1,720,974 research outputs found
Recupero di una corretta omeostasi articolare post-artroscopia: l'impiego dell'acido ialuronico
No full textA novel control strategy for youBot arm
No full textNowadays robotics educational platforms play an important role in the development and testing of new robotic technologies. These systems offer at low cost the possibility to access and experiment basic robot functionalities. In this paper, we examined the KUKA youBot: an omnidirectional mobile platform equipped with a five DOFs (Degrees of Freedom) robotic arm. The current internal design of the control loops limits severely its performances. This paper aims to assess the existing controller limitations in order to re-design, develop and test a new controller for the youBot arm. This paper presents the architecture of the existing software, and identifies the bottlenecks of the control loops. After proposing a new interoperable architecture, we present a new hybrid motion/force decentralized control, which accounts for the system's dynamics. The new controller is evaluated by means of simulations and on the real youBot arm. The new controller solves the major limitations examined, enabling new control applications. Results show a better performance of the new controller, in particular the step response rise time of the joint position control is now 33% faster than using the old controller
Outcomes of Arthroscopic Hill-Sachs Remplissage and Anterior Bankart Repair: A Retrospective Controlled Study Including Ultrasound Evaluation of Posterior Capsulotenodesis and Infraspinatus Strength Assessment
No full textHill-Sachs lesions are compression fractures that result from shoulder dislocation. They involve “engaging” the humeral head on the anterior glenoid rim when the arm is abducted and externally rotated. The defect grows as the number of dislocations increases. Arthroscopic remplissage and anterior Bankart repair do not significantly affect infraspinatus strength while ensuring healing of the capsulotenodesis. Cohort study; Level of evidence, 3. Sixty-one patients with traumatic anterior shoulder instability treated by arthroscopic Bankart repair and Hill-Sachs remplissage at least 24 months previously were compared with a control group of 40 healthy participants. Preoperative imaging included magnetic resonance imaging for Bankart lesion identification and computed tomography to quantify the humeral head defect. Active range of motion and clinical scores (Walch-Duplay, Constant-Murley, and Rowe) were assessed. External rotation (ER) and internal rotation (IR) were measured with arm at the side (ER1 and IR1) and abducted at 90° (ER2 and IR2). Infraspinatus strength was assessed with the scapula free (infraspinatus strength test [IST]) and retracted (infraspinatus scapula retraction test [ISRT]). Infraspinatus tenodesis and posterior capsulodesis healing were evaluated by ultrasound (US). The follow-up median was 39.5 months (range, 24-56 months). One patient experienced a recurrence of instability at 34 months. In the remplissage patients, ER1 was significantly lower in the affected compared with the unaffected shoulder (P <.001). Mean IST and ISRT strength values did not show differences between sides. The mean Constant-Murley score rose from 62.9 ± 7.1 to 90 ± 5.2 (P <.0001). The Walch-Duplay and Rowe scores were excellent in 23 (78.6%), good in 6 (17.8%), and poor in 1 patient (both scores). The remplissage group had significantly lower ER1 (P <.001), ER2 (P <.001), and IR2 (P <.01) values compared with the control group. Differences in IST and ISRT between the groups were not significant. Capsulotenodesis healing and filling of the Hill-Sachs defect were confirmed by dynamic US in all subjects. Arthroscopic remplissage is a reliable approach to Hill-Sachs lesions. The ER and IR restriction does not significantly affect quality of life. Infraspinatus strength recovery is satisfactory even compared with healthy subjects. Ultrasound examination allows accurate evaluation of capsulotenodesis healing. © 2014, SAGE Publications. All rights reserved
Going Beyond Counting First Authors in Author Co-citation Analysis
Full text linkThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
- …
