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Pacifico I, Aprigliano F, Parri A, Cannillo G, Melandri I, Sabatini AM, Violante FS, Molteni F, Giovacchini F, Vitiello N, Crea S. Evaluation of a spring-loaded upper-limb exoskeleton in cleaning activities. Appl Ergon 2023; 106:103877. [PMID: 36095895 DOI: 10.1016/j.apergo.2022.103877] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/18/2022] [Revised: 08/09/2022] [Accepted: 08/11/2022] [Indexed: 06/15/2023]
Abstract
In the past few years, companies have started considering the adoption of upper-limb occupational exoskeletons as a solution to reduce the health and cost issues associated with work-related shoulder overuse injuries. Most of the previous research studies have evaluated the efficacy of these devices in laboratories by measuring the reduction in muscle exertion resulting from device use in stereotyped tasks and controlled conditions. However, to date, uncertainties exist about generalizing laboratory results to more realistic conditions of use. The current study aims to investigate the in-field efficacy (through electromyography and perceived exertion), usability, and acceptance of a commercial spring-loaded upper-limb exoskeleton in cleaning job activities. The operators were required to maintain prolonged overhead postures while holding and moving a pole equipped with tools for window and ceiling cleaning. Compared to the normal working condition, the exoskeleton significantly reduced the total shoulder muscle activity (∼17%), the activity of the anterior deltoid (∼26%), medial deltoid (∼28%), and upper trapezius (∼24%). With the exoskeleton, the operators perceived reduced global effort (∼17%) as well as a reduced local effort in the shoulder (∼18%), arm (∼22%), upper back (∼14%), and lower back (∼16%). The beneficial effect of the exoskeleton and its suitability in cleaning settings are corroborated by the acceptance and usability scores assigned by operators, which averaged ∼5.5 out of 7 points. To the authors' knowledge, this study is the first to present an experience of exoskeleton use in cleaning contexts. The outcomes of this research invite further studies to test occupational exoskeletons in various realistic applications to foster scientific-grounded ergonomic evaluations and encourage the informed adoption of the technology.
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Affiliation(s)
| | | | - Andrea Parri
- IUVO S.r.l., Via Puglie 9, 56025, Pontedera, Pisa, Italy
| | - Giusi Cannillo
- Formula Servizi, Via Monteverdi, 31, 47122, Forlì, Italy
| | | | - Angelo Maria Sabatini
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy
| | - Francesco Saverio Violante
- Division of Occupational Medicine, IRCCS Azienda Ospedaliero-Universitaria di Bologna.Occupational Medicine Unit, Department of Medical and Surgical Sciences, Alma Mater Studiorum University of Bologna, Italy
| | - Franco Molteni
- Villa Beretta Rehabilitation Center, Valduce Hospital, Via N. Sauro 17, 23845, Costa Masnaga, Lecco, Italy
| | | | - Nicola Vitiello
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà, 33, 56127, Pisa, Italy; IRCCS Fondazione Don Carlo Gnocchi, 50143, Florence, Italy
| | - Simona Crea
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà, 33, 56127, Pisa, Italy; IRCCS Fondazione Don Carlo Gnocchi, 50143, Florence, Italy.
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2
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Pacifico I, Parri A, Taglione S, Sabatini AM, Violante FS, Molteni F, Giovacchini F, Vitiello N, Crea S. Exoskeletons for workers: A case series study in an enclosures production line. Appl Ergon 2022; 101:103679. [PMID: 35066399 DOI: 10.1016/j.apergo.2022.103679] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/15/2021] [Revised: 12/20/2021] [Accepted: 01/05/2022] [Indexed: 06/14/2023]
Abstract
This case-series study aims to investigate the effects of a passive shoulder support exoskeleton on experienced workers during their regular work shifts in an enclosures production site. Experimental activities included three sessions, two of which were conducted in-field (namely, at two workstations of the painting line, where panels were mounted and dismounted from the line; each session involved three participants), and one session was carried out in a realistic simulated environment (namely, the workstations were recreated in a laboratory; this session involved four participants). The effect of the exoskeleton was evaluated through electromyographic activity and perceived effort. After in-field sessions, device usability and user acceptance were also assessed. Data were reported individually for each participant. Results showed that the use of the exoskeleton reduced the total shoulder muscular activity compared to normal working conditions, in all subjects and experimental sessions. Similarly, the use of the exoskeleton resulted in reductions of the perceived effort in the shoulder, arm, and lower back. Overall, participants indicated high usability and acceptance of the device. This case series invites larger validation studies, also in diverse operational contexts.
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Affiliation(s)
- Ilaria Pacifico
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà, 33, 56127, Pisa, Italy.
| | - Andrea Parri
- IUVO S.r.l., via Puglie 9, 56025, Pontedera, Pisa, Italy
| | - Silverio Taglione
- ABB S.p.A. PG Breakers & Enclosures, Hub Italy, Electrification Business Area, Smart Power Division, Via Italia, 58, 23846, Garbagnate Monastero, Lecco, Italy
| | - Angelo Maria Sabatini
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy
| | - Francesco Saverio Violante
- Division of Occupational Medicine, IRCCS Azienda Ospedaliero-Universitaria di Bologna, Italy; Occupational Medicine Unit, Department of Medical and Surgical Sciences, Alma Mater Studiorum University of Bologna, Italy
| | - Franco Molteni
- Villa Beretta Rehabilitation Center, Valduce Hospital, Via N. Sauro 17, 23845, Costa Masnaga, Lecco, Italy
| | | | - Nicola Vitiello
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà, 33, 56127, Pisa, Italy; IRCCS Fondazione Don Carlo Gnocchi, 50143, Florence, Italy
| | - Simona Crea
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà, 33, 56127, Pisa, Italy; IRCCS Fondazione Don Carlo Gnocchi, 50143, Florence, Italy.
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3
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Sanz-Morère CB, Martini E, Meoni B, Arnetoli G, Giffone A, Doronzio S, Fanciullacci C, Parri A, Conti R, Giovacchini F, Friðriksson Þ, Romo D, Crea S, Molino-Lova R, Vitiello N. Robot-mediated overground gait training for transfemoral amputees with a powered bilateral hip orthosis: a pilot study. J Neuroeng Rehabil 2021; 18:111. [PMID: 34217307 PMCID: PMC8254913 DOI: 10.1186/s12984-021-00902-7] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/16/2020] [Accepted: 06/23/2021] [Indexed: 02/06/2023] Open
Abstract
Background Transfemoral amputation is a serious intervention that alters the locomotion pattern, leading to secondary disorders and reduced quality of life. The outcomes of current gait rehabilitation for TFAs seem to be highly dependent on factors such as the duration and intensity of the treatment and the age or etiology of the patient. Although the use of robotic assistance for prosthetic gait rehabilitation has been limited, robotic technologies have demonstrated positive rehabilitative effects for other mobility disorders and may thus offer a promising solution for the restoration of healthy gait in TFAs. This study therefore explored the feasibility of using a bilateral powered hip orthosis (APO) to train the gait of community-ambulating TFAs and the effects on their walking abilities. Methods Seven participants (46–71 years old with different mobility levels) were included in the study and assigned to one of two groups (namely Symmetry and Speed groups) according to their prosthesis type, mobility level, and prior experience with the exoskeleton. Each participant engaged in a maximum of 12 sessions, divided into one Enrollment session, one Tuning session, two Assessment sessions (conducted before and after the training program), and eight Training sessions, each consisting of 20 minutes of robotically assisted overground walking combined with additional tasks. The two groups were assisted by different torque-phase profiles, aiming at improving symmetry for the Symmetry group and at maximizing the net power transferred by the APO for the Speed group. During the Assessment sessions, participants performed two 6-min walking tests (6mWTs), one with (Exo) and one without (NoExo) the exoskeleton, at either maximal (Symmetry group) or self-selected (Speed group) speed. Spatio-temporal gait parameters were recorded by commercial measurement equipment as well as by the APO sensors, and metabolic efficiency was estimated via the Cost of Transport (CoT). Additionally, kinetic and kinematic data were recorded before and after treatment in the NoExo condition.
Results The one-month training protocol was found to be a feasible strategy to train TFAs, as all participants smoothly completed the clinical protocol with no relevant mechanical failures of the APO. The walking performance of participants improved after the training. During the 6mWT in NoExo, participants in the Symmetry and Speed groups respectively walked 17.4% and 11.7% farther and increased walking speed by 13.7% and 17.9%, with improved temporal and spatial symmetry for the former group and decreased energetic expenditure for the latter. Gait analysis showed that ankle power, step width, and hip kinematics were modified towards healthy reference levels in both groups. In the Exo condition metabolic efficiency was reduced by 3% for the Symmetry group and more than 20% for the Speed group. Conclusions This study presents the first pilot study to apply a wearable robotic orthosis (APO) to assist TFAs in an overground gait rehabilitation program. The proposed APO-assisted training program was demonstrated as a feasible strategy to train TFAs in a rehabilitation setting. Subjects improved their walking abilities, although further studies are required to evaluate the effectiveness of the APO compared to other gait interventions. Future protocols will include a lighter version of the APO along with optimized assistive strategies.
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Affiliation(s)
| | - Elena Martini
- The BioRobotics Institute, Scuola Superiore Sant'Anna, 56025, Pontedera, Pisa, Italy
| | - Barbara Meoni
- IRCCS Fondazione Don Carlo Gnocchi ONLUS, 50143, Florence, Italy
| | | | | | - Stefano Doronzio
- IRCCS Fondazione Don Carlo Gnocchi ONLUS, 50143, Florence, Italy
| | | | - Andrea Parri
- IUVO S.R.L, Via Puglie, 9, 56025, Pontedera, Pisa, Italy
| | - Roberto Conti
- IUVO S.R.L, Via Puglie, 9, 56025, Pontedera, Pisa, Italy
| | | | | | - Duane Romo
- Össur, Grjótháls 5, 110, Reykjavík, Iceland
| | - Simona Crea
- The BioRobotics Institute, Scuola Superiore Sant'Anna, 56025, Pontedera, Pisa, Italy.,IRCCS Fondazione Don Carlo Gnocchi ONLUS, 50143, Florence, Italy.,Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, 56127, Pisa, Italy
| | | | - Nicola Vitiello
- The BioRobotics Institute, Scuola Superiore Sant'Anna, 56025, Pontedera, Pisa, Italy.,IRCCS Fondazione Don Carlo Gnocchi ONLUS, 50143, Florence, Italy.,Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, 56127, Pisa, Italy
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4
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Grazi L, Crea S, Parri A, Molino Lova R, Micera S, Vitiello N. Gastrocnemius Myoelectric Control of a Robotic Hip Exoskeleton Can Reduce the User's Lower-Limb Muscle Activities at Push Off. Front Neurosci 2018; 12:71. [PMID: 29491830 PMCID: PMC5817084 DOI: 10.3389/fnins.2018.00071] [Citation(s) in RCA: 18] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/31/2017] [Accepted: 01/29/2018] [Indexed: 11/27/2022] Open
Abstract
We present a novel assistive control strategy for a robotic hip exoskeleton for assisting hip flexion/extension, based on a proportional Electromyography (EMG) strategy. The novelty of the proposed controller relies on the use of the Gastrocnemius Medialis (GM) EMG signal instead of a hip flexor muscle, to control the hip flexion torque. This strategy has two main advantages: first, avoiding the placement of the EMG electrodes at the human-robot interface can reduce discomfort issues for the user and motion artifacts of the recorded signals; second, using a powerful signal for control, such as the GM, could improve the reliability of the control system. The control strategy has been tested on eight healthy subjects, walking with the robotic hip exoskeleton on the treadmill. We evaluated the controller performance and the effect of the assistance on muscle activities. The tuning of the assistance timing in the controller was subject dependent and varied across subjects. Two muscles could benefit more from the assistive strategy, namely the Rectus Femoris (directly assisted) and the Tibialis Anterior (indirectly assisted). A significant correlation was found between the timing of the delivered assistance (i.e., synchronism with the biological hip torque), and reduction of the hip flexors muscular activity during walking; instead, no significant correlations were found for peak torque and peak power. Results suggest that the timing of the assistance is the most significant parameter influencing the effectiveness of the control strategy. The findings of this work could be important for future studies aimed at developing assistive strategies for walking assistance exoskeletons.
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Affiliation(s)
- Lorenzo Grazi
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Simona Crea
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Andrea Parri
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | | | - Silvestro Micera
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
- Bertarelli Foundation Chair in Translation Neuroengineering, Center for Neuroprosthetics and Institute of Bioengineering, School of Engineering, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
| | - Nicola Vitiello
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
- Fondazione Don Carlo Gnocchi, Firenze, Italy
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5
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Parri A, Martini E, Geeroms J, Flynn L, Pasquini G, Crea S, Molino Lova R, Lefeber D, Kamnik R, Munih M, Vitiello N. Whole Body Awareness for Controlling a Robotic Transfemoral Prosthesis. Front Neurorobot 2017; 11:25. [PMID: 28611621 PMCID: PMC5448151 DOI: 10.3389/fnbot.2017.00025] [Citation(s) in RCA: 18] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/01/2017] [Accepted: 05/12/2017] [Indexed: 12/03/2022] Open
Abstract
Restoring locomotion functionality of transfemoral amputees is essential for early rehabilitation treatment and for preserving mobility and independence in daily life. Research in wearable robotics fostered the development of innovative active mechatronic lower-limb prostheses designed with the goal to reduce the cognitive and physical effort of lower-limb amputees in rehabilitation and daily life activities. To ensure benefits to the users, active mechatronic prostheses are expected to be aware of the user intention and properly interact in a closed human-in-the-loop paradigm. In the state of the art various cognitive interfaces have been proposed to online decode the user's intention. Electromyography in combination with mechanical sensing such as inertial or pressure sensors is a widely adopted solution for driving active mechatronic prostheses. In this framework, researchers also explored targeted muscles re-innervation for an objective-oriented surgical amputation promoting wider usability of active prostheses. However, information kept by the neural component of the cognitive interface deteriorates in a prolonged use scenario due to electrodes-related issues, thereby undermining the correct functionality of the active prosthesis. The objective of this work is to present a novel controller for an active transfemoral prosthesis based on whole body awareness relying on a wireless distributed non-invasive sensory apparatus acting as cognitive interface. A finite-state machine controller based on signals monitored from the wearable interface performs subject-independent intention detection of functional tasks such as ground level walking, stair ascent, and sit-to-stand maneuvres and their main sub-phases. Experimental activities carried out with four transfemoral amputees (among them one dysvascular) demonstrated high reliability of the controller capable of providing 100% accuracy rate in treadmill walking even for weak subjects and low walking speeds. The minimum success rate was of 94.8% in performing sit-to-stand tasks. All the participants showed high confidence in using the transfemoral active prosthesis even without training period thanks to intuitiveness of the whole body awareness controller.
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Affiliation(s)
- Andrea Parri
- The BioRobotics Institute, Scuola Superiore Sant'AnnaPisa, Italy
| | - Elena Martini
- The BioRobotics Institute, Scuola Superiore Sant'AnnaPisa, Italy
| | - Joost Geeroms
- Robotics and Multibody Mechanics, Flanders Make, Vrije Universiteit BrusselBrussels, Belgium
| | - Louis Flynn
- Robotics and Multibody Mechanics, Flanders Make, Vrije Universiteit BrusselBrussels, Belgium
| | | | - Simona Crea
- The BioRobotics Institute, Scuola Superiore Sant'AnnaPisa, Italy
| | | | - Dirk Lefeber
- Robotics and Multibody Mechanics, Flanders Make, Vrije Universiteit BrusselBrussels, Belgium
| | - Roman Kamnik
- Laboratory of Robotics at the Faculty of Electrical Engineering, University of LjubljanaLjubljana, Slovenia
| | - Marko Munih
- Laboratory of Robotics at the Faculty of Electrical Engineering, University of LjubljanaLjubljana, Slovenia
| | - Nicola Vitiello
- The BioRobotics Institute, Scuola Superiore Sant'AnnaPisa, Italy.,Don Carlo Gnocchi FoundationFlorence, Italy
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6
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d'Elia N, Vanetti F, Cempini M, Pasquini G, Parri A, Rabuffetti M, Ferrarin M, Lova RM, Vitiello N. Erratum to: Physical human-robot interaction of an active pelvis orthosis: toward ergonomic assessment of wearable robots. J Neuroeng Rehabil 2017; 14:51. [PMID: 28583163 PMCID: PMC5458473 DOI: 10.1186/s12984-017-0262-x] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Download PDF] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/23/2017] [Accepted: 05/23/2017] [Indexed: 11/26/2022] Open
Affiliation(s)
- Nicolò d'Elia
- The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio, 34, 56025 Pontedera, Pisa, Italy. .,Fondazione Don Carlo Gnocchi IRCCS, Florence, Italy.
| | | | - Marco Cempini
- The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio, 34, 56025 Pontedera, Pisa, Italy
| | | | - Andrea Parri
- The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio, 34, 56025 Pontedera, Pisa, Italy
| | | | | | | | - Nicola Vitiello
- The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio, 34, 56025 Pontedera, Pisa, Italy.,Fondazione Don Carlo Gnocchi IRCCS, Florence, Italy
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7
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Monaco V, Tropea P, Aprigliano F, Martelli D, Parri A, Cortese M, Molino-Lova R, Vitiello N, Micera S. An ecologically-controlled exoskeleton can improve balance recovery after slippage. Sci Rep 2017; 7:46721. [PMID: 28492520 PMCID: PMC5426188 DOI: 10.1038/srep46721] [Citation(s) in RCA: 39] [Impact Index Per Article: 5.6] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/20/2016] [Accepted: 03/23/2017] [Indexed: 12/03/2022] Open
Abstract
The evolution to bipedalism forced humans to develop suitable strategies for dynamically controlling their balance, ensuring stability, and preventing falling. The natural aging process and traumatic events such as lower-limb loss can alter the human ability to control stability significantly increasing the risk of fall and reducing the overall autonomy. Accordingly, there is an urgent need, from both end-users and society, for novel solutions that can counteract the lack of balance, thus preventing falls among older and fragile citizens. In this study, we show a novel ecological approach relying on a wearable robotic device (the Active Pelvis Orthosis, APO) aimed at facilitating balance recovery after unexpected slippages. Specifically, if the APO detects signs of balance loss, then it supplies counteracting torques at the hips to assist balance recovery. Experimental tests conducted on eight elderly persons and two transfemoral amputees revealed that stability against falls improved due to the “assisting when needed” behavior of the APO. Interestingly, our approach required a very limited personalization for each subject, and this makes it promising for real-life applications. Our findings demonstrate the potential of closed-loop controlled wearable robots to assist elderly and disabled subjects and to improve their quality of life.
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Affiliation(s)
- V Monaco
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy.,IRCSS Don Carlo Gnocchi Foundation, Firenze, Italy
| | - P Tropea
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | - F Aprigliano
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | - D Martelli
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy.,Department of Mechanical Engineering, Columbia University, New York, NY 10027 USA
| | - A Parri
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | - M Cortese
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | | | - N Vitiello
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy.,IRCSS Don Carlo Gnocchi Foundation, Firenze, Italy
| | - S Micera
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy.,Bertarelli Foundation Chair in Translational NeuroEngineering, Center for Neuroprosthetics and Institute of Bioengineering, School of Engineering, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland
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8
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d’Elia N, Vanetti F, Cempini M, Pasquini G, Parri A, Rabuffetti M, Ferrarin M, Molino Lova R, Vitiello N. Physical human-robot interaction of an active pelvis orthosis: toward ergonomic assessment of wearable robots. J Neuroeng Rehabil 2017; 14:29. [PMID: 28410594 PMCID: PMC5391543 DOI: 10.1186/s12984-017-0237-y] [Citation(s) in RCA: 17] [Impact Index Per Article: 2.4] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/01/2016] [Accepted: 03/27/2017] [Indexed: 02/07/2023] Open
Abstract
BACKGROUND In human-centered robotics, exoskeletons are becoming relevant for addressing needs in the healthcare and industrial domains. Owing to their close interaction with the user, the safety and ergonomics of these systems are critical design features that require systematic evaluation methodologies. Proper transfer of mechanical power requires optimal tuning of the kinematic coupling between the robotic and anatomical joint rotation axes. We present the methods and results of an experimental evaluation of the physical interaction with an active pelvis orthosis (APO). This device was designed to effectively assist in hip flexion-extension during locomotion with a minimum impact on the physiological human kinematics, owing to a set of passive degrees of freedom for self-alignment of the human and robotic hip flexion-extension axes. METHODS Five healthy volunteers walked on a treadmill at different speeds without and with the APO under different levels of assistance. The user-APO physical interaction was evaluated in terms of: (i) the deviation of human lower-limb joint kinematics when wearing the APO with respect to the physiological behavior (i.e., without the APO); (ii) relative displacements between the APO orthotic shells and the corresponding body segments; and (iii) the discrepancy between the kinematics of the APO and the wearer's hip joints. RESULTS The results show: (i) negligible interference of the APO in human kinematics under all the experimented conditions; (ii) small (i.e., < 1 cm) relative displacements between the APO cuffs and the corresponding body segments (called stability); and (iii) significant increment in the human-robot kinematics discrepancy at the hip flexion-extension joint associated with speed and assistance level increase. CONCLUSIONS APO mechanics and actuation have negligible interference in human locomotion. Human kinematics was not affected by the APO under all tested conditions. In addition, under all tested conditions, there was no relevant relative displacement between the orthotic cuffs and the corresponding anatomical segments. Hence, the physical human-robot coupling is reliable. These facts prove that the adopted mechanical design of passive degrees of freedom allows an effective human-robot kinematic coupling. We believe that this analysis may be useful for the definition of evaluation metrics for the ergonomics assessment of wearable robots.
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Affiliation(s)
- Nicolò d’Elia
- The BioRobotics Institute, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio, 34, 56025 Pontedera, Pisa Italy
- Fondazione Don Carlo Gnocchi IRCCS, Florence, Italy
| | | | - Marco Cempini
- The BioRobotics Institute, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio, 34, 56025 Pontedera, Pisa Italy
| | | | - Andrea Parri
- The BioRobotics Institute, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio, 34, 56025 Pontedera, Pisa Italy
| | | | | | - Raffaele Molino Lova
- The BioRobotics Institute, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio, 34, 56025 Pontedera, Pisa Italy
| | - Nicola Vitiello
- The BioRobotics Institute, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio, 34, 56025 Pontedera, Pisa Italy
- Fondazione Don Carlo Gnocchi IRCCS, Florence, Italy
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9
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Ruiz Garate V, Parri A, Yan T, Munih M, Molino Lova R, Vitiello N, Ronsse R. Experimental Validation of Motor Primitive-Based Control for Leg Exoskeletons during Continuous Multi-Locomotion Tasks. Front Neurorobot 2017; 11:15. [PMID: 28367121 PMCID: PMC5355439 DOI: 10.3389/fnbot.2017.00015] [Citation(s) in RCA: 24] [Impact Index Per Article: 3.4] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/21/2016] [Accepted: 02/28/2017] [Indexed: 11/29/2022] Open
Abstract
An emerging approach to design locomotion assistive devices deals with reproducing desirable biological principles of human locomotion. In this paper, we present a bio-inspired controller for locomotion assistive devices based on the concept of motor primitives. The weighted combination of artificial primitives results in a set of virtual muscle stimulations. These stimulations then activate a virtual musculoskeletal model producing reference assistive torque profiles for different locomotion tasks (i.e., walking, ascending stairs, and descending stairs). The paper reports the validation of the controller through a set of experiments conducted with healthy participants. The proposed controller was tested for the first time with a unilateral leg exoskeleton assisting hip, knee, and ankle joints by delivering a fraction of the computed reference torques. Importantly, subjects performed a track involving ground-level walking, ascending stairs, and descending stairs and several transitions between these tasks. These experiments highlighted the capability of the controller to provide relevant assistive torques and to effectively handle transitions between the tasks. Subjects displayed a natural interaction with the device. Moreover, they significantly decreased the time needed to complete the track when the assistance was provided, as compared to wearing the device with no assistance.
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Affiliation(s)
- Virginia Ruiz Garate
- Center for Research in Mechatronics, Institute of Mechanics, Materials, and Civil Engineering, Université catholique de Louvain, Louvain-la-Neuve, Belgium
- Institute of Neuroscience, Université catholique de Louvain, Brussels, Belgium
- “Louvain Bionics”, Université catholique de Louvain, Louvain-la-Neuve, Belgium
| | - Andrea Parri
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pontedera, Pisa, Italy
| | - Tingfang Yan
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pontedera, Pisa, Italy
| | - Marko Munih
- Laboratory of Robotics at the Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia
| | | | - Nicola Vitiello
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pontedera, Pisa, Italy
- Don Carlo Gnocchi Foundation, Florence, Italy
| | - Renaud Ronsse
- Center for Research in Mechatronics, Institute of Mechanics, Materials, and Civil Engineering, Université catholique de Louvain, Louvain-la-Neuve, Belgium
- Institute of Neuroscience, Université catholique de Louvain, Brussels, Belgium
- “Louvain Bionics”, Université catholique de Louvain, Louvain-la-Neuve, Belgium
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10
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Zheng E, Manca S, Yan T, Parri A, Vitiello N, Wang Q. Gait Phase Estimation Based on Noncontact Capacitive Sensing and Adaptive Oscillators. IEEE Trans Biomed Eng 2017; 64:2419-2430. [PMID: 28252387 DOI: 10.1109/tbme.2017.2672720] [Citation(s) in RCA: 46] [Impact Index Per Article: 6.6] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
This paper presents a novel strategy aiming to acquire an accurate and walking-speed-adaptive estimation of the gait phase through noncontact capacitive sensing and adaptive oscillators (AOs). The capacitive sensing system is designed with two sensing cuffs that can measure the leg muscle shape changes during walking. The system can be dressed above the clothes and free human skin from contacting to electrodes. In order to track the capacitance signals, the gait phase estimator is designed based on the AO dynamic system due to its ability of synchronizing with quasi-periodic signals. After the implementation of the whole system, we first evaluated the offline estimation performance by experiments with 12 healthy subjects walking on a treadmill with changing speeds. The strategy achieved an accurate and consistent gait phase estimation with only one channel of capacitance signal. The average root-mean-square errors in one stride were 0.19 rad (3.0% of one gait cycle) for constant walking speeds and 0.31 rad (4.9% of one gait cycle) for speed transitions even after the subjects rewore the sensing cuffs. We then validated our strategy in a real-time gait phase estimation task with three subjects walking with changing speeds. Our study indicates that the strategy based on capacitive sensing and AOs is a promising alternative for the control of exoskeleton/orthosis.
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11
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Grazi L, Crea S, Parri A, Yan T, Cortese M, Giovacchini F, Cempini M, Pasquini G, Micera S, Vitiello N. Gastrocnemius myoelectric control of a robotic hip exoskeleton. Annu Int Conf IEEE Eng Med Biol Soc 2016; 2015:3881-4. [PMID: 26737141 DOI: 10.1109/embc.2015.7319241] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
In this paper we present a novel EMG-based assistive control strategy for lower-limb exoskeletons. An active pelvis orthosis (APO) generates torque profiles for the hip flexion motion assistance, according to the Gastrocnemius Medialis EMG signal. The strategy has been tested on one healthy subject: experimental results show that the user is able to reduce his muscular activation when the assistance is switched on with respect to the free walking condition.
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12
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Yuan K, Parri A, Yan T, Wang L, Munih M, Vitiello N, Wang Q. Fuzzy-logic-based hybrid locomotion mode classification for an active pelvis orthosis: Preliminary results. Annu Int Conf IEEE Eng Med Biol Soc 2016; 2015:3893-6. [PMID: 26737144 DOI: 10.1109/embc.2015.7319244] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
In this paper, we present a fuzzy-logic-based hybrid locomotion mode classification method for an active pelvis orthosis. Locomotion information measured by the onboard hip joint angle sensors and the pressure insoles is used to classify five locomotion modes, including two static modes (sitting, standing still), and three dynamic modes (level-ground walking, ascending stairs, and descending stairs). The proposed method classifies these two kinds of modes first by monitoring the variation of the relative hip joint angle between the two legs within a specific period. Static states are then classified by the time-based absolute hip joint angle. As for dynamic modes, a fuzzy-logic based method is proposed for the classification. Preliminary experimental results with three able-bodied subjects achieve an off-line classification accuracy higher than 99.49%.
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13
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Goday A, Benaiges D, Mas A, Parri A, Ramon J, Le-Roux JF, Pedro-Botet J. Can bariatric surgery improve cardiovascular risk factors in the metabolically healthy but morbidly obese patient? Atherosclerosis 2014. [DOI: 10.1016/j.atherosclerosis.2014.05.126] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
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14
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Mas-Lorenzo A, Benaiges D, Flores-Le-Roux JA, Pedro-Botet J, Ramon JM, Parri A, Villatoro M, Chillarón J, Pera M, Grande L, Goday A. Impact of Different Criteria on Type 2 Diabetes Remission Rate After Bariatric Surgery. Obes Surg 2014; 24:1881-7. [DOI: 10.1007/s11695-014-1282-2] [Citation(s) in RCA: 38] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/18/2022]
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15
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Apollinari G, Barone M, Benjamin D, Carithers W, Dorigo T, Fiori I, Franklin M, Giromini P, Happacher F, Konigsberg J, Kruse M, Miscetti S, Parri A, Ptohos F, Velev G. Additional studies of the probability that the events with a superjet observed by CDF are consistent with the SM prediction. Int J Clin Exp Med 2002. [DOI: 10.1103/physrevd.65.032004] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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16
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Affolder T, Akimoto H, Akopian A, Albrow MG, Amaral P, Amendolia SR, Amidei D, Anikeev K, Antos J, Apollinari G, Arisawa T, Asakawa T, Ashmanskas W, Atac M, Azfar F, Azzi-Bacchetta P, Bacchetta N, Bailey MW, Bailey S, de Barbaro P, Barbaro-Galtieri A, Barnes VE, Barnett BA, Barone M, Bauer G, Bedeschi F, Belforte S, Bellettini G, Bellinger J, Benjamin D, Bensinger J, Beretvas A, Berge JP, Berryhill J, Bertolucci S, Bevensee B, Bhatti A, Bigongiari C, Binkley M, Bisello D, Blair RE, Blocker C, Bloom K, Blumenfeld B, Blusk BS, Bocci A, Bodek A, Bokhari W, Bolla G, Bonushkin Y, Bortoletto D, Boudreau J, Brandl A, van den Brink S, Bromberg C, Brozovic M, Bruner N, Buckley-Geer E, Budagov J, Budd HS, Burkett K, Busetto G, Byon-Wagner A, Byrum KL, Campbell M, Caner A, Carithers W, Carlson J, Carlsmith D, Cassada J, Castro A, Cauz D, Cerri A, Chan AW, Chang PS, Chang PT, Chapman J, Chen C, Chen YC, Cheng MT, Chertok M, Chiarelli G, Chirikov-Zorin I, Chlachidze G, Chlebana F, Christofek L, Chu ML, Cihangir S, Ciobanu CI, Clark AG, Cobal M, Cocca E, Connolly A, Conway J, Cooper J, Cordelli M, Costanzo D, Cranshaw J, Cronin-Hennessy D, Cropp R, Culbertson R, Dagenhart D, DeJongh F, Dell'Agnello S, Dell'Orso M, Demina R, Demortier L, Deninno M, Derwent PF, Devlin T, Dittmann JR, Donati S, Done J, Dorigo T, Eddy N, Einsweiler K, Elias JE, Engels E, Erdmann W, Errede D, Errede S, Fan Q, Feild RG, Ferretti C, Fiori I, Flaugher B, Foster GW, Franklin M, Freeman J, Friedman J, Fukui Y, Galeotti S, Gallinaro M, Gao T, Garcia-Sciveres M, Garfinkel AF, Gatti P, Gay C, Geer S, Gerdes DW, Giannetti P, Giromini P, Glagolev V, Gold M, Goldstein J, Gordon A, Goshaw AT, Gorta Y, Goulianos K, Grassmann H, Green C, Groer L, Grosso-Pilcher C, Guenther M, Guillian G, Guimaraes da Costa J, Guo RS, Haber C, Hafen E, Hahn SR, Hall C, Handa T, Handler R, Hao W, Happacher F, Hara K, Hardman AD, Harris RM, Hartmann F, Hatakeyama K, Hauser J, Heinrich J, Heiss A, Hinrichsen B, Hoffman KD, Holck C, Hollebeek R, Holloway L, Hughes R, Huston J, Huth J, Ikeda H, Incagli M, Incandela J, Introzzi G, Iwai J, Iwata Y, James E, Jensen H, Jones M, Joshi U, Kambara H, Kamon T, Kaneko T, Karr K, Kasha H, Kato Y, Keaffaber TA, Kelley K, Kelly M, Kennedy RD, Kephart R, Khazins D, Kikuchi T, Kirk M, Kim BJ, Kim HS, Kim MJ, Kim SH, Kim YK, Kirsch L, Klimenko S, Knoblauch D, Koehn P, Köngeter A, Kondo K, Konigsberg J, Kordas K, Korn A, Korytov A, Kovacs E, Kroll J, Kruse M, Kuhlmann SE, Kurino K, Kuwabara T, Laasanen AT, Lai N, Lami S, Lammel S, Lamoureux JI, Lancaster M, Latino G, LeCompte T, Lee AM, Leone S, Lewis JD, Lindgren M, Liss TM, Liu JB, Liu YC, Lockyer N, Loken J, Loreti M, Lucchesi D, Lukens P, Lusin S, Lyons L, Lys J, Madrak R, Maeshima K, Maksimovic P, Malferrari L, Mangano M, Mariotti M, Martignon G, Martin A, Matthews JA, Mazzanti P, McFarland KS, McIntyre P, McKigney E, Menguzzato M, Mezione A, Meschi E, Mesropian C, Miao C, Miao T, Miller R, Miller JS, Minato H, Miscetti S, Mishina M, Moggi N, Moore E, Moore R, Morita Y, Mukherjee A, Muller T, Munar A, Murat P, Murgia S, Musy M, Nachtman J, Nahn S, Nakada H, Nakaya T, Nakano I, Nelson C, Neuberger D, Newman-Holmes C, Ngan CY, Nicolaidi P, Niu H, Nodulman L, Nomerotski A, Oh SH, Ohmoto T, Ohsugi T, Oishi R, Okusawa T, Olsen J, Pagliarone C, Palmonari F, Paoletti R, Papadimitriou V, Pappas SP, Parri A, Partos D, Patrick J, Pauletta G, Paulini M, Paus C, Perazzo A, Pescara L, Phillips TJ, Piacentino G, Pitts KT, Plunkett R, Pompos A, Pondrom L, Pope G, Popovic M, Prokoshin F, Proudfoot J, Ptohos F, Punzi G, Ragan K, Rakitine A, Reher D, Reichold A, Riegler W, Ribon A, Rimondi F, Ristori L, Robertson WJ, Robinson A, Rodrigo T, Rolli S, Rosenson L, Roser R, Rossin R, Sakumoto WK, Saltzberg D, Sansoni A, Santi L, Sato H, Savard P, Schlabach P, Schmidt EE, Schmidt MP, Schmitt M, Scodellaro L, Scott A, Scribano A, Segler S, Seidel S, Seiya Y, Semenov A, Semeria F, Shah T, Shapiro MD, Shepard PF, Shibayama T, Shimojima M, Shochet M, Siegrist J, Signorelli G, Sill A, Sinervo P, Singh P, Slaughter AJ, Sliwa K, Smith C, Snider FD, Solodsky A, Spalding J, Speer T, Sphicas P, Spinella F, Spiropulu M, Spiegel L, Stanco L, Steele J, Stefanini A, Strologas J, Strumia F, Stuart D, Sumorok K, Suzuki T, Takashima R, Takikawa K, Tanaka M, Takano T, Tannenbaum B, Taylor W, Tecchio M, Teng PK, Terashi K, Tether S, Theriot D, Thurman-Keup R, Tipton P, Tkaczyk S, Tollefson K, Tollestrup A, Toyoda H, Trischuk W, de Troconiz JF, Truitt S, Tseng J, Turini N, Ukegawa F, Valls J, Vejcik S, Velev G, Vidal R, Vilar R, Vologouev I, Vucinic D, Wagner RG, Wagner RL, Wahl J, Wallace NB, Walsh AM, Wang C, Wang CH, Wang MJ, Watanabe T, Waters D, Watts T, Webb R, Wenzel H, Wester WC, Wicklund AB, Wicklund E, Williams HH, Wilson P, Winer BL, Winn D, Wolbers S, Wolinski D, Wolinski J, Worm S, Wu X, Wyss J, Yagil A, Yao W, Yeh GP, Yeh P, Yoh J, Yosef C, Yoshida T, Yu I, Yu S, Zanetti A, Zetti F, Zucchelli S. Search for scalar top and scalar bottom quarks in pp collisions at square root s=1.8 TeV. Phys Rev Lett 2000; 84:5704-5709. [PMID: 10991036 DOI: 10.1103/physrevlett.84.5704] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/25/1999] [Indexed: 05/23/2023]
Abstract
We have searched for direct pair production of scalar top and scalar bottom quarks in 88 pb-1 of pp collisions at sqrt[s]=1.8 TeV with the CDF detector. We looked for events with a pair of heavy flavor jets and missing energy, consistent with scalar top (bottom) quark decays to a charm (bottom) quark and a neutralino. The numbers of events that pass our selections show no significant deviation from standard model expectations. We compare our results to the next-to-leading order scalar quark production cross sections to exclude regions in scalar quark-neutralino mass parameter space.
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Affiliation(s)
- T Affolder
- Ernest Orlando Lawrence Berkeley National Laboratory, Berkeley, California 94720, USA
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17
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Abe F, Akimoto H, Akopian A, Albrow MG, Amendolia SR, Amidei D, Antos J, Aota S, Apollinari G, Arisawa T, Asakawa T, Ashmanskas W, Atac M, Azzi-Bacchetta P, Bacchetta N, Bagdasarov S, Bailey MW, de Barbaro P, Barbaro-Galtieri A, Barnes VE, Barnett BA, Barone M, Bauer G, Bedeschi F, Behrends S, Belforte S, Bellettini G, Bellinger J, Benjamin D, Bensinger J, Beretvas A, Berge JP, Berryhill J, Bertolucci S, Bettelli S, Bevensee B, Bhatti A, Biery K, Bigongiari C, Binkley M, Bisello D, Blair RE, Blocker C, Bloom K, Blusk S, Bodek A, Bokhari W, Bolla G, Bonushkin Y, Bortoletto D, Boudreau J, Brandl A, Breccia L, Bromberg C, Bruner N, Brunetti R, Buckley-Geer E, Budd HS, Burkett K, Busetto G, Byon-Wagner A, Byrum KL, Campbell M, Caner A, Carithers W, Carlsmith D, Cassada J, Castro A, Cauz D, Cerri A, Chang PS, Chang PT, Chao HY, Chapman J, Cheng MT, Chertok M, Chiarelli G, Chiou CN, Chlebana F, Christofek L, Chu ML, Cihangir S, Clark AG, Cobal M, Cocca E, Contreras M, Conway J, Cooper J, Cordelli M, Costanzo D, Couyoumtzelis C, Cronin-Hennessy D, Cropp R, Culbertson R, Dagenhart D, Daniels T, DeJongh F, Dell'Agnello S, Dell'Orso M, Demina R, Demortier L, Dennino M, Derwent PF, Devlin T, Dittmann JR, Donati S, Done J, Dorigo T, Eddy N, Einsweiler K, Elias JE, Ely R, Engels E, Erdmann W, Errede D, Errede S, Fan Q, Feild RG, Feng Z, Ferretti C, Fiori I, Flaugher B, Foster GW, Franklin M, Freeman J, Friedman J, Frisch H, Fukui Y, Gadomski S, Galeotti S, Gallinaro M, Ganel O, Garcia-Sciveres M, Garfinkel AF, Gay C, Geer S, Gerdes DW, Giannetti P, Giokaris N, Giromini P, Giusti G, Gold M, Gordon A, Goshaw AT, Gotra Y, Goulianos K, Grassmann H, Green C, Groer L, Grosso-Pilcher C, Guillian G, Guimaraes da Costa J, Guo RS, Haber C, Hafen E, Hahn SR, Hamilton R, Handa T, Handler R, Hao W, Happacher F, Hara K, Hardman AD, Harris RM, Hartmann F, Hauser J, Hayashi E, Heinrich J, Heiss A, Hinrichsen B, Hoffman KD, Holck C, Hollebeek R, Holloway L, Huang Z, Huffman BT, Hughes R, Huston J, Huth J, Ikeda H, Incagli M, Incandela J, Introzzi G, Iwai J, Iwata Y, James E, Jensen H, Joshi U, Kajfasz E, Kambara H, Kamon T, Kaneko T, Karr K, Kasha H, Kato Y, Keaffaber TA, Kelley K, Kelly M, Kennedy RD, Kephart R, Kestenbaum D, Khazins D, Kikuchi T, Kirk M, Kim BJ, Kim HS, Kim SH, Kim YK, Kirsch L, Klimenko S, Knoblauch D, Koehn P, Köngeter A, Kondo K, Konigsberg J, Kordas K, Korytov A, Kovacs E, Kowald W, Kroll J, Kruse M, Kuhlmann SE, Kuns E, Kurino K, Kuwabara T, Laasanen AT, Lami S, Lammel S, Lamoureux JI, Lancaster M, Lanzoni M, Latino G, LeCompte T, Lee AM, Leone S, Lewis JD, Lindgren M, Liss TM, Liu JB, Liu YC, Lockyer N, Long O, Loreti M, Lucchesi D, Lukens P, Lusin S, Lys J, Maeshima K, Maksimovic P, Mangano M, Mariotti M, Marriner JP, Martignon G, Martin A, Matthews JA, Mazzanti P, McFarland K, McIntyre P, Melese P, Menguzzato M, Menzione A, Meschi E, Metzler S, Miao C, Miao T, Michail G, Miller R, Minato H, Miscetti S, Mishina M, Miyashita S, Moggi N, Moore E, Morita Y, Mukherjee A, Muller T, Munar A, Murat P, Murgia S, Musy M, Nakada H, Nakaya T, Nakano I, Nelson C, Neuberger D, Newman-Holmes C, Ngan CY, Niu H, Nodulman L, Nomerotski A, Oh SH, Ohmoto T, Ohsugi T, Oishi R, Okabe M, Okusawa T, Olsen J, Pagliarone C, Paoletti R, Papadimitriou V, Pappas SP, Parashar N, Parri A, Partos D, Patrick J, Pauletta G, Paulini M, Perazzo A, Pescara L, Peters MD, Phillips TJ, Piacentino G, Pillai M, Pitts KT, Plunkett R, Pompos A, Pondrom L, Proudfoot J, Ptohos F, Punzi G, Ragan K, Reher D, Ribon A, Rimondi F, Ristori L, Robertson WJ, Robinson A, Rodrigo T, Rolli S, Rosenson L, Roser R, Saab T, Sakumoto WK, Saltzberg D, Sansoni A, Santi L, Sato H, Savard P, Schlabach P, Schmidt EE, Schmidt MP, Scott A, Scribano A, Segler S, Seidel S, Seiya Y, Semeria F, Shah T, Shapiro MD, Shaw NM, Shepard PF, Shibayama T, Shimojima M, Shochet M, Siegrist J, Sill A, Sinervo P, Singh P, Sliwa K, Smith C, Snider FD, Spalding J, Speer T, Sphicas P, Spinella F, Spiropulu M, Spiegel L, Stanco L, Steele J, Stefanini A, Ströhmer R, Strologas J, Strumia F, Stuart D, Sumorok K, Suzuki J, Suzuki T, Takahashi T, Takano T, Takashima R, Takikawa K, Tanaka M, Tannenbaum B, Tartarelli F, Taylor W, Tecchio M, Teng PK, Teramoto Y, Terashi K, Tether S, Theriot D, Thomas TL, Thurman-Keup R, Timko M, Tipton P, Titov A, Tkaczyk S, Toback D, Tollefson K, Tollestrup A, Toyoda H, Trischuk W, de Troconiz JF, Truitt S, Tseng J, Turini N, Uchida T, Ukegawa F, Valls J, van Den Brink SC, Vejcik S, Velev G, Vidal R, Vilar R, Vologouev I, Vucinic D, Wagner RG, Wagner RL, Wahl J, Wallace NB, Walsh AM, Wang C, Wang CH, Wang MJ, Warburton A, Watanabe T, Watts T, Webb R, Wei C, Wenzel H, Wester WC, Wicklund AB, Wicklund E, Wilkinson R, Williams HH, Wilson P, Winer BL, Winn D, Wolinski D, Wolinski J, Worm S, Wu X, Wyss J, Yagil S, Yao W, Yasuoka K, Yeh GP, Yeh P, Yoh J, Yosef C, Yoshida T, Yu I, Zanetti A, Zetti F, Zucchelli S. Search for a W' boson via the decay mode W'-->munumu in 1.8 TeV pp collisions. Phys Rev Lett 2000; 84:5716-5721. [PMID: 10991038 DOI: 10.1103/physrevlett.84.5716] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/12/1999] [Indexed: 05/23/2023]
Abstract
We report the results of a search for a W' boson produced in pp collisions at a center-of-mass energy of 1.8 TeV using a 107 pb-1 data sample recorded by the Collider Detector at Fermilab. We consider the decay channel W'-->&munumu and search for anomalous production of high transverse mass munumu lepton pairs. We observe no excess of events above background and set limits on the rate of W' boson production and decay relative to standard model W boson production and decay using a fit of the transverse mass distribution observed. If we assume standard model strength couplings of the W' boson to quark and lepton pairs, we exclude a W' boson with invariant mass less than 660 GeV/c2 at 95% confidence level.
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Affiliation(s)
- F Abe
- National Laboratory for High Energy Physics (KEK), Tsukuba, Ibaraki 305, Japan
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Abe F, Akimoto H, Akopian A, Albrow MG, Amadon A, Amendolia SR, Amidei D, Antos J, Aota S, Apollinari G, Arisawa T, Asakawa T, Ashmanskas W, Atac M, Azzi-Bacchetta P, Bacchetta N, Bagdasarov S, Bailey MW, de Barbaro P, Barbaro-Galtieri A, Barnes VE, Barnett BA, Barone M, Bauer G, Baumann T, Bedeschi F, Behrends S, Belforte S, Bellettini G, Bellinger J, Benjamin D, Bensinger J, Beretvas A, Berge JP, Berryhill J, Bertolucci S, Bettelli S, Bevensee B, Bhatti A, Biery K, Bigongiari C, Binkley M, Bisello D, Blair RE, Blocker C, Blusk S, Bodek A, Bokhari W, Bolla G, Bonushkin Y, Bortoletto D, Boudreau J, Breccia L, Bromberg C, Bruner N, Brunetti R, Buckley-Geer E, Budd HS, Burkett K, Busetto G, Byon-Wagner A, Byrum KL, Campbell M, Caner A, Carithers W, Carlsmith D, Cassada J, Castro A, Cauz D, Cerri A, Chang PS, Chang PT, Chao HY, Chapman J, Cheng MT, Chertok M, Chiarelli G, Chiou CN, Chlebana F, Christofek L, Chu ML, Cihangir S, Clark AG, Cobal M, Cocca E, Contreras M, Conway J, Cooper J, Cordelli M, Costanzo D, Couyoumtzelis C, Cronin-Hennessy D, Culbertson R, Dagenhart D, Daniels T, DeJongh F, Dell’Agnello S, Dell’Orso M, Demina R, Demortier L, Deninno M, Derwent PF, Devlin T, Dittmann JR, Donati S, Done J, Dorigo T, Eddy N, Einsweiler K, Elias JE, Ely R, Engels E, Erdmann W, Errede D, Errede S, Fan Q, Feild RG, Feng Z, Ferretti C, Fiori I, Flaugher B, Foster GW, Franklin M, Freeman J, Friedman J, Frisch H, Fukui Y, Gadomski S, Galeotti S, Gallinaro M, Ganel O, Garcia-Sciveres M, Garfinkel AF, Gay C, Geer S, Gerdes DW, Giannetti P, Giokaris N, Giromini P, Giusti G, Gold M, Gordon A, Goshaw AT, Gotra Y, Goulianos K, Grassmann H, Groer L, Grosso-Pilcher C, Guillian G, Guimaraes da Costa J, Guo RS, Haber C, Hafen E, Hahn SR, Hamilton R, Handa T, Handler R, Happacher F, Hara K, Hardman AD, Harris RM, Hartmann F, Hauser J, Hayashi E, Heinrich J, Hao W, Hinrichsen B, Hoffman KD, Hohlmann M, Holck C, Hollebeek R, Holloway L, Huang Z, Huffman BT, Hughes R, Huston J, Huth J, Ikeda H, Incagli M, Incandela J, Introzzi G, Iwai J, Iwata Y, James E, Jensen H, Joshi U, Kajfasz E, Kambara H, Kamon T, Kaneko T, Karr K, Kasha H, Kato Y, Keaffaber TA, Kelley K, Kennedy RD, Kephart R, Kestenbaum D, Khazins D, Kikuchi T, Kim BJ, Kim HS, Kim SH, Kim YK, Kirsch L, Klimenko S, Knoblauch D, Koehn P, Köngeter A, Kondo K, Konigsberg J, Kordas K, Korytov A, Kovacs E, Kowald W, Kroll J, Kruse M, Kuhlmann SE, Kuns E, Kurino K, Kuwabara T, Laasanen AT, Nakano I, Lami S, Lammel S, Lamoureux JI, Lancaster M, Lanzoni M, Latino G, LeCompte T, Leone S, Lewis JD, Limon P, Lindgren M, Liss TM, Liu JB, Liu YC, Lockyer N, Long O, Loomis C, Loreti M, Lucchesi D, Lukens P, Lusin S, Lys J, Maeshima K, Maksimovic P, Mangano M, Mariotti M, Marriner JP, Martin A, Matthews JAJ, Mazzanti P, McIntyre P, Melese P, Menguzzato M, Menzione A, Meschi E, Metzler S, Miao C, Miao T, Michail G, Miller R, Minato H, Miscetti S, Mishina M, Miyashita S, Moggi N, Moore E, Morita Y, Mukherjee A, Muller T, Murat P, Murgia S, Nakada H, Nakano I, Nelson C, Neuberger D, Newman-Holmes C, Ngan CYP, Nodulman L, Nomerotski A, Oh SH, Ohmoto T, Ohsugi T, Oishi R, Okabe M, Okusawa T, Olsen J, Pagliarone C, Paoletti R, Papadimitriou V, Pappas SP, Parashar N, Parri A, Patrick J, Pauletta G, Paulini M, Perazzo A, Pescara L, Peters MD, Phillips TJ, Piacentino G, Pillai M, Pitts KT, Plunkett R, Pompos A, Pondrom L, Proudfoot J, Ptohos F, Punzi G, Ragan K, Reher D, Reischl M, Ribon A, Rimondi F, Ristori L, Robertson WJ, Rodrigo T, Rolli S, Rosenson L, Roser R, Saab T, Sakumoto WK, Saltzberg D, Sansoni A, Santi L, Sato H, Schlabach P, Schmidt EE, Schmidt MP, Scott A, Scribano A, Segler S, Seidel S, Seiya Y, Semeria F, Shah T, Shapiro MD, Shaw NM, Shepard PF, Shibayama T, Shimojima M, Shochet M, Siegrist J, Sill A, Sinervo P, Singh P, Sliwa K, Smith C, Snider FD, Spalding J, Speer T, Sphicas P, Spinella F, Spiropulu M, Spiegel L, Stanco L, Steele J, Stefanini A, Ströhmer R, Strologas J, Strumia F, Stuart D, Sumorok K, Suzuki J, Suzuki T, Takahashi T, Takano T, Takashima R, Takikawa K, Tanaka M, Tannenbaum B, Tartarelli F, Taylor W, Tecchio M, Teng PK, Teramoto Y, Terashi K, Tether S, Theriot D, Thomas TL, Thurman-Keup R, Timko M, Tipton P, Titov A, Tkaczyk S, Toback D, Tollefson K, Tollestrup A, Toyoda H, Trischuk W, de Troconiz JF, Truitt S, Tseng J, Turini N, Uchida T, Ukegawa F, Valls J, van den Brink SC, Vejcik S, Velev G, Vidal R, Vilar R, Vucinic D, Wagner RG, Wagner RL, Wahl J, Wallace NB, Walsh AM, Wang C, Wang CH, Wang MJ, Warburton A, Watanabe T, Watts T, Webb R, Wei C, Wenzel H, Wester WC, Wicklund AB, Wicklund E, Wilkinson R, Williams HH, Wilson P, Winer BL, Winn D, Wolinski D, Wolinski J, Worm S, Wu X, Wyss J, Yagil A, Yao W, Yasuoka K, Yeh GP, Yeh P, Yoh J, Yosef C, Yoshida T, Yu I, Zanetti A, Zetti F, Zucchelli S. Search for the rare decayW±→Ds±γinpp¯collisions ats=1.8TeV. Int J Clin Exp Med 1998. [DOI: 10.1103/physrevd.58.091101] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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Abe F, Akimoto H, Akopian A, Albrow MG, Amadon A, Amendolia SR, Amidei D, Antos J, Aota S, Apollinari G, Arisawa T, Asakawa T, Ashmanskas W, Atac M, Azzi-Bacchetta P, Bacchetta N, Bagdasarov S, Bailey MW, de Barbaro P, Barbaro-Galtieri A, Barnes VE, Barnett BA, Barone M, Bauer G, Baumann T, Bedeschi F, Behrends S, Belforte S, Bellettini G, Bellinger J, Benjamin D, Bensinger J, Beretvas A, Berge JP, Berryhill J, Bertolucci S, Bettelli S, Bevensee B, Bhatti A, Biery K, Bigongiari C, Binkley M, Bisello D, Blair RE, Blocker C, Blusk S, Bodek A, Bokhari W, Bolla G, Bonushkin Y, Bortoletto D, Boudreau J, Breccia L, Bromberg C, Bruner N, Brunetti R, Buckley-Geer E, Budd HS, Burkett K, Busetto G, Byon-Wagner A, Byrum KL, Campbell M, Caner A, Carithers W, Carlsmith D, Cassada J, Castro A, Cauz D, Cerri A, Chang PS, Chang PT, Chao HY, Chapman J, Cheng MT, Chertok M, Chiarelli G, Chiou CN, Chlebana F, Christofek L, Chu ML, Cihangir S, Clark AG, Cobal M, Cocca E, Contreras M, Conway J, Cooper J, Cordelli M, Costanzo D, Couyoumtzelis C, Cronin-Hennessy D, Culbertson R, Dagenhart D, Daniels T, DeJongh F, Dell’Agnello S, Dell’Orso M, Demina R, Demortier L, Deninno M, Derwent PF, Devlin T, Dittmann JR, Donati S, Done J, Dorigo T, Eddy N, Einsweiler K, Elias JE, Ely R, Engles E, Erdmann W, Errede D, Errede S, Fan Q, Feild RG, Feng Z, Ferretti C, Fiori I, Flaugher B, Foster GW, Franklin M, Freeman J, Friedman J, Frisch H, Fukui Y, Gadomski S, Galeotti S, Gallinaro M, Ganel O, Garcia-Sciveres M, Garfinkel AF, Gay C, Geer S, Gerdes DW, Giannetti P, Giokaris N, Giromini P, Giusti G, Gold M, Gordon A, Goshaw AT, Gotra Y, Goulianos K, Grassmann H, Groer L, Grosso-Pilcher C, Guillian G, Guimaraes da Costa J, Guo RS, Haber C, Hafen E, Hahn SR, Hamilton R, Handa T, Handler R, Happacher F, Hara K, Hardman AD, Harris RM, Hartmann F, Hauser J, Hayashi E, Heinrich J, Hao W, Hinrichsen B, Hoffman KD, Hohlmann M, Holck C, Hollebeek R, Holloway L, Huang Z, Huffman BT, Hughes R, Huston J, Huth J, Ikeda H, Incagli M, Incandela J, Introzzi G, Iwai J, Iwata Y, James E, Jensen H, Joshi U, Kadel RW, Kajfasz E, Kambara H, Kamon T, Kaneko T, Karr K, Kasha H, Kato Y, Keaffaber TA, Kelley K, Kennedy RD, Kephart R, Kestenbaum D, Khazins D, Kikuchi T, Kim BJ, Kim HS, Kim SH, Kim YK, Kirsch L, Klimenko S, Knoblauch D, Koehn P, Köngeter A, Kondo K, Konigsberg J, Kordas K, Korytov A, Kovacs E, Kowald W, Kroll J, Kruse M, Kuhlmann SE, Kuns E, Kurino K, Kuwabara T, Laasanen AT, Nakano I, Lami S, Lammel S, Lamoureux JI, Lancaster M, Lanzoni M, Latino G, LeCompte T, Leone S, Lewis JD, Limon P, Lindgren M, Liss TM, Liu JB, Liu YC, Lockyer N, Long O, Loomis C, Loreti M, Lucchesi D, Lukens P, Lusin S, Lys J, Maeshima K, Maksimovic P, Mangano M, Mariotti M, Marriner JP, Martin A, Matthews JAJ, Mazzanti P, McIntyre P, Melese P, Menguzzato M, Menzione A, Meschi E, Metzler S, Miao C, Miao T, Michail G, Miller R, Minato H, Miscetti S, Mishina M, Miyashita S, Moggi N, Moore E, Morita Y, Mukherjee A, Muller T, Murat P, Murgia S, Nakada H, Nakano I, Nelson C, Neuberger D, Newman-Holmes C, Ngan CYP, Nodulman L, Nomerotski A, Oh SH, Ohmoto T, Ohsugi T, Oishi R, Okabe M, Okusawa T, Olsen J, Pagliarone C, Paoletti R, Papadimitriou V, Pappas SP, Parashar N, Parri A, Patrick J, Pauletta G, Paulini M, Perazzo A, Pescara L, Peters MD, Phillips TJ, Piacentino G, Pillai M, Pitts KT, Plunkett R, Pompos A, Pondrom L, Proudfoot J, Ptohos F, Punzi G, Ragan K, Reher D, Reischl M, Ribon A, Rimondi F, Ristori L, Robertson WJ, Rodrigo T, Rolli S, Rosenson L, Roser R, Saab T, Sakumoto WK, Saltzberg D, Sansoni A, Santi L, Sato H, Schlabach P, Schmidt EE, Schmidt MP, Scott A, Scribano A, Segler S, Seidel S, Seiya Y, Semeria F, Shah T, Shapiro MD, Shaw NM, Shepard PF, Shibayama T, Shimojima M, Shochet M, Siegrist J, Sill A, Sinervo P, Singh P, Sliwa K, Smith C, Snider FD, Spalding J, Speer T, Sphicas P, Spinella F, Spiropulu M, Spiegel L, Stanco L, Steele J, Stefanini A, Ströhmer R, Strologas J, Strumia F, Stuart D, Sumorok K, Suzuki J, Suzuki T, Takahashi T, Takano T, Takashima R, Takikawa K, Tanaka M, Tannenbaum B, Tartarelli F, Taylor W, Tecchio M, Teng PK, Teramoto Y, Terashi K, Tether S, Theriot D, Thomas TL, Thurman-Keup R, Timko M, Tipton P, Titov A, Tkaczyk S, Toback D, Tollefson K, Tollestrup A, Toyoda H, Trischuk W, de Troconiz JF, Truitt S, Tseng J, Turini N, Uchida T, Ukegawa F, Valls J, van den Brink SC, Vejcik S, Velev G, Vidal R, Vilar R, Vucinic D, Wagner RG, Wagner RL, Wahl J, Wallace NB, Walsh AM, Wang C, Wang CH, Wang MJ, Warburton A, Watanabe T, Watts T, Webb R, Wei C, Wenzel H, Wester WC, Wicklund AB, Wicklund E, Wilkinson R, Williams HH, Wilson P, Winer BL, Winn D, Wolinski D, Wolinski J, Worm S, Wu X, Wyss J, Yagil A, Yao W, Yasuoka K, Yeh GP, Yeh P, Yoh J, Yosef C, Yoshida T, Yu I, Zanetti A, Zetti F, Zucchelli S. Search for the rare decayW±→π±+γin proton-antiproton collisions ats=1.8 TeV. Int J Clin Exp Med 1998. [DOI: 10.1103/physrevd.58.031101] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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Magherini A, Urciuolo A, Tommassini CR, Boldrini R, Rossi M, Iadevaia A, Parri A, Milio C, Romani C. Restrictive tissue in the area of perimembranous ventricular septal defect. Cross-sectional and Doppler echocardiographic study. Eur Heart J 1990; 11:601-10. [PMID: 2373095 DOI: 10.1093/oxfordjournals.eurheartj.a059765] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 12/31/2022] Open
Abstract
This study using pulsed and continuous wave Doppler echocardiography was designed to achieve a cross-sectional echocardiographic categorization of the fibrous tissues in the environs of perimembranous ventricular septal defects, to determine the mechanism involved in its formation and for qualitative and quantitative evaluation of the anomalies associated with the entity. A total of 67 patients was studied, 23 presented cross-sectional echocardiographic evidence of perimembranous ventricular septal defect in isolation, 12 associated with tissue 'tags' and 32 combined with 'restrictive' tissue in the area of the defect. Four echocardiographic features of the 'restrictive' tissue were observed. In 23 of these 32 patients, it was possible to identify the exact anatomic origin of the 'restrictive' tissue (in seven complete and, in 15, partial involvement of the septal leaflet of the tricuspid valve; in one, prolapse of the aortic valve with a partial involvement of the tricuspid septal leaflet) while in nine the origin remained undetermined. In 20, the 'restrictive' tissue simultaneously protruded into the right atrium and ventricle; only in 12 did it extend exclusively into the right ventricle. Tricuspid insufficiency was detected by pulsed Doppler in 78% of the patients with 'restrictive' tissue and in 23% of the remaining patients. Tricuspid incompetence was severe in only two patients of the first group. Three patients with 'restrictive' tissue (9%) had obstruction to the outlet of the right ventricle and four (13%) patients presented aortic insufficiency. Five patients (16%) with 'restrictive' tissue closing the defect did not present pulsed Doppler evidence of a shunt at the ventricular level.(ABSTRACT TRUNCATED AT 250 WORDS)
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Affiliation(s)
- A Magherini
- Department of Pediatrics, University of Florence, Italy
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