Long-term community integration study of an affordable manual standing wheelchair.

PURPOSE: The manual, user-operated Arise Standing Wheelchair (SWC) is the end result of multiple design iterations based on findings and feedback from user trials. The Arise SWC provides standing functionality, outdoor mobility, affordability, and customisability. This paper describes a long-term community integration study of the Arise SWC. METHODS: All participants (N = 8; 7 Male, 1 Female) were persons with spinal cord injuries. During the study period (six months), the participants integrated the Arise SWC into their daily routines. To assess the impact of the Arise SWC on various outcome measures, participants' responses were captured using a Likert-scale questionnaire at the beginning of the study, after 30 days, and after 180 days of Arise SWC usage. RESULTS: The long-term usage of the Arise SWC positively impacted the users' standing performance (ability to stand regularly, stand at different locations, and stand in community settings), productive ability (accessibility to environmental controls and ability to perform overhead reaches), and pathophysiology (spasticity and ability to get proper sleep). Furthermore, all the users were able to independently move using the Arise SWC over even and uneven terrain (some needed minimal assistance over uneven terrain). CONCLUSIONS: Overall, we believe that Arise SWC will benefit eligible users and improve their ability and performance in daily activities.

Arise Standing Wheelchair (SWC) positively impacted users' standing performance, mobility over uneven terrain, ability to transfer between surfaces, and overhead reaches.Arise SWC positively impacted users' overall physical well-being.The study shows that Arise SWC improved the users' overall daily living activities.Arise SWC, an affordable solution, is anticipated to have a global impact, especially on low-income nations.

Surface Modification on Nickel Rich Cathode Materials for Lithium-Ion Cells: A Mini Review.

Nickel-rich (Ni-rich) layered oxides are considered as the most promising cathode candidates for lithium-ion cells owing to their high theoretical specific capacity. However, the higher nickel content endows structural deformation through unwanted phase transitions and parasitic side reactions that lead to capacity fading upon prolonged cycling. Hence, a deep understanding of the chemistry and structural behaviour is essential for developing Ni-rich Lithium Nickel Cobalt Manganese oxide (NCM) cathode-based high-energy batteries. The present review focuses on the different challenges associated with Ni-rich NCM materials and surface modification as a strategy to solve the issues associated with NCM materials, assessment of several coating materials, and the recent developments in the surface modification of Ni-rich NCMs, with an in-depth discussion on the impact of coating on the degradation mechanism.

Long-term follow-up of tobacco cessation intervention in a dental setting: A randomized trial.

Aims and Objectives: Tobacco dependence is widely prevalent and a harmful chronic disorder. Achieving long-term tobacco abstinence is an important public health goal. This study aims to assess the long-term effectiveness of moderate-intensity treatment for tobacco cessation in the dental clinic setting. Materials and Methods: Out of 1206 subjects registered to the Tobacco cessation clinic (TCC) during this time period, only 999 of them completed the 1-year follow-up period. The mean age was 45.9 ± 9 years. Six hundred and three (60.3%) of these subjects were male and 396 (39.6%) of them were females. Five hundred and fifty-eight (55.8%) used smoking tobacco and 441 (44.1%) used smokeless tobacco. Patients received tailored behavioral counseling, educational material, and pharmacotherapy consisting of nicotine replacement therapy (NRT) and\or NON-NRT. Patients were monitored by phone or clinic visits for 11 months. Results: Outcomes assessed were complete abstinence, harm reduction (>50% reduction), no change and lost to follow-up. At the end of 12 months the tobacco quit rate was180 (18%), tobacco reduction >50% was 342 (34.2%), no change 415 (41.5%) and relapse 62 (6.2%). Conclusions: Our study has identified adequate quit-rates in a cohort of dental patients attending a hospital-based TCC.

Equivalent system based inverse dynamics analysis of transfemoral prosthetic legs: Validation and application.

Inverse dynamics analysis of prosthetic legs with polycentric knees is complex due to increased number of links. The present work proposes a simple and general method called equivalent system (ES) analysis. The ES analysis provides forces and moment at hip joint as well as at the functional knee centre (FKC), the instant centre of the polycentric knee. The input to the ES analysis is the motion data. For validation of the proposed method, synthetic motion data for the swing phase of walking with prosthetic legs having different knees are generated by simulations using ADAMS. The hip kinetics evaluated by the proposed method is compared with that from ADAMS. The root mean square errors of the ES analysis are lower than 17 (10-6) N for hip reaction forces and 2.6 (10-6) Nm for the hip moments, thereby validating the proposed method. In order to demonstrate the application of the proposed methodology, the motion data of two transfemoral amputees using single-axis and four-bar knee prostheses are obtained during gait trials. The hip kinetics as well as kinetics at FKC are computed using ES analysis. Hip power during the swing phase is also evaluated and compared. The results are presented in this paper and discussed. The ES analysis is shown to be a versatile tool to provide insights into the human-mechanism interaction.

Effectiveness of pharmacological interventions for Sjogren syndrome - A systematic review.

Background: Sjogren's Syndrome (SS) is characterized by xeropthalmia and/or xerostomia. Treating the associated salivary gland hypofunction has been challenging to the clinicians. A variety of topical and systemic therapies have been tried to restore/stimulate the gland function or replace saliva reducing the symptoms of xerostomia and to avoid the problems of diminished salivary flow. Material and Methods: Four search engines (PUBMED/Medline, EMBASE, Google Scholar and The Cochrane) were used in conducting a systematic review using the terms "Sjogren's syndrome" with the combination of other terms. To define these study acceptability criteria, we used PICO model (Population, Intervention, Control and Outcome) and study design technique. Results: Out of 47 articles initially screened, 28 studies met our selection criteria. Included studies showed positive results with interventions such as pilocarpine, rituximab, and interferon-alpha (IFN-α) for enhancing salivary flow and lacrimal secretion in SS condition. One study showed promising results for combination of prednisone and hydroxychloroquine in SS, however dose of prednisone is recommended to be tapered. Another study demonstrated comparable effects of dehydroepiandrosterone and the placebo in alleviation of dry mouth symptoms (p=0.006). Therapeutic effects have been reported with LASER therapy. Conclusions: Pilocarpine was found to be highly beneficial whereas, rituximab and IFN-α were moderately effective in the reduction of hyposalivation in SS patient. Adverse events were common. Use of any alternative modalities for the management cannot be supported based on the current evidence; this demands more studies in future to be conducted staking into account adverse effects which might occur particularly with the pharmacological therapies. Key words:Sjogren's Syndrome, Xerostomia, Hyposalivation, Pilocarpine, Rituximab, Sialagogue.

Design of a low-cost, reconfigurable, standing wheelchair with easy and stable sit-stand-sit transition capability.

PURPOSE: Assistive devices like Standing Wheelchairs (SWC) have remained out of reach of the economically underprivileged even before the pandemic-induced financial downturn, and more so now. This paper describes the mechanical design of a manual user-actuated SWC that is cost-effective (equivalent of USD 210 in India, ex-factory) and has special features that minimise user effort and accommodates varying body weights (50-110 kg) and dimensions (1.52-1.83 m height). METHODS: The design includes a six-bar mechanism and spring balancing to optimise user effort during operation. The optimised gas spring incorporates adjustability to minimise each user's force for sit-stand-sit transitions. The handle shape is ergonomically designed using kinematic analysis to provide convenient gripping positions for actuation. The design has been customised based on parametric studies to suit varying body weights. RESULTS: Overall, the SWC design provides standing functionality with ease of operation, safety locks, customisability, affordability, outdoor mobility and is aesthetically pleasing. CONCLUSIONS: Customisability and the low cost of the device would enhance the accessibility of the SWC to a larger group of eligible users.Implications for rehabilitationManual user-operated standing wheelchair design using a six-bar mechanismSpring balancing used to reduce user effort to self-lift to the standing positionKinematic analysis used to determine convenient handle location for user easeCustomisability for wide range of users to ensure correct posture, optimal effortDesign refined through multiple iterations using inputs from users and cliniciansDesign commercialised at an affordable cost, making it accessible to a larger population.

Design journey of an affordable manual standing wheelchair.

PURPOSE: Only 1 in 10 people with disabilities can access assistive devices, underlining the critical need for low-cost assistive products. This paper describes the design evolution of a manual user-operated standing wheelchair (SWC), translating from prototype to product. METHODS: The SWC design has been refined over 5 years through multiple iterations based on comments from user trials. The SWC product, Arise, provides standing functionality, facile outdoor mobility, affordability, customisability, and is aesthetically pleasing. A one-time fitting and training ensure optimal effort for operation, correct posture, and comfortable user experience. The SWC accommodates users of different sizes and body weights (up to 110 kg) and minimises user effort with the use of a gas spring. Incorporating discrete adjustments enables customisation while retaining the advantages of mass manufacturing, which is necessary for ensuring affordability. RESULTS: The SWC has been field-tested and well received by over 100 wheelchair users, and Arise was launched recently by the industry partner. CONCLUSIONS: It should be noted that RESNA cautions on the use of any standing device without medical consultation. Nevertheless, with appropriate dissemination and awareness, it is anticipated that the affordable SWC product, Arise, will immensely benefit the eligible users and make a difference in their quality of life.Implications for RehabilitationProvides standing functionality, outdoor mobility, affordability and customisabilityAccommodates users of different sizes and body weights in a mass-manufacturable designErgonomic design reduces net user effort during sit-to-stand, stand-to-sit activityDesign iterated and refined based on feedback from over 100 user trials.

User experience study of an affordable manual standing wheelchair.

PURPOSE: The manual user-operated Arise Standing Wheelchair (SWC) is the end-result of multiple design iterations based on comments from user trials. The Arise SWC provides standing functionality, outdoor mobility, affordability, and customizability. This paper describes a user experience study of the Arise SWC's pre-commercial version. METHODS: Thirty participants (N = 30, 25 Male, 5 Female) were recruited for the study. All the participants were people with spinal cord injury. The study was conducted over a period of six weeks (five participants per week) within the hospital premises under the supervision of clinical personnel. A 30 min interactive training session involved thirteen activities. During the trial period, the participants were trained to perform twenty-two activities to familiarize themselves with the SWC. The participants were also trained to perform four functional usage activities with the SWC. At the end of the study, participant responses to ten outcome measures were captured using a smiley-based Likert-scale questionnaire. RESULTS: A majority of the participants (93.3%) felt happy when they stood in the SWC. The majority participants (83.3%) preferred the Arise SWC over their current wheelchair. Also, 80% participants anticipated that they could get more work done at home using the standing function of the wheelchair. CONCLUSIONS: A one-time fitting and training ensured optimal effort for the SWC operation, correct posture, and comfortable user experience. With proper dissemination and awareness, it is believed that the Arise SWC will benefit eligible users and improve their quality of life.IMPLICATIONS FOR REHABILITATIONThe Arise wheelchair provides standing functionality, outdoor mobility, affordability, and customizability.Study confirms that incorporating standing functionality can improve the quality of life for wheelchair users.The majority of users were happy, felt safe and expected to do more with the standing functionality.Study results support further testing in real world conditions beyond the hospital setting.

Assessment of pH and Copper Content among Raw and Commercial Areca Nut Products, Contributing Factor towards Oral Submucous Fibrosis

@#Introduction: The increased prevalence of oral submucous fibrosis (OSMF) in the last few years relates to the increased consumption of areca nut(AN) products. OSMF is a premalignant condition and risk to progression to oral cancer is more when AN is chewed along with tobacco. Moreover, high copper content in AN is responsible for fibroblast dysfunction and fibrosis. This study was conducted with aim to assess and compare pH and copper content of raw AN and popular Indian commercial AN based (with and without tobacco) products. Method: Six samples each of twelve different brands of AN based commercial products i.e. six without tobacco (pan masala) and with tobacco were analyzed for pH and then the samples were dried, and powdered for estimation of the copper content. Results: For the six raw areca nuts (sample 1-6), the pH was found to range from 3.06±1.08 to 5.04±0.81, among the six non tobacco containing samples (sample 7-12), the pH was found to range from 6.03±1.08 to 9.09±0.81, and for six tobacco containing samples (sample 13-18), the pH was found to range from 9.18±0.90 to 11.07±0.09. The mean copper concentration among raw areca nut samples (sample 1-6) was 4.05±0.18 μg/g, among non-tobacco containing samples (sample 7-12) it was 10.17±1.08μg/g and among tobacco samples (sample 13-18),it was 18.09±1.08 μg/g (p<0.001). Conclusion: High copper content present in quid and commercial AN may be a causative factor for an increased fibrosis in OSMF, our findings need evaluation by further research and standardization.

Oxidant and antioxidant status among tobacco users: A cross-sectional study.

Background: Smokeless and smoking tobacco use results in increased oxidative stress and lipid peroxidation, which play a major role in the causation of cancer in tobacco habituates. Malondialdehyde (MDA) is a product of lipid peroxidation, and glutathione peroxidase (GPx) and superoxide dismutase (SOD), the main enzymes in the antioxidant defense system, are assessed among tobacco users. This study gave insight into the relationship between tobacco use, oxidative stress, and antioxidant enzyme activity. Aims and Objectives: This study aimed to estimate the levels of lipid peroxidation product MDA and antioxidant enzymes SOD and GPx among tobacco users and compare them with controls. Method: A case-control study comprising 30 smokeless tobacco users, 30 smokers, and 30 controls was enrolled for the study. Serum MDA was assayed by the thiobarbituric acid method; serum SOD and GPx were assayed using Ransel antioxidant kits. The results were statistically analyzed using descriptive and inferential statistical analysis. Results: Serum MDA levels, which indicate oxidative stress, were increased among all tobacco users and significantly increased among smokeless tobacco users as compared to smokers. Serum SOD and GPx levels were decreased among both forms of tobacco users compared with controls. With an increase in duration and frequency of tobacco use, there was a significant increase in serum MDA levels among both smokers and chewers and a decrease in serum SOD and GPx levels. Conclusion: In the present day, the tobacco epidemic has attained enormous proportions with the tobacco habit starting as early as 13-14 years and leading to serious conditions with high morbidity and mortality. These biochemical parameters such as MDA, SOD, and GPx, which act as marker of oxidant and antioxidant system, can constitute important tools for evidence-based medicine for educating patients and motivating interventions in tobacco cessation therapy.

Anterior-cruciate-ligament reconstruction does not alter the knee-extensor moment arm during gait.

BACKGROUND: The ability of the quadriceps muscles to extend the knee depends on the moment arm of the knee-extensor mechanism, which is described by the moment arm of the patellar tendon at the knee. The knee-extensor moment may be altered by a change in quadriceps force, a change in the patellar tendon moment arm (PTMA), or both. A change in quadriceps muscle strength after anterior-cruciate-ligament-reconstruction (ACLR) surgery is well documented, however, there is limited knowledge about how this procedure affects the PTMA. RESEARCH QUESTION: Does ACLR surgery alter the moment arm of the knee-extensor mechanism during gait? METHODS: We measured the PTMA in both the ACLR knee and the uninjured contralateral knee in 10 young active individuals after unilateral ACLR surgery. Mobile biplane X-ray imaging was used to measure the three-dimensional positions of the femur, tibia and patella during level walking and downhill walking over ground. The PTMA was found from the location of the instantaneous axis of rotation at the knee and the line-of-action of the patellar tendon. RESULTS: There was a small but statistically significant difference in the mean PTMA calculated over one cycle of level walking between the ACLR knee and the contralateral knee, with the mean PTMA in the ACLR knee being 1.5 mm larger (p < 0.01). In downhill walking, statistically significant differences were found in the range 15°- 25° of knee flexion, where the PTMA was 4.7 mm larger in the ACLR knee compared to the contralateral knee (p < 0.01). SIGNIFICANCE: Significant differences were evident in the mean PTMA between the ACLR knee and the contralateral knee in both activities, however, the magnitudes of these differences were relatively small (range: 3-10%), indicating that ACLR surgery successfully restores the moment arm of the knee-extensor mechanism during dynamic activity.

Case Report: Pharyngeal Diphtheria in a Pregnant Woman from South India.

Diphtheria is a vaccine-preventable disease and is caused by toxigenic strains of Corynebacterium diphtheriae. Several case reports have been published in the recent years, and this resurgence of cases has occurred mainly in adolescent and adult populations. Also, several research articles have reported waning immunity against diphtheria in adults who have completed childhood immunization. Thus, it is an important need to conduct larger sero-surveillance studies to understand the cause of rising diphtheria cases. Here, we report a case of a 23-year-old pregnant women of 8 weeks' gestation who presented to the outpatient department with fever, severe throat pain, odynophagia, dysphagia, neck pain, and neck swelling of 3 days' duration. On clinical examination, a gray, leathery membrane was noted on the soft palate. An Albert's stain from the membrane revealed organisms resembling Corynebacterium diphtheriae. Appropriate treatment was initiated immediately, and follow-up examination at 2 weeks from date of discharge was uneventful. The gray membrane had completely resolved. Contact tracing was done and the appropriate antimicrobial agent was administered. This case study indicates the importance of timely clinical and microbiological diagnosis and reinforces the previously reported resurgence of diphtheria infection.

Toolkit for delivering the 3Es and 6As tobacco interventions in dental care.

Tobacco use is one of the major public health problems in India and also the single most important remediable public health problem. Tobacco cessation is the need of the hour. The dentists have a unique opportunity and professional obligation to be a positive influence in reducing the economic and social burden inflicted by tobacco use on dental and general health. However, dentists, in general, have not widely embraced tobacco cessation in practice. In this article, an evidence-based model (an adaptation of the World Health Organization "5As" tobacco cessation model) is presented for the dentist to help patients avoid tobacco initiation, to encourage and assist patients in tobacco cessation.

Swing phase considerations in prosthetic knee design: Case series to validate simulations.

BACKGROUND: Previously reported simulations comparing a new polycentric knee (called IPK) and a single-axis knee suggested that polycentricity could lead to improved performance during swing phase and negate the need for an extension assist. They also showed that an anteriorly translated socket adapter for enhanced stance stability compromises foot clearance during swing. OBJECTIVES: The objectives of this study are to validate those findings using gait trials to enable further improvement in the IPK design before mass production. METHODS: Three subjects regularly using three different passive knees, single-axis knee without extension assist, single-axis knee with extension assist (SAK-EA), and polycentric knee with extension assist (Mobility India-sourced polycentric knee), participated in this study. Their gait with their regular prosthesis and with IPK (having no extension assist) were analyzed, compared, and broadly correlated with simulation results. RESULTS: Extension assist in single-axis knee with extension assist improved swing performance, affected foot clearance in Mobility India-sourced polycentric knee, and was found to be unnecessary in the IPK. With an anteriorly placed socket adapter in the IPK, compensatory strategies were necessary for foot clearance. The IPK was found to provide better knee extension characteristics with lower hip effort (up to 42% reduction) than other knees. CONCLUSIONS: This case series confirmed previously reported simulation results on the swing phase behavior of passive prosthetic knees. The performance of the IPK during swing obviated the need for an extension assist, thereby simplifying the design. Appropriate design changes in the IPK's socket adapter location are required to achieve both stance stability and reduce gait compensations for foot clearance.

The Effect of Photodynamic Therapy on Oral-Premalignant Lesions: A Systematic Review.

Background: Dentists now have access to a wide range of unique treatment methods as a result of substantial scientific and technological breakthroughs in the field of dentistry. Photodynamic therapy (PDT) is a non-invasive treatment procedure that use photosensitizers, a specific wavelength of light, and the production of singlet oxygen and reactive oxygen species (ROS) to kill undesired eukaryotic cells (such as oral tumors) and harmful microbes. In several disciplines of dentistry, it is seen as a valid therapeutic option. The purpose of this study was to examine the effectiveness and side effects of PDT in the treatment of oral premalignant lesions. Material and Methods: Three search engines (PubMed, ISI Web of Science, and the Cochrane Library) were used to conduct a systematic review using the phrases photodynamic therapy and PDT in combination with other terms. To define our study eligibility criteria, we used the Population, Intervention and Comparison, Outcomes, and Study design technique. Results: Initial results were 33. Definitely, 18 studies met our selection criteria. Conclusions: Our analysis suggests ALA- PDT as a promising therapeutic modality for OEL lesions which should be treated first with the topical ALA-PDT using either the LED or laser light for successful clinical outcome for OEL lesions. Key words:Photodynamic Therapy, Photosensitizer, Aminolevulinic Acid (ALA), Methylene Blue (MB), Toludine Blue, Oral Leukoplakia, Oral Erythroplakia, Oral Verrucous hyperplasia, Oral Lichen Planus.

Comparative study of effectiveness of colposcopic examination versus visual examination for determining the biopsy site of potentially premalignant oral epithelial lesions.

Diagnosis of oral malignant and potentially premalignant oral epithelial lesions (PPOELs) cannot be based solely on clinical findings. Tissue biopsy with histopathologic examination remains the gold standard in diagnosis. Selection of a representative biopsy site becomes essential to arrive at an early and precise diagnosis which substantially reduces the incidence of morbidity and mortality from oral cancer. The site for biopsy, however, is always a subjective choice that sometimes raises doubts about its representativeness. Among various techniques developed to complement clinical examination and facilitate early diagnosis, colposcopy can be a simple, reliable diagnostic method available for the selection of the most appropriate biopsy site based on the vascular patterns. Hence, this study has been planned to assess the role of colposcopic examination in the selection of the most representative specimen for histopathologic examination from the oral lesions.

Validation of wearable inertial sensor-based gait analysis system for measurement of spatiotemporal parameters and lower extremity joint kinematics in sagittal plane.

Wearable inertial sensor-based motion analysis systems are promising alternatives to standard camera-based motion capture systems for the measurement of gait parameters and joint kinematics. These wearable sensors, unlike camera-based gold standard systems, find usefulness in outdoor natural environment along with confined indoor laboratory-based environment due to miniature size and wireless data transmission. This study reports validation of our developed (i-Sens) wearable motion analysis system against standard motion capture system. Gait analysis was performed at self-selected speed on non-disabled volunteers in indoor (n = 15) and outdoor (n = 8) environments. Two i-Sens units were placed at the level of knee and hip along with passive markers (for indoor study only) for simultaneous 3D motion capture using a motion capture system. Mean absolute percentage error (MAPE) was computed for spatiotemporal parameters from the i-Sens system versus the motion capture system as a true reference. Mean and standard deviation of kinematic data for a gait cycle were plotted for both systems against normative data. Joint kinematics data were analyzed to compute the root mean squared error (RMSE) and Pearson's correlation coefficient. Kinematic plots indicate a high degree of accuracy of the i-Sens system with the reference system. Excellent positive correlation was observed between the two systems in terms of hip and knee joint angles (Indoor: hip 3.98° ± 1.03°, knee 6.48° ± 1.91°, Outdoor: hip 3.94° ± 0.78°, knee 5.82° ± 0.99°) with low RMSE. Reliability characteristics (defined using standard statistical thresholds of MAPE) of stride length, cadence, walking speed in both outdoor and indoor environment were well within the "Good" category. The i-Sens system has emerged as a potentially cost-effective, valid, accurate, and reliable alternative to expensive, standard motion capture systems for gait analysis. Further clinical trials using the i-Sens system are warranted on participants across different age groups.

Postural Disharmony Causing Myofacial Pain: A Case Report and Review of Literature of the Treatment.

Myofacial pain, a chronic painful condition of muscle origin, has numerous precipitating factors, if undiagnosed or left untreated could lead to compromised function and poor quality of life. In this case report, a female patient giving a history of 10 years of pain in the head and neck region was eventually diagnosed with myofacial pain secondary to bowing posture. The patient was successfully treated with combination of treatment modalities (TENS therapy, exercises, occlusal splint, etc.), which resulted in relief from chronic pain and improvement in quality of life.

A self-aligning end-effector robot for individual joint training of the human arm.

AIM: Intense training of arm movements using robotic devices can help reduce impairments in stroke. Recent evidence indicates that independent training of individual joints of the arm with robots can be as effective as coordinated multi-joint arm training. This makes a case for designing and developing robots made for training individual joints, which can be simpler and more compact than the ones for coordinate multi-joint arm training. The design of such a robot is the aim of the work presented in this paper. METHODS: An end-effector robot kinematic design was developed and the optimal robot link lengths were estimated using an optimization procedure. A simple algorithm for automatically detecting human limb parameters is proposed and its performance was evaluated through a simulation study. RESULTS: A six-degrees-of-freedom end-effector robot with three actuated degrees-of-freedom and three non-actuated self-aligning degrees-of-freedom for safe assisted training of the individual joints (shoulder or elbow) of the human arm was conceived. The proposed robot has relaxed constraints on the relative positioning of the human limb with respect to the robot. The optimized link lengths chosen for the robot allow it to cover about 80% of the human limb's workspace, and possess good overall manipulability. The simple estimation procedure was demonstrated to estimate human limb parameters with low bias and variance. DISCUSSION: The proposed robot with three actuated and three non-actuated degrees-of-freedom has a compact structure suitable for both the left and right arms without any change to its structure. The proposed automatic estimation procedure allows the robot to safely apply forces and impose movements to the human limb, without the need for any manual measurements. Such compact robots have the highest potential for clinical translation.

Three-dimensional cone-beam computed tomographic sialography in the diagnosis and management of primary Sjögren syndrome: Report of 3 cases.

Sjögren syndrome is a chronic autoimmune inflammatory disease characterized by lymphocytic infiltration of exocrine glands, predominantly the parotid and lacrimal glands, thereby resulting in oral and ocular dryness. It has been reported to occur most frequently in women between 40 and 50 years of age. Sjögren syndrome has an insidious onset, is slowly progressive, and presents a wide range of clinical manifestations, leading to delays or challenges in the diagnosis. Early diagnosis of this condition is essential to prevent the associated complications that affect patients' quality of life. This report presents 3 cases of Sjögren syndrome in female patients aged between 40 and 75 years who presented with complaints of persistent dry mouth and burning sensation. The cases highlight the diagnostic value of 3-dimensional cone-beam computed tomographic sialography in the detection of salivary gland pathologies at an early stage.