DIAGNOSTICS OF SENSORINEURAL DISORDERS IN HAND-ARM VIBRATION SYNDROME (HAVS) - UPDATED APPROACHES

The earliest and most frequent manifestation of HAVS is limb polyneuropathy with sensory disorders. The study was conducted in order to assess the various types of sensory modality disorders by methods of functional diagnostics in HAVS. The main group of patients with an established diagnosis of HAVS and a control group of healthy individuals who have not worked in harmful and dangerous working conditions during their lives were examined. The methods of computer pallesthesiometry, quantitative sensory testing (QST) and stimulation electroneuromyography were used in the study. A comprehensive study revealed disorders of the perception of sensitivity of various modalities (vibration, pain and temperature), which indicated damage to all types of peripheral nerve structures when exposed to local vibration-unmyelinated fibers (C–type), myelinated (A-beta-type) and weakly myelinated (A-delta–type).

Development of interface for kinematic analysis of a delta-type parallel robot

The development and implementation process of a computer interface for the kinematic analysis of a parallel robot, in delta configuration, and its application to a previously formed prototype are exposed. Being identified the associated equations, and deduced the respective geometric parameters. On the other hand, the synthesis of the direct and inverse kinematic models, with the Matlab software, guarantees the calculation of a specific Cartesian position, in the end effector of the robot used, once certain joint values have been assigned to it, or vice versa. Finally, a user-friendly graphical interface is created, whose functions are: data entry, resolution of the models described, issuance of the corresponding results, representation of the robot used and its physical manipulation. The results obtained in the real location of the end effector with respect to the values deduced by the interface, are competitive for both models analyzed, even though the prototype used operates by means of servomotors. An average position error of 0.083 cm per axis and overall of 0.006 cm is observed during the tests developed.