow-up measurements were conducted one month after training. The hand sensibility, grip forces and results of hand functional tests were recorded and analyzed. The affected hands of the 14 predominant sensory stroke patients exhibited statistically significant elevation in the magnitude of peak pinch force (p = 0.033) in pinching and lifting-up tasks, and poor results for hand function tests (p = 0.005) than sound hands did. In addition, the sound hands of patients were less efficient in force modulation (p = 0.009) than the hands of healthy subjects were. Training with the biofeedback system produced significant improvements in grip force modulation (p = 0.020) and

Clinical application of computerized evaluation and re-education biofeedback prototype for sensorimotor control of the hand in stroke patients

Directory of Open Access Journals (Sweden)

Hsu Hsiu-Yun

2012-05-01

Full Text Available Abstract Background Hemianaesthesia patients usually exhibit awkward and inefficient finger movements of the affected hands. Conventionally, most interventions emphasize the improvement of motor deficits, but rarely address sensory capability and sensorimotor control following stroke. Thus it is critical for stroke patients with sensory problems to incorporate appropriate strategies for dealing with sensory impairment, into traditional hand function rehabilitation programs. In this study, we used a custom-designed computerized evaluation and re-education biofeedback (CERB prototype to analyze hand grasp performances, and monitor the training effects on hand coordination for stroke patients with sensory disturbance and without motor deficiency. Methods The CERB prototype was constructed to detect momentary pinch force modulation for 14 sub-acute and chronic stroke patients with sensory deficiency and 14 healthy controls. The other ten chronic stroke patients (ranges of stroke period: 6–60 months were recruited to investigate the effects of 4-weeks computerized biofeedback treatments on the hand control ability. The biofeedback procedures provide visual and auditory cues to the participants when the interactive force of hand-to-object exceeded the target latitude in a pinch-up-holding task to trigger optimal motor strategy. Follow-up measurements were conducted one month after training. The hand sensibility, grip forces and results of hand functional tests were recorded and analyzed. Results The affected hands of the 14 predominant sensory stroke patients exhibited statistically significant elevation in the magnitude of peak pinch force (p = 0.033 in pinching and lifting-up tasks, and poor results for hand function tests (p = 0.005 than sound hands did. In addition, the sound hands of patients were less efficient in force modulation (p = 0.009 than the hands of healthy subjects were. Training with the biofeedback system produced

Clean Hands Count

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Clean Hands Count

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Challenges in implementing electronic hand hygiene monitoring systems.

Science.gov (United States)

Conway, Laurie J

2016-05-02

Electronic hand hygiene (HH) monitoring systems offer the exciting prospect of a more precise, less biased measure of HH performance than direct observation. However, electronic systems are challenging to implement. Selecting a system that minimizes disruption to the physical infrastructure and to clinician workflow, and that fits with the organization's culture and budget, is challenging. Getting front-line workers' buy-in and addressing concerns about the accuracy of the system and how the data will be used are also difficult challenges. Finally, ensuring information from the system reaches front-line workers and is used by them to improve HH practice is a complex challenge. We describe these challenges in detail and suggests ways to overcome them. Copyright © 2016 Association for Professionals in Infection Control and Epidemiology, Inc. Published by Elsevier Inc. All rights reserved.

Acupuncture in subjects with cold hands sensation: study protocol for a randomized controlled trial.

Science.gov (United States)

Seo, Jung-Chul; Lee, Hyun-jong; Kwak, Min-Ah; Park, Sung-Hoon; Shin, ImHee; Yun, Woo-Sung; Park, Kihyuk

2014-09-04

Cold hands sensation is a common disorder within the Korean population. Many Korean family physicians believe that it is a mild early manifestation of Raynaud's phenomenon (RP), or may be related to RP. RP is characterized by reversible digital vasospasm provoked by cold temperatures and/or emotional stress, and doctors often prescribe medications that are used in treatment of RP for subjects with cold hands. However, this has not shown a clear benefit, and these medications can cause unwanted side effects. It is also reported that traditional Korean medicine, including acupuncture, is widely used to treat cold hands, although the current level of evidence for this approach is also poor and to date, there have been no published randomized controlled clinical trials (RCTs) evaluating the efficacy and safety of acupuncture for cold hands. We have therefore designed a pilot RCT to obtain information for the design of a further full-scale trial. The proposed study is a five-week pilot RCT. A total of 14 subjects will be recruited and randomly allocated to two groups: an acupuncture plus medication group (experimental group) and a medication-only group (control group). All subjects will take nifedipine (5 mg once daily) and beraprost (20 mg three times daily) for three weeks. The experimental group will receive additional treatment with three acupuncture sessions per week for three weeks (nine sessions total). The primary outcome will be measured using a visual analogue scale. Secondary outcomes will be measured by blood perfusion in laser Doppler perfusion imaging of the hands, frequency and duration of episodes of cold hands, and heart rate variability. Assessments will be made at baseline and at one, three, and five weeks thereafter. This study will provide an indication of the feasibility and a clinical foundation for a future large-scale trial. This study was registered at Korean Clinical Research Information Service (CRIS) registry on 5 August 2013 with the

Access to Waterless Hand Sanitizer Improves Student Hand Hygiene Behavior in Primary Schools in Nairobi, Kenya

Science.gov (United States)

Pickering, Amy J.; Davis, Jennifer; Blum, Annalise G.; Scalmanini, Jenna; Oyier, Beryl; Okoth, George; Breiman, Robert F.; Ram, Pavani K.

2013-01-01

Handwashing is difficult in settings with limited resources and water access. In primary schools within urban Kibera, Kenya, we investigated the impact of providing waterless hand sanitizer on student hand hygiene behavior. Two schools received a waterless hand sanitizer intervention, two schools received a handwashing with soap intervention, and two schools received no intervention. Hand cleaning behavior after toilet use was monitored for 2 months using structured observation. Hand cleaning after toileting was 82% at sanitizer schools (N = 2,507 toileting events), 38% at soap schools (N = 3,429), and 37% at control schools (N = 2,797). Students at sanitizer schools were 23% less likely to have observed rhinorrhea than control students (P = 0.02); reductions in student-reported gastrointestinal and respiratory illness symptoms were not statistically significant. Providing waterless hand sanitizer markedly increased student hand cleaning after toilet use, whereas the soap intervention did not. Waterless hand sanitizer may be a promising option to improve student hand cleansing behavior, particularly in schools with limited water access. PMID:23836575

Simple Model-Free Controller for the Stabilization of Planetary Inverted Pendulum

Directory of Open Access Journals (Sweden)

Huanhuan Mai

2012-01-01

Full Text Available A simple model-free controller is presented for solving the nonlinear dynamic control problems. As an example of the problem, a planetary gear-type inverted pendulum (PIP is discussed. To control the inherently unstable system which requires real-time control responses, the design of a smart and simple controller is made necessary. The model-free controller proposed includes a swing-up controller part and a stabilization controller part; neither controller has any information about the PIP. Since the input/output scaling parameters of the fuzzy controller are highly sensitive, we use genetic algorithm (GA to obtain the optimal control parameters. The experimental results show the effectiveness and robustness of the present controller.

The effect of improved hand hygiene on nosocomial MRSA control.

Science.gov (United States)

Marimuthu, Kalisvar; Pittet, Didier; Harbarth, Stephan

2014-01-01

The purpose of this review is to examine studies that have assessed the association between hand hygiene enhancement and methicillin-resistant Staphylococcus aureus (MRSA) rates and to explore controversies surrounding this association. Many studies have been published confirming the link between improved hand hygiene compliance and reduction in MRSA acquisition and infections, including bacteremia. These studies have also shown the cost-beneficial nature of these programmes. Despite considerable research some issues remain unanswered still, including the temporal relationship between hand hygiene enhancement strategies and decrease in MRSA rates, association between hand hygiene enhancement and MRSA-related surgical site infections, diminishing effect of hand hygiene compliance on MRSA rates after reaching a threshold and the role of instituting contact precautions in the setting of low MRSA rates and sufficient hand hygiene compliance. In conclusion, enhancement of hand hygiene compliance has been shown to reduce MRSA rates; however, some open issues warrant further investigation.

Control-structure interaction in precision pointing servo loops

Science.gov (United States)

Spanos, John T.

1989-01-01

The control-structure interaction problem is addressed via stability analysis of a generic linear servo loop model. With the plant described by the rigid body mode and a single elastic mode, structural flexibility is categorized into one of three types: (1) appendage, (2) in-the-loop minimum phase, and (3) in-the-loop nonminimum phase. Closing the loop with proportional-derivative (PD) control action and introducing sensor roll-off dynamics in the feedback path, stability conditions are obtained. Trade studies are conducted with modal frequency, modal participation, modal damping, loop bandwidth, and sensor bandwidth treated as free parameters. Results indicate that appendage modes are most likely to produce instability if they are near the sensor rolloff, whereas in-the-loop modes are most dangerous near the loop bandwidth. The main goal of this paper is to provide a fundamental understanding of the control-structure interaction problem so that it may benefit the design of complex spacecraft and pointing system servo loops. In this framework, the JPL Pathfinder gimbal pointer is considered as an example.

Toward the restoration of hand use to a paralyzed monkey: brain-controlled functional electrical stimulation of forearm muscles.

Directory of Open Access Journals (Sweden)

Eric A Pohlmeyer

2009-06-01

Full Text Available Loss of hand use is considered by many spinal cord injury survivors to be the most devastating consequence of their injury. Functional electrical stimulation (FES of forearm and hand muscles has been used to provide basic, voluntary hand grasp to hundreds of human patients. Current approaches typically grade pre-programmed patterns of muscle activation using simple control signals, such as those derived from residual movement or muscle activity. However, the use of such fixed stimulation patterns limits hand function to the few tasks programmed into the controller. In contrast, we are developing a system that uses neural signals recorded from a multi-electrode array implanted in the motor cortex; this system has the potential to provide independent control of multiple muscles over a broad range of functional tasks. Two monkeys were able to use this cortically controlled FES system to control the contraction of four forearm muscles despite temporary limb paralysis. The amount of wrist force the monkeys were able to produce in a one-dimensional force tracking task was significantly increased. Furthermore, the monkeys were able to control the magnitude and time course of the force with sufficient accuracy to track visually displayed force targets at speeds reduced by only one-third to one-half of normal. Although these results were achieved by controlling only four muscles, there is no fundamental reason why the same methods could not be scaled up to control a larger number of muscles. We believe these results provide an important proof of concept that brain-controlled FES prostheses could ultimately be of great benefit to paralyzed patients with injuries in the mid-cervical spinal cord.

A robust internal control for high-precision DNA methylation analyses by droplet digital PCR.

Science.gov (United States)

Pharo, Heidi D; Andresen, Kim; Berg, Kaja C G; Lothe, Ragnhild A; Jeanmougin, Marine; Lind, Guro E

2018-01-01

Droplet digital PCR (ddPCR) allows absolute quantification of nucleic acids and has potential for improved non-invasive detection of DNA methylation. For increased precision of the methylation analysis, we aimed to develop a robust internal control for use in methylation-specific ddPCR. Two control design approaches were tested: (a) targeting a genomic region shared across members of a gene family and (b) combining multiple assays targeting different pericentromeric loci on different chromosomes. Through analyses of 34 colorectal cancer cell lines, the performance of the control assay candidates was optimized and evaluated, both individually and in various combinations, using the QX200™ droplet digital PCR platform (Bio-Rad). The best-performing control was tested in combination with assays targeting methylated CDO1 , SEPT9 , and VIM . A 4Plex panel consisting of EPHA3 , KBTBD4 , PLEKHF1 , and SYT10 was identified as the best-performing control. The use of the 4Plex for normalization reduced the variability in methylation values, corrected for differences in template amount, and diminished the effect of chromosomal aberrations. Positive Droplet Calling (PoDCall), an R-based algorithm for standardized threshold determination, was developed, ensuring consistency of the ddPCR results. Implementation of a robust internal control, i.e., the 4Plex, and an algorithm for automated threshold determination, PoDCall, in methylation-specific ddPCR increase the precision of DNA methylation analysis.

Humanlike robot hands controlled by brain activity arouse illusion of ownership in operators

Science.gov (United States)

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2013-08-01

Operators of a pair of robotic hands report ownership for those hands when they hold image of a grasp motion and watch the robot perform it. We present a novel body ownership illusion that is induced by merely watching and controlling robot's motions through a brain machine interface. In past studies, body ownership illusions were induced by correlation of such sensory inputs as vision, touch and proprioception. However, in the presented illusion none of the mentioned sensations are integrated except vision. Our results show that during BMI-operation of robotic hands, the interaction between motor commands and visual feedback of the intended motions is adequate to incorporate the non-body limbs into one's own body. Our discussion focuses on the role of proprioceptive information in the mechanism of agency-driven illusions. We believe that our findings will contribute to improvement of tele-presence systems in which operators incorporate BMI-operated robots into their body representations.

An EEG/EOG-based hybrid brain-neural computer interaction (BNCI) system to control an exoskeleton for the paralyzed hand.

Science.gov (United States)

Soekadar, Surjo R; Witkowski, Matthias; Vitiello, Nicola; Birbaumer, Niels

2015-06-01

The loss of hand function can result in severe physical and psychosocial impairment. Thus, compensation of a lost hand function using assistive robotics that can be operated in daily life is very desirable. However, versatile, intuitive, and reliable control of assistive robotics is still an unsolved challenge. Here, we introduce a novel brain/neural-computer interaction (BNCI) system that integrates electroencephalography (EEG) and electrooculography (EOG) to improve control of assistive robotics in daily life environments. To evaluate the applicability and performance of this hybrid approach, five healthy volunteers (HV) (four men, average age 26.5 ± 3.8 years) and a 34-year-old patient with complete finger paralysis due to a brachial plexus injury (BPI) used EEG (condition 1) and EEG/EOG (condition 2) to control grasping motions of a hand exoskeleton. All participants were able to control the BNCI system (BNCI control performance HV: 70.24 ± 16.71%, BPI: 65.93 ± 24.27%), but inclusion of EOG significantly improved performance across all participants (HV: 80.65 ± 11.28, BPI: 76.03 ± 18.32%). This suggests that hybrid BNCI systems can achieve substantially better control over assistive devices, e.g., a hand exoskeleton, than systems using brain signals alone and thus may increase applicability of brain-controlled assistive devices in daily life environments.

Use of alcohol hand sanitizer as an infection control strategy in an acute care facility.

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Hilburn, Jessica; Hammond, Brian S; Fendler, Eleanor J; Groziak, Patricia A

2003-04-01

Nosocomial infections are a major problem in health care facilities, resulting in extended durations of care, substantial morbidity and mortality, and excess costs. Since alcohol gel hand sanitizers combine high immediate antimicrobial efficacy with ease of use, this study was carried out to determine the effect of the use of an alcohol gel hand sanitizer by caregivers on infection types and rates in an acute care facility. Patients were educated about the study through a poster on the unit, and teachable patients were given portable bottles of the alcohol hand gel for bedside use, along with an educational brochure explaining how and why to practice good hand hygiene. Infection rate and type data were collected in 1 unit of a 498-bed acute care facility for 16 months (February 2000 to May 2001). An alcohol gel hand sanitizer was provided and used by caregivers in the orthopedic surgical unit of the facility during this period. The primary infection types (more than 80%) found were urinary tract (UTI) and surgical site (SSI) infections. Infection types and rates for the unit during the period the alcohol hand sanitizer (intervention) was used were compared with the infection types and rates for the same unit when the alcohol hand sanitizer was not used (baseline); the results demonstrated a 36.1% decrease in infection rates for the 10-month period that the hand sanitizer was used. This study indicates that use of an alcohol gel hand sanitizer can decrease infection rates and provide an additional tool for an effective infection control program in acute care facilities.

General Form of Model-Free Control Law and Convergence Analyzing

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Xiuying Li

2012-01-01

Full Text Available The general form of model-free control law is introduced, and its convergence is analyzed. Firstly, the necessity to improve the basic form of model free control law is explained, and the functional combination method as the approach of improvement is presented. Then, a series of sufficient conditions of convergence are given. The analysis denotes that these conditions can be satisfied easily in the engineering practice.

Offset Free Tracking Predictive Control Based on Dynamic PLS Framework

Directory of Open Access Journals (Sweden)

Jin Xin

2017-10-01

Full Text Available This paper develops an offset free tracking model predictive control based on a dynamic partial least square (PLS framework. First, state space model is used as the inner model of PLS to describe the dynamic system, where subspace identification method is used to identify the inner model. Based on the obtained model, multiple independent model predictive control (MPC controllers are designed. Due to the decoupling character of PLS, these controllers are running separately, which is suitable for distributed control framework. In addition, the increment of inner model output is considered in the cost function of MPC, which involves integral action in the controller. Hence, the offset free tracking performance is guaranteed. The results of an industry background simulation demonstrate the effectiveness of proposed method.

The study of the precision and accuracy of quality control in DXA bone mineral densitometry

International Nuclear Information System (INIS)

Gong Jian; Xu Hao

2005-01-01

Objective: To study the precision and accuracy of quality control (QC) in dual-energy X-ray absorptiometry (DXA) bone mineral densitometry so as to raise the reliability and necessity of the results. Methods: 1) Short-term precision trial: 30 people and 30 SD male rats were chosen, and a precision trail was performed. Each people was scanned twice and reposited in next study. The precision and the least significant change (LSC) of each examinated region were calculated. The short-term precision trail of the rats was performed in the similar way. 2) Accuracy trial: measured the body phantom supplied by factor daily, and compared the results with real value, then calculated the accuracy and correction factor. A Shewhart chart was set up based on average values. Results: 1) People's coefficient of variation (CV) and LSC in the lumbar and proximal femur were 0.7%-2.2% and 0.018-0.048 g/cm 2 . Rats' whole body short-term precision was 0.9%. 2) The average accuracy of DXA densitometer was -0.81%, the correction factor was 0.992. The average bone mineral density measured in successive 25 d was 1.244 g/cm 2 , the standard deviation (SD) was 0.008. Conclusion: The precision and accuracy trail can help to get the information about the working state of the instrument and to analyze the measured results, and can effectively raise the reliability of the measure. (authors)

Are we ready to move beyond the reductionist approach of classical synergy control?. Comment on "Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands" by Marco Santello et al.

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Lacquaniti, Francesco; Ivanenko, Yuri P.; Zago, Myrka

2016-07-01

Starting from the classical concepts introduced by Sherrington [1] and considerably elaborated by Bernstein [2], much has been learned about motor synergies in the last several years. The contributions of the group funded by the European project ;The Hand Embodied; are remarkable in the field of biological and robotic control of the hand based on synergies, and they are reflected in this enjoyable review [3]. There, Santello et al. adopt Bernstein's definition of motor synergies as multiple elements working together towards a common goal, with the result that multiple degrees of freedom are controlled within a lower-dimensional space than the available number of dimensions.

The retrieval efficiency test of descriptors and free vocabulary terms in INIS on-line search

International Nuclear Information System (INIS)

Ebinuma, Yukio; Takahashi, Satoko

1981-01-01

The test was done for 1) search topics with appropriate descriptors, 2) search topics with considerably broader descriptors, 3) search topics with no appropriate descriptors. As to (1) and (2) the retrieval efficiency was the same both on descriptor system and on keyword system (descriptors + free terms), and the search formulas were easily constructed. As to (3) the descriptor system ensured the recall ratio but decreased the precision ratio. On the other hand the keyword system made the construction of search formulas easy and resulted in good retrieval efficiency. The search system which is available both for full match method of descriptors and truncation method of keywords is desirable because each method can be selected according to the searcher's strategy and search topics. Free-term system seems unnecessary. (author)

Comparative Geometrical Accuracy Investigations of Hand-Held 3d Scanning Systems - AN Update

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Kersten, T. P.; Lindstaedt, M.; Starosta, D.

2018-05-01

Hand-held 3D scanning systems are increasingly available on the market from several system manufacturers. These systems are deployed for 3D recording of objects with different size in diverse applications, such as industrial reverse engineering, and documentation of museum exhibits etc. Typical measurement distances range from 0.5 m to 4.5 m. Although they are often easy-to-use, the geometric performance of these systems, especially the precision and accuracy, are not well known to many users. First geometrical investigations of a variety of diverse hand-held 3D scanning systems were already carried out by the Photogrammetry & Laser Scanning Lab of the HafenCity University Hamburg (HCU Hamburg) in cooperation with two other universities in 2016. To obtain more information about the accuracy behaviour of the latest generation of hand-held 3D scanning systems, HCU Hamburg conducted further comparative geometrical investigations using structured light systems with speckle pattern (Artec Spider, Mantis Vision PocketScan 3D, Mantis Vision F5-SR, Mantis Vision F5-B, and Mantis Vision F6), and photogrammetric systems (Creaform HandySCAN 700 and Shining FreeScan X7). In the framework of these comparative investigations geometrically stable reference bodies were used. The appropriate reference data was acquired by measurements with two structured light projection systems (AICON smartSCAN and GOM ATOS I 2M). The comprehensive test results of the different test scenarios are presented and critically discussed in this contribution.

Precision natural SUSY at CEPC, FCC-ee, and ILC

International Nuclear Information System (INIS)

Fan, JiJi; Reece, Matthew; Wang, Lian-Tao

2015-01-01

Testing the idea of naturalness is and will continue to be one of the most important goals of high energy physics experiments. It will play a central role in the physics program of future colliders. In this paper, we present projections of the reach of natural SUSY at future lepton colliders: CEPC, FCC-ee and ILC. We focus on the observables which give the strongest reach, the electroweak precision observables (for left-handed stops), and Higgs to gluon and photon decay rates (for both left- and right-handed stops). There is a “blind spot” when the stop mixing parameter X t is approximately equal to the average stop mass. We argue that in natural scenarios, bounds on the heavy Higgs bosons from tree-level mixing effects that modify the hbb̄ coupling together with bounds from b→sγ play a complementary role in probing the blind spot region. For specific natural SUSY scenarios such as folded SUSY in which the top partners do not carry Standard Model color charges, electroweak precision observables could be the most sensitive probe. In all the scenarios discussed in this paper, the combined set of precision measurements will probe down to a few percent in fine-tuning.

Repeatability of grasp recognition for robotic hand prosthesis control based on sEMG data.

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Palermo, Francesca; Cognolato, Matteo; Gijsberts, Arjan; Muller, Henning; Caputo, Barbara; Atzori, Manfredo

2017-07-01

Control methods based on sEMG obtained promising results for hand prosthetics. Control system robustness is still often inadequate and does not allow the amputees to perform a large number of movements useful for everyday life. Only few studies analyzed the repeatability of sEMG classification of hand grasps. The main goals of this paper are to explore repeatability in sEMG data and to release a repeatability database with the recorded experiments. The data are recorded from 10 intact subjects repeating 7 grasps 12 times, twice a day for 5 days. The data are publicly available on the Ninapro web page. The analysis for the repeatability is based on the comparison of movement classification accuracy in several data acquisitions and for different subjects. The analysis is performed using mean absolute value and waveform length features and a Random Forest classifier. The accuracy obtained by training and testing on acquisitions at different times is on average 27.03% lower than training and testing on the same acquisition. The results obtained by training and testing on different acquisitions suggest that previous acquisitions can be used to train the classification algorithms. The inter-subject variability is remarkable, suggesting that specific characteristics of the subjects can affect repeatibility and sEMG classification accuracy. In conclusion, the results of this paper can contribute to develop more robust control systems for hand prostheses, while the presented data allows researchers to test repeatability in further analyses.

Time response model of ER fluids for precision control of motors

Energy Technology Data Exchange (ETDEWEB)

Koyanagi, Ken' ichi [Toyama Prefectural University, 5180 Kurokawa, Imizu, Toyama (Japan)], E-mail: koyanagi@pu-toyama.ac.jp

2009-02-01

For improvement of control performance or new control demands of mechatronics devices using particle type ER fluids, it will be needed to further investigate a response time of the fluids. It is commonly said around 5-mili seconds, however, the formula structure of that delay has not been clear. This study aims to develop a functional damper (attenuators), that can control its viscous characteristics in real time using ER fluids as its working fluid. ER dampers are useful to accomplish high precision positioning not to prevent high speed movement of the motor. To realize the functional damper that can be manipulated according to situations or tasks, the modeling and control of ER fluids are necessary. This paper investigates time delay affects of ER fluids and makes an in-depth dynamic model of the fluid by utilizing simulation and experiment. The mathematical model has a dead-time and first ordered delays of the fluid and the high voltage amplifier for the fluid.

The Future of Precision Medicine in Oncology.