Comparison Between the Kinematic Behaviour of Different Prototypes of Prosthetic Leg with Actuated Knee and Ankle Joints

2021 ◽  
pp. 97-106
Author(s):  
Zlata Jelačić
Keyword(s):  
Ankle Joints ◽  
Kinematic Behaviour

Minimal contribution of cell-bound antibodies to the immunoscintigraphy of inflamed joints with 99mTc-anti-CD4 monoclonal antibodies

2002 ◽  
Vol 41 (03) ◽  
pp. 129-134 ◽  
Author(s):  
A. Wolski ◽  
E. Palombo-Kinne ◽  
F. Wolf ◽  
F. Emmrich ◽  
W. Becker ◽  
...  
Keyword(s):  
T Cells ◽  
Monoclonal Antibodies ◽  
Synovial Membrane ◽  
In Vitro Release ◽  
Peritoneal Macrophages ◽  
Lymphoid Organs ◽  
Whole Body ◽  
Free Form ◽  
Ankle Joints

Summary Aim: The cellular joint infiltrate in rheumatoid arthritis patients is rich in CD4-positive T-helper lymphocytes and macrophages, rendering anti-CD4 monoclonal antibodies (mAbs) suitable for specific immunoscintigraphy of human/ experimental arthritis. Following intravenous injection, however, mAbs are present both in the free form and bound to CD4-positive, circulating monocytes and T-cells. Thus, the present study aimed at analyzing the relative contribution of the free and the cell-bound component to the imaging of inflamed joints in experimental adjuvant arthritis (AA). Methods: AA rat peritoneal macrophages or lymph node T-cells were incubated in vitro with saturating amounts of 99mTc-anti-CD4 mAb (W3/25) and injected i.v. into rats with AA. Results: In vitro release of 99mTc-anti-CD4 mAb from the cells was limited (on average 1.57%/h for macrophages and 0.84%/h for T-cells). Following i.v. injection, whole body/joint scans and tissue measurements showed only negligible accumulation of radioactivity in inflamed ankle joints (tissue: 0.22 and 0.34% of the injected activity, respectively), whereas the radioactivity was concentrated in liver (tissue: 79% and 71%, respectively), kidney, and urinary bladder. Unlike macrophages, however, anti-CD4 mAb-coated T-cells significantly accumulated in lymphoid organs, the inflamed synovial membrane of the ankle joints, as well as in elbow and knee joints. Conclusion: While the overall contribution of cell-bound mAbs to the imaging of arthritic joints with anti-CD4 mAbs is minimal, differential accumulation of macrophages and T-cells in lymphoid organs and the inflamed synovial membrane indicates preferential migration patterns of these 2 cell populations in arthritic rats. Although only validated for 99mTc-anti-CD4 mAbs, extrapolation of the results to other anticellular mAbs with similar affinity for their antigen may be possible.

scholarly journals Difference in orientation of the talar articular facets between healthy ankle joints and ankle joints with chronic instability

2021 ◽  
Author(s):  
Roeland P. Kleipool ◽  
Sjoerd A.S. Stufkens ◽  
Jari Dahmen ◽  
Gwendolyn Vuurberg ◽  
Geert J. Streekstra ◽  
...  
Keyword(s):  
Chronic Instability ◽  
Ankle Joints

A new simpler approach to measure the strength of toe plantar flexion requiring no mechanical restraint with a light-weight device

2021 ◽  
pp. 095441192110029
Author(s):  
Yuko Komuro ◽  
Yuji Ohta
Keyword(s):  
Plantar Flexion ◽  
Mean Value ◽  
Simple Approach ◽  
Light Weight ◽  
New Approach ◽  
Mean Values ◽  
Mechanical Restraint ◽  
Significant Difference ◽  
Ankle Joints ◽  
The Mean

Conventionally, the strength of toe plantar flexion (STPF) is measured in a seated position, in which not only the target toe joints but also the knee and particularly ankle joints, are usually restrained. We have developed an approach for the measurement of STPF which does not involve restraint and considers the interactions of adjacent joints of the lower extremities. This study aimed to evaluate this new approach and comparing with the seated approach. A thin, light-weight, rigid plate was attached to the sole of the foot in order to immobilize the toe area. Participants were 13 healthy young women (mean age: 24 ± 4 years). For measurement of STPF with the new approach, participants were instructed to stand, raise the device-wearing leg slightly, plantar flex the ankle, and push the sensor sheet with the toes to exert STPF. The sensor sheet of the F-scan II system was inserted between the foot sole and the plate. For measurement with the seated approach, participants were instructed to sit and push the sensor with the toes. They were required to maintain the hip, knee, and ankle joints at 90°. The mean values of maximum STPF of the 13 participants obtained with each approach were compared. There was no significant difference in mean value of maximum STPF when the two approaches were compared (new: 59 ± 23 N, seated: 47 ± 33 N). The coefficient of variation of maximum STPF was smaller for data obtained with the new approach (new: 39%, seated: 70%). Our simple approach enables measurement of STPF without the need for the restraints that are required for the conventional seated approach. These results suggest that the new approach is a valid method for measurement of STPF.

scholarly journals Computer-assisted contralateral side comparison of the ankle joint using flat panel technology

2021 ◽  
Author(s):  
Sarina Thomas ◽  
Lisa Kausch ◽  
Holger Kunze ◽  
Maxim Privalov ◽  
André Klein ◽  
...  
Keyword(s):  
Information Gain ◽  
Contralateral Side ◽  
Computer Assisted ◽  
Ankle Joints ◽  
Additional Radiation ◽  
Median Position ◽  
Operative Evaluation ◽  
Overall Performance ◽  
The Individual ◽  
Segmentation Problem

Abstract Purpose Reduction and osteosynthesis of ankle fractures is a challenging surgical procedure when it comes to the verification of the reduction result. Evaluation is conducted using intra-operative imaging of the injured ankle and depends on the expertise of the surgeon. Studies suggest that intra-individual variance of the ankle bone shape and pose is considerably lower than the inter-individual variance. It stands to reason that the information gain from the healthy contralateral side can help to improve the evaluation. Method In this paper, an assistance system is proposed that provides a side-to-side view of the two ankle joints for visual comparison and instant evaluation using only one 3D C-arm image. Two convolutional neural networks (CNN) are employed to extract the relevant image regions and pose information of each ankle so that they can be aligned with each other. A first U-Net uses a sliding window to predict the location of each ankle. The standard plane estimation is formulated as segmentation problem so that a second U-Net predicts the three viewing planes for alignment. Results Experiments were conducted to assess the accuracy of the individual steps on 218 unilateral ankle datasets as well as the overall performance on 7 bilateral ankle datasets. The experiments on unilateral ankles yield a median position-to-plane error of $$0.73\pm 1.36$$ 0.73 ± 1.36 mm and a median angular error between 2.98$$^\circ $$ ∘ and 3.71$$^\circ $$ ∘ for the plane normals. Conclusion Standard plane estimation via segmentation outperforms direct pose regression. Furthermore, the complete pipeline was evaluated including ankle detection and subsequent plane estimation on bilateral datasets. The proposed pipeline enables a direct contralateral side comparison without additional radiation. This has the potential to ease and improve the intra-operative evaluation for the surgeons in the future and reduce the need for revision surgery.

scholarly journals An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip

2021 ◽  
Vol 11 (4) ◽  
pp. 1594 ◽  
Author(s):  
Andrea Botta ◽  
Paride Cavallone ◽  
Luigi Tagliavini ◽  
Luca Carbonari ◽  
Carmen Visconte ◽  
...  
Keyword(s):  
Experimental Data ◽  
Mobile Robot ◽  
Trajectory Planning ◽  
Kinematic Model ◽  
Close Connection ◽  
Wheel Slip ◽  
Robot Architecture ◽  
Experimental Campaign ◽  
Base Concept ◽  
Kinematic Behaviour

In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is done to identify if it is possible to kinematically compensate trajectories that otherwise would be subject to large lateral slip. Due to the close connection to the experimental data, the results shown are valid only for Epi.q, the prototype that is the main object of this manuscript. Nonetheless, the base concept can be usefully applied to any mobile robot subject to large lateral slip.

An Operationally Optimized Seven Link Biped Robot Moving on Slopes

2013 ◽  
Author(s):  
Peiman Naseradinmousavi
Keyword(s):  
Simulated Annealing Algorithm ◽  
Nonlinear Modeling ◽  
Biped Robot ◽  
Gait Pattern ◽  
Critical Parameters ◽  
Modeling Process ◽  
Operational Optimization ◽  
Ankle Joints ◽  
Annealing Algorithm ◽  
The Stability

In this paper, we discuss operational optimization of a seven link biped robot using the well-known “Simulated Annealing” algorithm. Some critical parameters affecting the robot gait pattern are selected to be optimized reducing the total energy used. Nonlinear modeling process we published elsewhere is shown here for completeness. The trajectories of both the hip and ankle joints are used to plan the robot gait on slopes and undoubtedly those parameters would be the target ones for the optimization process. The results we obtained reveal considerable amounts of the energy saved for both the ascending and descending surfaces while keeping the robot stable. The stability criterion we utilized for both the modeling and then optimization is “Zero Moment Point”. A comparative study of human evolutionary gait and the operationally optimized robot is also presented.

An open 8-channel parallel transmission coil for static and dynamic 7T MRI of the knee and ankle joints at multiple postures

2017 ◽  
Vol 79 (3) ◽  
pp. 1804-1816 ◽  
Author(s):  
Jin Jin ◽  
Ewald Weber ◽  
Aurelien Destruel ◽  
Kieran O’Brien ◽  
Bassem Henin ◽  
...  
Keyword(s):  
Parallel Transmission ◽  
Ankle Joints
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