Human Tracking of a Crawler Robot in Climbing Stairs

There are many reports of secondary damage to crews during firefighting operations. One way to support and enhance their activities is to get robots to track them and carry supplies. In this paper, we propose a localization method for stairs that includes scene detection. The proposed method allows a robot to track a person across stairs. First, the scene detection autonomously detects that the person is climbing the stairs. Then, the linear model representing the first step of the staircase is combined with the person’s trajectory for localization. The method uses omnidirectional imaging and point clouds, and the localization and scene detection are available from any posture around the stairs. Finally, using the localization result, the robot automatically navigates to a posture where it can climb the stairs. Verification confirmed the accuracy and real-time capability of the method and demonstrated that the actual crawler robot autonomously chooses a posture that is ready for climbing.

Chronic Patellar Tendon Rupture Reconstructed with Hamstring Graft – A Case Report

Neglected patella tendon rupture which are presented 6 weeks after injury are rare but it can be disabling. Aim of study is to determine the outcomes of chronic patellar tendon rupture reconstructed using hamstring graft. This case report concerns a 26 year-old man who came with complaints of weakness of legs, difficulty in climbing stairs up and down, difficulty in getting up from squatting position. X-ray of Right knee showed high riding patella. MRI showed full thickness rupture of ACL. The patient was operated with a combination of Chen et al and ganga hospital SR Sundararajan7. Our outcome was also excellent with no extensor lag, Kujala score was 94.1, Lysholm score was 92.3. From our study it is found that even in chronic neglected cases of patellar tendon rupture, good functional results can be obtained by repair using hamstring graft.

Powered Knee and Ankle Prosthesis with Adaptive Control Enables Climbing Stairs with Different Stair Heights, Cadences, and Gait Patterns

Powered prostheses can enable individuals with above-knee amputations to ascend stairs step-over-step. To accomplish this task, available stair ascent controllers impose a pre-defined joint impedance behavior or follow a pre-programmed position trajectory. These control approaches have proved successful in the laboratory. However, they are not robust to changes in stair height or cadence, which is essential for real-world ambulation. Here we present an adaptive stair ascent controller that enables individuals with above-knee amputations to climb stairs of varying stair heights at their preferred cadence and with their preferred gait pattern. We found that modulating the prosthesis knee and ankle position as a function of the user’s thigh in swing provides toe clearance for varying stair heights. In stance, modulating the torque-angle relationship as a function of the prosthesis knee position at foot contact provides sufficient torque assistance for climbing stairs of different heights. Furthermore, the proposed controller enables individuals to climb stairs at their preferred cadence and gait pattern, such as step-by-step, step-over-step, and two-steps. The proposed adaptive stair controller may improve the robustness of powered prostheses to environmental and human variance, enabling powered prostheses to more easily move from the lab to the real-world.

KMT2B-Related Dystonia: Challenges in Diagnosis and Treatment

In this study, we report the first known Turkish case of a novel nonsense mutation c.2453dupT (p.M818fs*28) in the <i>KMT2B</i> (NM_014727.2) gene diagnosed in a male patient with <i>KMT2B</i>-related dystonia (DYT-<i>KMT2B</i>, DYT-28, Dystonia*-28), which is a complex, childhood-onset, progressive, hereditary dystonia. The patient, who is followed up from 9 to 13 years of age, had dysmorphic features, developmental delay, short stature, and microcephaly, in addition to focal dystonia and hemichorea (in the right and left lower extremities). Generalized dystonia involving bulbar and cervical muscles, in addition to dystonic cramps, myoclonus, and hemiballismus, were also observed during the course of the follow-up. While he was able to perform basic functions like eating, climbing stairs, walking, and writing with the aid of levodopa and trihexyphenidyl treatment, his clinical status gradually deteriorated secondary to progressive generalized dystonia in the 4-year follow-up. Deep brain stimulation has been shown to be effective in several patients which could be the next preferred treatment for the patient.

Design and Analysis of Building Diagnostics Robot

This research paper is based on the designing and analysis of a track-based robot which has the capability of climbing stairs and rough terrain maneuverability with an IR sensor to conduct infrared thermography of buildings. The data generated by this can be used to detect and optimize HVAC systems, moisture damage and Electrical issues. The robot is designed in Solidworks software and motion analysis is done using Adams and structural analysis through Ansys. The Thermal imaging camera was tested in the real world to check the feasibility and accuracy of Infrared Thermography.

Effect of perineural dexamethasone as an adjuvant to levobupivacaine in saphenous nerve block for knee arthroplasty

Background Total knee arthroplasty (TKA) is a major surgery where postoperative pain management not only aims for patients comfort but also is crucial to achieve post-operative ambulation leading to better outcome and preventing post-operative complications. Femoral nerve block is commonly used following Total knee arthroplasty for post-operative pain control but affects the quadriceps muscle strength increasing the risk of falls. Meanwhile, Adductor canal block has only sensory effect while preserving the motor power allowing for functional recovery within the first 24 hours post‑total knee arthroplasty. However, single injection nerve block is limited by its short duration. Adding adjuvants to the local anesthetic has shown prominent results in prolongation of the duration of the nerve block with dexamethasone being the most effective one. Aim of the Work to assess the efficacy of perineural dexamethasone as an adjuvant on duration of sensory blockage of Saphenous nerve block - performed by levobupivacaine -after knee arthroplasty surgery. Patients and Methods This randomized clinical trial study was carried at Ain Shams university hospitals, starting from March 2019 to August 2019. It included forty adult patients undergoing unilateral total knee arthroplasty who were randomly divided into 2 groups. A group received spinal anaesthesia followed by adductor canal block (ACB) with 19ml levobupivacaine plus 1ml normal saline and the other received spinal anesthesia followed by ACB with 19ml levobupivacaine injection plus 1ml (4mg) dexamethasone. The two groups were adequately monitored and assessed post-operatively for 24 hours and they were compared regarding analgesic outcome by recording time for first for analgesic need, total consumption of opioid and pain score during walking and climbing stairs. Side effects were also monitored and compared. Results prolongation of ACB when adding dexamethasone perineurally as an adjuvant to levobupivacaine, evident by prolongation of time for first analgesic requirement, decrease in total consumption of opioid in first 24 hours and lower pain score during walking and climbing stairs. Conclusion Adding dexamethasone as an adjuvant to ACB showed that it prolonged its duration with decrease in the post-operative pain scores and total morphine consumption.

A Comparative Study of the Sarcopenia Screening in Older Patients with Interstitial Lung Disease

Background: The calf circumference (CalF), the strength, assistance in walking, rising from a chair, climbing stairs, and falls (SARC-F) and the SARC-CalF questionnaires for sarcopenia screening have been used by Asian Working Group for Sarcopenia 2019 (AWGS 2019). The aim of this study was to assess accuracy of these three sarcopenia screening tools in patients with interstitial lung disease. Methods: In this cross-sectional study, stable patients with interstitial lung disease were enrolled. The SARC-F, SARC-CalF, and CalF, used in patients with interstitial lung disease, were compared to the diagnostic criteria proposed by AWGS 2019. The accuracy of screening tools was compared using sensitivity and specificity. Moreover, areas under the receiver operating characteristic curves (AUC) were computed. Results: Seventy eight patients were analyzed, and sarcopenia was identified in 25 (32.1%) patients with interstitial lung disease by the AWGS 2019 criteria. The sensitivity of the CalF was highest (96%) of the three screening tools, while the specificity was 60%. The sensitivity of SARC-F and SARC-CalF were 24% and 68%, while the specificity were 92% and 66%, respectively. The AUCs of CalF, SARC-F, and SARC-CalF in all patients were 0.78, 0.58, and 0.67, respectively. Conclusions: The CalF is most suitable for screening sarcopenia in patients with interstitial lung disease, while SARC-F and SARC-CalF are not.

Health status risk factors and quality of life in 75–84-year-old individuals assessed for dementia using the short 10/66 dementia diagnostic schedule

Background Trinidad is an island that not only has a population at high vascular risk but also one that is in epidemiological transition with high dementia prevalence. The aim of the study was to investigate modifiable risk factors associated with dementia in middle-old (75–84 years) individuals. Methods As part of a large national community survey of dementia prevalence in Trinidad, 811 people aged 75–84 years were evaluated for dementia using the 10/66 short algorithm. Demographic data collected included information on age, gender, ethnicity, religion, education, occupation, living accommodation, smoking, alcohol consumption, self-reported medical conditions, impairments and ability to do instrumental activities of daily living (IADL). Data were analysed using multivariable logistic regression models. Results Of the 811 participants, nearly 55% were female. The mean age was 78.8 (SD = 2.8) years and dementia was present in 198 (24.4%). Having less than ten years of education, being an agricultural worker, skilled labourer or housewife and having more than four co-morbidities were significantly associated with dementia. The odds ratio for dementia for those having self-reported stroke was 4.93 (95% CI [2.64–9.23]) and for diabetes was 1.76 (95% CI [1.17–2.65]) adjusting for age, age2, gender, ethnicity, religion, education and occupation. Impairment in eyesight, hearing, climbing stairs, and walking were also more common in the group with dementia. Ability to perform IADLs was linked with dementia. Individuals with dementia were more likely to be unable to perform any of the eight IADLs. Those who did not exercise at all (OR 6.95, 95% CI [2.02–23.90]) and those who did low exercise (OR 1.83, 95% CI [1.07–3.13]) compared to those who did moderate to high exercise were also more likely to have dementia. Conclusion In the middle-old population in Trinidad having diabetes and stroke, low IADL score, and no exercise were more common in people with dementia.

Powered Knee and Ankle Prosthesis with Adaptive Control Enables Climbing Stairs with Different Stair Heights, Cadences, and Gait Patterns

Powered prostheses can enable individuals with above-knee amputations to ascend stairs step-over-step. To accomplish this task, available stair ascent controllers impose a pre-defined joint impedance behavior or follow a pre-programmed position trajectory. These control approaches have proved successful in the laboratory. However, they are not robust to changes in stair height or cadence, which is essential for real-world ambulation. Here we present an adaptive stair ascent controller that enables individuals with above-knee amputations to climb stairs of varying stair heights at their preferred cadence and with their preferred gait pattern. We found that modulating the prosthesis knee and ankle position as a function of the user’s thigh in swing provides toe clearance for varying stair heights. In stance, modulating the torque-angle relationship as a function of the prosthesis knee position at foot contact provides sufficient torque assistance for climbing stairs of different heights. Furthermore, the proposed controller enables individuals to climb stairs at their preferred cadence and gait pattern, such as step-by-step, step-over-step, and two-steps. The proposed adaptive stair controller may improve the robustness of powered prostheses to environmental and human variance, enabling powered prostheses to more easily move from the lab to the real-world.

Barrier-Free Wheelchair with a Mechanical Transmission

Wheelchairs are an important means of transportation for the elderly and disabled. However, the movement of wheelchairs on long curbs and stairs is restricted. In this study, a wheelchair for climbing stairs was developed based on a mechanical transmission system that rotates the entire driving part through a link structure and an actuator to change the speed. The first mode drives the caterpillar, and the second mode drives the wheels. When driving on flat ground, it uses landing gears and wheels, and when climbing stairs, it uses the caterpillar; accordingly, a stable driving is possible. The stability of the transmission is confirmed through stress analysis. The method used in our study makes it is possible to manufacture lightweight wheelchairs because a single motor drives both the wheel and caterpillar through the transmission system.