Loose Guide for Passive Omnidirectional Mobility Aid

2006 ◽  
Vol 18 (4) ◽  
pp. 511-518 ◽  
Author(s):  
Naemeh Nejatbakhsh ◽  
◽  
Kazuhiro Kosuge ◽  
Keyword(s):  
Passive Control ◽  
The Elderly ◽  
Path Tracking ◽  
Indoor Navigation ◽  
Human Interaction ◽  
Tracking Accuracy ◽  
Objective System ◽  
Mobility Aid ◽  
Magneto Rheological ◽  
And Control

This paper details the design and control of an intelligent mobility aid for the elderly and gait-disabled, called Omni RT Walker (ORTW). Omni RT Walker-II, version 2 of ORTW, consists of an omnidirectional platform and uses magneto-rheological brakes for passive control. ORTW-II enables the elderly to use the driving skills they possess while supplementing movement that may have declined due to their age or fatigue. We choose indoor navigation as the task to be realized by shared control of ORTW-II. Unlike most path tracking methods, which attempt to lead an objective system on a desired trajectory, our new algorithm restricts mobility to a pathway called thePotential Canal, while mobility is conducted by the user. In systems with direct human interaction similar to mobility aids, our proposal is expected to increase user-dependability in system operation while increasing user freedom and safety. A collision-free Potential Canal is maintained using realtime modification based on environmental information. Experimental results are included to demonstrate path tracking accuracy and quality.

scholarly journals Novel Design and Adaptive Fuzzy Control of a Lower-Limb Elderly Rehabilitation

Electronics ◽  
2020 ◽  
Vol 9 (2) ◽  
pp. 343 ◽  
Author(s):  
Xin Zhang ◽  
Jiehao Li ◽  
Salih Ertug Ovur ◽  
Ziyang Chen ◽  
Xiangnan Li ◽  
...  
Keyword(s):  
Fuzzy Control ◽  
Lower Limb ◽  
Adaptive Fuzzy Control ◽  
The Elderly ◽  
Human Interaction ◽  
Stable Operation ◽  
Adaptive Fuzzy ◽  
Lower Limb Exoskeleton ◽  
And Control ◽  
Novel Design

Design and control of a lower-limb exoskeleton rehabilitation of the elderly are the main challenge for health care in the past decades. In order to satisfy the requirements of the elderly or disabled users, this paper presents a novel design and adaptive fuzzy control of lower-limb empowered rehabilitation, namely MOVING UP. Different from other rehabilitation devices, this article considers active rehabilitation training devices. Firstly, a novel product design method based on user experience is proposed for the lower-limb elderly exoskeleton rehabilitation. At the same time, in order to achieve a stable operation control for the assistant rehabilitation system, an adaptive fuzzy control scheme is discussed. Finally, the feasibility of the design and control method is validated with a detailed simulation study and the human-interaction test. With the booming demand in the global market for the assistive lower-limb exoskeleton, the methodology developed in this paper will bring more research and manufacturing interests.

Design and control of a parallel mechanism haptic master for robot surgery using magneto-rheological clutches and brakes

2018 ◽  
Vol 29 (19) ◽  
pp. 3829-3844 ◽  
Author(s):  
Seung-Woo Cha ◽  
Seok-Rae Kang ◽  
Yong-Hoon Hwang ◽  
Seung-Bok Choi ◽  
Yang-Sup Lee ◽  
...  
Keyword(s):  
Tracking Control ◽  
Degrees Of Freedom ◽  
Repulsive Force ◽  
The Body ◽  
Tracking Accuracy ◽  
Magneto Rheological ◽  
Feed Forward Controller ◽  
Repulsive Forces ◽  
6 Degrees Of Freedom ◽  
And Control

This article presents tracking control performances of the repulsive force and torque of a haptic master with 6 degrees of freedom, which can be applied to robot-assisted minimally invasive surgeries. The proposed haptic master is activated by two types of actuators that use magneto-rheological fluid: magneto-rheological clutch and magneto-rheological brake. The body segment (or lower part) of the haptic master generates the repulsive forces for the three translational axes using the magneto-rheological clutch, while the wrist segment (or upper part) generates the repulsive torque for the three rotational axes through the use of the magneto-rheological brake. After analyzing the kinematic and dynamic equations, an appropriately sized haptic master is designed and manufactured. The field-dependent force and torque characteristics of the magneto-rheological actuators are experimentally investigated. Then, for successful tracking control performances, a fuzzy plus proportional–integral–derivative feedback controller is used for the repulsive force while a feed-forward controller associated with a hysteretic compensator for the repulsive torque. The effectiveness of the proposed 6-degree-of-freedom haptic master is experimentally validated by demonstrating high tracking accuracy of the force and torque.

A cost-effective preventative approach to potentially save lives in the coronavirus pandemic, jointly using Vitamin D, Curcumin, and Vitamin C. Authors Bakare T A and Soar J S

2020 ◽  
Author(s):  
Jagjit S Soar
Keyword(s):  
Vitamin D ◽  
Vitamin C ◽  
Cost Effective ◽  
Risk Groups ◽  
The Elderly ◽  
Pharmaceutical Drugs ◽  
Over The Counter ◽  
Literature Searches ◽  
Pharmaceutical Agents ◽  
And Control

he current COVID-19 pandemic now believed to be based on the mutation of the SARS-CoV virus (first reported in 2002) to SARS-CoV-2 emerging in 2019, is naturally causing extreme worry and concern around the world with sometimes mixed and incoherent messages on how to deal with it. There is a plethora of information from previous epidemics caused by other coronaviruses such as severe acute respiratory syndrome, SARS (2002) and Middle East respiratory syndrome MERS (2012) from which we can extrapolate guidance on how to deal with the current pandemic. In the current absence of specific pharmaceutical agents, we propose assessing the extended tools that we already possess in our biological armoury to combat, prevent and control the spread of this virus. Using a set of precise criteria to locate such possible contenders, we conducted literature searches to find compounds that met these criteria. We have now reduced this to a shortlist of three agents that may be the best candidates. We propose vitamin C, vitamin D and Curcumin fit our criteria well. These compounds are widely available to the general public. They are available online and over-the-counter as supplements. Otherwise healthy individuals are safely able to self-administer these agents as a prophylactic to protect themselves and to enhance their immune response. This would be especially desirable for the elderly and at risk groups. These agents can also be used as adjunct therapy, particularly for those who may have early symptoms. This preventative therapy could be implemented whilst awaiting specific pharmaceutical drugs to emerge as a treatment for COVID-19. Our suggested compounds are a highly cost-effective way to potentially reduce the mortality that is regretfully mounting as a result of COVID-19 infection. The biological mode of action and the dosing of these compounds are summarised.

Introduction

2018 ◽  
Author(s):  
Xiaojun Bi ◽  
Andrew Howes ◽  
Per Ola Kristensson ◽  
Antti Oulasvirta ◽  
John Williamson
Keyword(s):  
Information Visualization ◽  
User Interfaces ◽  
Graphic Design ◽  
Interaction Design ◽  
Human Interaction ◽  
Learning Design ◽  
Human Factors Engineering ◽  
Interaction Techniques ◽  
Iterative Design ◽  
And Control

This chapter introduces the field of computational interaction, and explains its long tradition of research on human interaction with technology that applies to human factors engineering, cognitive modelling, artificial intelligence and machine learning, design optimization, formal methods, and control theory. It discusses how the book as a whole is part of an argument that, embedded in an iterative design process, computational interaction design has the potential to complement human strengths and provide a means to generate inspiring and elegant designs without refuting the part played by the complicated, and uncertain behaviour of humans. The chapters in this book manifest intellectual progress in the study of computational principles of interaction, demonstrated in diverse and challenging applications areas such as input methods, interaction techniques, graphical user interfaces, information retrieval, information visualization, and graphic design.

scholarly journals 10. Kinetics of Post-Vaccination Seroprotection to S. Pneumonia for the Immune-Compromised and Vaccine-Naïve Populations

2020 ◽  
Vol 7 (Supplement_1) ◽  
pp. S27-S28
Author(s):  
Jeffrey Gruenglas ◽  
James Mond ◽  
Micaela Scobie ◽  
Cynthia Tolman ◽  
Joseph Martinez
Keyword(s):  
Capsular Polysaccharide ◽  
The Elderly ◽  
Community Acquired Pneumonia ◽  
Prior History ◽  
Antibody Activity ◽  
Vaccine Response ◽  
Serum Samples ◽  
Opsonic Activity ◽  
And Control

Abstract Background S. pneumonia infection presents a significant challenge, accounting for 20–38% of hospital-acquired pneumonia, and the leading cause of community-acquired pneumonia despite availability of effective vaccines. Incidence is highest in children under 2 years, the immunocompromised, and elderly. CDC has reported the emergence of antibiotic resistance in ~30% of cases, adding to risk of morbidity and mortality. Fewer than half of the elderly are vaccinated and vulnerable to infection on admission. Passive immunotherapy as an adjunct to vaccines may improve outcomes in such populations. The objective of this study was to evaluate whether seroprotective response induced with a pneumococcal conjugate vaccine could rapidly yield protective opsonic levels of antibody within anticipated duration of hospitalization. Methods Healthy donors (n=30) were immunized with Prevnar. Blood was drawn on days 0, 3, 7, 10, 14, 21, and 28. Samples were pooled and tested for presence of functional opsonic antibodies recognizing capsular polysaccharides. Clearance mechanism of S. pneumonia was based on antibody recognition to pneumococcal capsular polysaccharide and opsonic titers used as an in vitro surrogate to evaluate the efficacy of vaccine. Results There was little to no opsonic activity against most serotypes on day 0, except for low antibody activity with serotypes 1, 3, 4, and 5. Titers increased, with protective levels achieved by day 10 for most serotypes (except 14 and 18C), peaking at day 14 or after across serotypes (Figures 1 and 2). Average titers rose from log2 titer 2 on day 0 to log2 titer 8 on days 21 and 28. Titers against most serotypes reached log2 10 (titer 1024) or higher. Patients remained susceptible to nosocomial infection for at least 10 days post admission until protective titers are reached. OPK titers (log2 scale) for serum samples on day 0 (pre), day 3, 7, 10, 14, 21, 28, and control for S. pneumoniae serotypes 1, 3, 4, 5, 6A, 6B, 7F, 9V. N=2. OPK titers (log2 scale) for serum samples on day 0 (pre), day 3, 7, 10, 14, 21, 28, and control for S. pneumoniae serotypes 14, 18C, 19A, 19F, and 23F. N=2. Conclusion Patients with no prior history of vaccination (or inability to mount response) with Prevnar or pneumovax remain vulnerable to S. pneumonia infection even if vaccinated on entry, due to delayed kinetics in reaching protective titers. These patients may require prophylactic intervention of hyperimmune Ig with high opsonic titers to S. pneumonia, providing protection until vaccine response elicits protective antibodies. Disclosures All Authors: No reported disclosures

Innovative Design of Indoor-Outdoor Powerchair

2020 ◽  
Author(s):  
Violet Cunningham ◽  
Alexander Tilton ◽  
Dylon Maertens ◽  
Shawn Duan
Keyword(s):  
Maximum Load ◽  
The Elderly ◽  
Battery Life ◽  
Linear Actuator ◽  
Time Restrictions ◽  
Failure Theory ◽  
Outdoor Environments ◽  
Turning Radius ◽  
Available Technology ◽  
And Control

Abstract People with disabilities often struggle with mobility issues, so there is a strong desire for devices such as powerchairs, which can provide more freedom. Currently, wheelchair demand in the US is increasing due to an upsurge in the elderly population. Often electric powerchairs suitable for outdoor use are extremely expensive, cannot be used indoors, and are not covered by medical insurance. In this project, these problems are addressed through the design of a chair which is suitable for both rough outdoor terrain and indoor use. This project is based on a request for a powerchair which our client’s son, who has cerebral palsy, can use on family trips in outdoor environments including grass, gravel, and sand. A photo of a previous nonfunctional prototype was provided to the team as a reference, and a full redesign was performed to resolve the problems identified. Before proceeding with the design, various sources were consulted to gain a thorough understanding of currently available technology and design methods. Many different adjustment methods and features were considered, including an adjustable frame, tracks, and a lifting system for curb mounting. The overall design selected is a welded sheet metal frame with wheels, and it was determined that the chair should have an adjustable wheelbase width to provide both outdoor stability and indoor maneuverability. Key considerations for the design include battery life, motor torque, maximum load, seat size, door width, and cost. The final specifications are based on the needs of the client, Kevin Sample, as well as an analysis of the wider consumer market. The width adjustment design uses an axle above the driving wheels, which are connected to it by sliding sleeves. Automatic adjustment is accomplished using a linear actuator. The drive wheels are large and run at low pressure to surmount obstacles and damp vibrations. Differential steering combined with rear caster wheels gives the chair a small turning radius, and its length is comparable to that of standard manual wheelchairs. The seat can be easily removed to access the battery and control system or to load the chair into a vehicle. A joystick is used to control the speed and direction of the chair, while a separate momentary switch is used for the linear actuator. Throughout the modeling process, stress analysis was performed using simulations in Inventor. Any necessary adjustments were made to ensure that none of the parts will fail, considering both failure theory and fatigue. Various grades of aluminum were selected for the majority of the manufactured parts, due to their corrosion resistance and light weight. The device is currently in the prototype manufacturing stage. If it is later marketed, a curb mounting device may also be included; this was decided against mainly due to cost and time restrictions. Space has also been left for a carrying basket, which will likely be added to the first prototype. The initial goal is to produce a single chair for our client, although the design may later be submitted for Medicare and ADA approval.

Prevention and Control of Trichotomy Infection in the Elderly Surgical Patient: An Umbrella Review

2021 ◽  
Vol 1 (2) ◽  
Author(s):  
Teresa Ferreira ◽  
Filipe Orfao ◽  
Cesar Fonseca ◽  
Lara Guedes de Pinho
Keyword(s):  
Health Care ◽  
Narrative Analysis ◽  
Data Extraction ◽  
Elderly Person ◽  
The Elderly ◽  
World Health ◽  
Surgical Patient ◽  
Risk Of Infection ◽  
Umbrella Review ◽  
And Control

Introduction: The World Health Organization creates norms and guidelines for the adoption of good practices in health care that are provided to the surgical patient. In order to prevent and control infections associated with health care, the nurse must follow the guidelines for preparing the surgical patient for success. These infections can be particularly harmful to the elderly person given their vulnerability. The preoperative preparation, includes the trichotomy as one of the interventions to be performed, however, is one of the most controversial interventions that has caused in clinical practice, by the potential risk of infection in the surgical patient. Aim: To investigate the need for trichotomy, or removal of hair, in the preparation of the skin of the surgical patient, clarifying which is the most appropriate technique in the prevention of infection. Methodology: we conducted an umbrella review. The documentary research followed the consultation of bibliographic sources in the Cumulative Index to Nursing & Allied Health (CINAHL) and Public/Publisher Medline (PubMed) databases. The researched articles were grouped in a time horizon between 2011 and 2020. Afer data extraction, a narrative analysis was performed. Results: We found 40 articles from which 8 were selected. Conclusion: Trichotomy should be avoided by increasing the risk of infection of the surgical site. Innovative haircut and vacuum technologies can help in hair removal, mitigating the risk of contaminating the surgical incision. The timing of the trichotomy is not consensual among researchers.

scholarly journals Factors associated with the prevalence of hypertension and control practices among elderly residents of São Paulo city, Brazil

2013 ◽  
Vol 29 (11) ◽  
pp. 2275-2286 ◽  
Author(s):  
Telma de Almeida Busch Mendes ◽  
Moisés Goldbaum ◽  
Neuber José Segri ◽  
Marilisa Berti de Azevedo Barros ◽  
Chester Luiz Galvão César ◽  
...  
Keyword(s):  
Physical Activity ◽  
The Elderly ◽  
Multiple Regression Model ◽  
Sao Paulo ◽  
Lifestyle Changes ◽  
Cluster Sampling ◽  
São Paulo ◽  
Factors Associated ◽  
Diet And Physical Activity ◽  
And Control

The aim of this study was to analyze the prevalence of hypertension and control practices among the elderly. The survey analyzed data from 872 elderly people in São Paulo, Brazil, through a cluster sampling, stratified according to education and income. A Poisson multiple regression model checked for the existence of factors associated with hypertension. The prevalence of self-reported hypertension among the elderly was 46.9%. Variables associated with hypertension were self-rated health, alcohol consumption, gender, and hospitalization in the last year, regardless of age. The three most common measures taken to control hypertension, but only rarely, are oral medication, routine salt-free diet and physical activity. Lifestyle and socioeconomic status did not affect the practice of control, but knowledge about the importance of physical activity was higher among those older people with higher education and greater income. The research suggests that health policies that focus on primary care to encourage lifestyle changes among the elderly are necessary.

scholarly journals Vibration Analysis and Control of Locomotive System

2020 ◽  
Vol 22 (1) ◽  
pp. 195-206
Author(s):  
Y. Shireesha ◽  
B. Venkata Suresh ◽  
B. Sateesh
Keyword(s):  
Passive Control ◽  
Angular Acceleration ◽  
Ground Vehicles ◽  
Modeling And Analysis ◽  
Vehicle Operation ◽  
Active Subject ◽  
Dynamical Nature ◽  
The Stability ◽  
Vehicle Suspension System ◽  
And Control

AbstractVibration is an undesirable phenomenon of ground vehicles like locomotives and vibration control of vehicle suspension system is an active subject of research. The main aim of the present work is to modeling and analysis of locomotive system. The simplified equations for dynamical locomotive are firstly established. Then the dynamical nature of the locomotive without control is investigated, and also active control suspension and passive control suspension are compare and discussed. The obtained simulation shows that suspension of the locomotive with feedback control could decrease the locomotive vibration. According to the above control strategy along with angular acceleration it also reduces the possibility of vibration of the locomotive body, to improves the stability of vehicle operation.

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