Robots in Human Environments: Basic Autonomous Capabilities

This article discusses the basic capabilities needed to enable robots to operate in human-populated environments for accomplishing both autonomous tasks and human-guided tasks. These capabilities are key to many new emerging robotic applications in service, construction, field, underwater, and space. An important characteristic of these robots is the “assistance” ability they can bring to humans in performing various physical tasks. To interact with humans and operate in their environments, these robots must be provided with the functionality of mobility and manipulation. The article presents developments of models, strategies, and algorithms concerned with a number of autonomous capabilities that are essential for robot operations in human environments. These capabilities include: integrated mobility and manipulation, cooperative skills between multiple robots, interaction ability with humans, and efficient techniques for real-time modification of collision-free path. These capabilities are demonstrated on two holonomic mobile platforms designed and built at Stanford University in collaboration with Oak Ridge National Laboratories and Nomadic Technologies.

The Effect of Platelet-rich Fibrin Matrix on Rotator Cuff Healing in a Rat Model

The purpose of the current study was to determine if the application of platelet-rich fibrin matrix could improve regeneration of the tendon-bone insertion site in a rat rotator cuff repair model. 25 Lewis syngeneic rats underwent bilateral tenotomy and repair of the supraspinatus tendon. 10 separate rats were used for PRFM harvest. All left (control) shoulders underwent transosseous rotator cuff repair, while all right (treatment) shoulders were repaired similarly with PRFM augmentation. 9 rats were sacrificed at 2-weeks and ten at 4-weeks for biomechanical testing. 3 separate rats were sacrificed at 2-weeks and 4-weeks each for histologic analysis of the insertion site. At 2 weeks, the experimental group repairs were significantly stronger in ultimate load to failure (P=0.01), stress (P=0.03), and stiffness (P=0.03). Differences in biomechanical testing were not found between the groups at 4 weeks. Histological analysis revealed less collagen organization and cartilage formation at the insertion site in the experimental group. Semiquantitative histologic analysis confirmed our qualitative assessment of the specimens. PRFM does not recapitulate the native enthesis, but rather induces an exuberant and disordered healing response that is characterized by fibrovascular scar tissue.

Robotics-based synthesis of human motion

The synthesis of human motion is a complex procedure that involves accurate reconstruction of movement sequences, modeling of musculoskeletal kinematics, dynamics and actuation, and characterization of reliable performance criteria. Many of these processes have much in common with the problems found in robotics research. Task-based methods used in robotics may be leveraged to provide novel musculoskeletal modeling methods and physiologically accurate performance predictions. In this paper, we present (i) a new method for the real-time reconstruction of human motion trajectories using direct marker tracking, (ii) a task-driven muscular effort minimization criterion and (iii) new human performance metrics for dynamic characterization of athletic skills. Dynamic motion reconstruction is achieved through the control of a simulated human model to follow the captured marker trajectories in real-time. The operational space control and real-time simulation provide human dynamics at any configuration of the performance. A new criteria of muscular effort minimization has been introduced to analyze human static postures. Extensive motion capture experiments were conducted to validate the new minimization criterion. Finally, new human performance metrics were introduced to study in details an athletic skill. These metrics include the effort expenditure and the feasible set of operational space accelerations during the performance of the skill. The dynamic characterization takes into account skeletal kinematics as well as muscle routing kinematics and force generating capacities. The developments draw upon an advanced musculoskeletal modeling platform and a task-oriented framework for the effective integration of biomechanics and robotics methods.

Noncommunicable diseases: risk factors and regional strategies for prevention and care

Noncommunicable diseases (NCDs) are a major disease burden in the Region. Many of the risk factors are related to lifestyle and can be controlled. Physical inactivity, low fruit and vegetable intake, high fast food consumption and high cholesterol are predominant causes of cardiovascular disease and some cancers. Overweight and obesity can lead to metabolic changes and raise the risk of NCDs, including heart disease and type 2 diabetes. Three main strategies are proposed to deal with the problem: estimate need and advocate for action; develop national policies, strategies and plans for prevention and care; promote and implement community participation in prevention and care. NCDs are preventable using available knowledge; solutions are effective and highly cost-effective.

Noncommunicable diseases: risk factors and regional strategies for prevention and care

Noncommunicable diseases [NCDs] are a major disease burden in the Region. Many of the risk factors are related to lifestyle and can be controlled. Physical inactivity, low fruit and vegetable intake, high fast food consumption and high cholesterol are predominant causes of cardiovascular disease and some cancers. Overweight and obesity can lead to metabolic changes and raise the risk of NCDs, including heart disease and type 2 diabetes. Three main strategies are proposed to deal with the problem:estimate need and advocate for action; develop national policies, strategies and plans for prevention and care; promote and implement community participation in prevention and care. NCDs are preventable using available knowledge; solutions are effective and highly cost-effective