Single-Actuator-Based Lower-Limb Soft Exoskeleton for Preswing Gait Assistance.

In this research, we proposed a lower-limb soft exoskeleton for providing assistive forces to patients with muscle weakness during the preswing phase of a gait cycle. Whereas conventional soft exoskeletons employ two motors to assist each leg individually, we designed a single motor for actuation. Our design assists hip flexion for light weights and prevents some slip problems that can arise from rotary motors. The actuation mechanism was based on a pulley system that converted the power supplied by the single motor into linear reciprocating motions of a slider. When the single motor rotated, the slider moved linearly, first in one direction and then in the opposite direction. The slider pulled knee braces through cables with an assistive force of 100 N. The actuation was triggered when the system detected that the backward swing of the wearer's thigh had ended. A prototype was designed, fabricated, and examined with 7 subjects (average age, 24). Subjects were measured while they wore our exoskeleton in power-off and power-on modes. Comparisons proved that wearing the exoskeleton caused a negligible deviation of gait, and that the soft exoskeleton could reduce metabolic cost during walking. The research results are expected to be beneficial for lightweight soft exoskeletons and integration with exosuits that provide assistive forces through the wearer's entire gait.

Reversible Spasticity Suppression and Locomotion Change After Pulsed Radiofrequency on the Dorsal Root Ganglia of Rats With Spinal Cord Injury.

OBJECTIVES: Radiofrequency has been used to suppress spasticity affecting motion in patients with cerebral palsy and spinal cord injury. This study tested spasticity suppression and locomotion change after pulsed radiofrequency (PRF) at the dorsal root ganglion of rats with spasticity. MATERIALS AND METHODS: Twenty-four rats that survived for 28 days after thoracic spinal cord injury and showed spasticity in the right hind limb were separated randomly to a PRF group or Sham operation group. PRF consisted of 2 Hz biphasic 25 msec trains of PRF (500 kHz, 5 V intensity) applied on the right L5 dorsal root ganglion for 300 sec. Muscle tension of the right triceps surae was measured at 450 deg/sec of passive ankle dorsiflexion on the day before and 3, 7, and 14 days after PRF or sham operation. Locomotive function was evaluated by obtaining Basso, Beattie, and Bresnahan (BBB) scores. RESULTS: Muscle tension of the triceps surae decreased significantly three days after PRF, and gradually returned to baseline 14 days later. In the sham operation group, muscle tension increased significantly more than 14 days. The BBB scores declined from 10 to 8 after PRF and returned to pre-PRF levels 14 days later, while scores remained constant after sham operation. CONCLUSIONS: PRF produced significant and reversible suppression in spasticity, but this was accompanied by deterioration in locomotive function. Thus, caution should be exercised in considering the benefits and costs in suppressing spasticity in ambulatory patients, and implanted devices that apply titratable doses of PRF may be best to optimize patients' needs.

Facile fabrication of superporous and biocompatible hydrogel scaffolds for artificial corneal periphery.

Biocompatible and highly porous network hydrogel scaffolds were fabricated for the development of artificial cornea (AC) periphery/skirt that could be used to enhance the long-term retention of the implants. In this study, a series of hydrogel scaffolds for this application was fabricated from the photo-polymerization of a mixture of poly(ethylene glycol) (PEG)- and poloxamer (P407)-based macromer solutions in dichloromethane in which solvent-induced phase separation (SIPS) arose to form scaffolds with macroporous structure and high water content. The overall porosity ranging from 20% to 75% and open/closed pore structure of the hydrogel scaffolds could be finely tuned by varying the ratio of P407/PEG in the macromer solution and solvent type. The total porosity and open-cell structure of the macropores in the synthesized hydrogel scaffolds affected the swelling behavior, dynamic properties such as the storage moduli of the hydrogels as well as their degradation rates. Based on the subcutaneous implantation in rats, superporous hydrogel scaffolds induced the formation of thinner fibrous capsules around the implants and showed less inflammatory reaction, suggesting that the hydrogel scaffolds made from SIPS exhibited good cytocompatibility. The combined results of swelling ratio, porosity, physical strength and subcutaneous implant tests indicated that the superporous hydrogels with porosity >50% showed potentials to be used for cornea periphery application.

Color rendering based on a plasmon fullerene cavity.

Fullerene in the plasmon fullerene cavity is utilized to propagate plasmon energy in order to break the confinement of the plasmonic coupling effect, which relies on the influential near-field optical region. It acts as a plasmonic inductor for coupling gold nano-islands to the gold film; the separation distances of the upper and lower layers are longer than conventional plasmonic cavities. This coupling effect causes the discrete and continuum states to cooperate together in a cavity and produces asymmetric curve lines in the spectra, producing a hybridized resonance. The effect brings about a bright and saturated displaying film with abundant visible colors. In addition, the reflection spectrum is nearly omnidirectional, shifting by only 5% even when the incident angle changes beyond ± 60°. These advantages allow plasmon fullerene cavities to be applied to reflectors, color filters, visible chromatic sensors, and large-area display.

Estimation of the Corneal Young's Modulus In Vivo Based on a Fluid-Filled Spherical-Shell Model with Scheimpflug Imaging.

Current intraocular pressure (IOP) measurement using air puff could be erroneous without applying proper corrections. Although noncontact tonometry is not considered to be accurate, it is still popularly used by eye clinics. It is thus necessary to extract the correct information from their results. This study proposes a practical approach to correctly measure IOP in vivo. By embedding a new model-based correction to the Corvis® ST, we can extract the corneal Young's modulus from the patient data. This Young's modulus can be used to correct the IOP readings. The tests were applied to 536 right eyes of 536 healthy subjects (228 male and 308 female) between March of 2012 and April of 2016. The tests were applied to patients at the Department of Ophthalmology, National Taiwan University Hospital and the Hung-Chuo Eye Clinics. The statistical analysis showed that the value for the Young's modulus was independent of all the other parameters collected from the Corvis ST, including the corneal thickness and the intraocular pressure. Therefore, it is important to independently measure the Young's modulus instead of depending on the correlation with the other parameters. This study adds the methodology of measuring corneal stiffness in vivo for ophthalmologists' reference in diagnosis.

Fall Prevention Shoes Using Camera-Based Line-Laser Obstacle Detection System.

Fall prevention is an important issue particularly for the elderly. This paper proposes a camera-based line-laser obstacle detection system to prevent falls in the indoor environment. When obstacles are detected, the system will emit alarm messages to catch the attention of the user. Because the elderly spend a lot of their time at home, the proposed line-laser obstacle detection system is designed mainly for indoor applications. Our obstacle detection system casts a laser line, which passes through a horizontal plane and has a specific height to the ground. A camera, whose optical axis has a specific inclined angle to the plane, will observe the laser pattern to obtain the potential obstacles. Based on this configuration, the distance between the obstacles and the system can be further determined by a perspective transformation called homography. After conducting the experiments, critical parameters of the algorithms can be determined, and the detected obstacles can be classified into different levels of danger, causing the system to send different alarm messages.

Ultra-large suspended graphene as a highly elastic membrane for capacitive pressure sensors.

In this work, we fabricate ultra-large suspended graphene membranes, where stacks of a few layers of graphene could be suspended over a circular hole with a diameter of up to 1.5 mm, with a diameter to thickness aspect ratio of 3 × 10(5), which is the record for free-standing graphene membranes. The process is based on large crystalline graphene (∼55 µm) obtained using a chemical vapor deposition (CVD) method, followed by a gradual solvent replacement technique. Combining a hydrogen bubbling transfer approach with thermal annealing to reduce polymer residue results in an extremely clean surface, where the ultra-large suspended graphene retains the intrinsic features of graphene, including phonon response and an enhanced carrier mobility (200% higher than that of graphene on a substrate). The highly elastic mechanical properties of the graphene membrane are demonstrated, and the Q-factor under 2 MHz stimulation is measured to be 200-300. A graphene-based capacitive pressure sensor is fabricated, where it shows a linear response and a high sensitivity of 15.15 aF Pa(-1), which is 770% higher than that of frequently used silicon-based membranes. The reported approach is universal, which could be employed to fabricate other suspended 2D materials with macro-scale sizes on versatile support substrates, such as arrays of Si nano-pillars and deep trenches.

A corneal elastic dynamic model derived from Scheimpflug imaging technology.

PURPOSE: To simultaneously extract the corneal Young's modulus and the damping ratio from Scheimpflug imaging data. METHODS: A spherical diaphragm model can better represent the geometry and physics of an eyeball than the popular mass-spring-damper model. This research derived the dynamic model of a water-filled spherical diaphragm based on the hydrodynamics and wave propagation theories. By applying modal analysis on the model, one can decouple the cornea vibration into individual modes and reconstruct the air puff vibration from the decoupled responses. By matching this response with the Scheimpflug imaging data from the Corvis(®) ST, it was then possible to extract multiple physiological properties as desired. RESULTS: The dynamic modal analysis was employed to extract the corneal physiological properties of 25 Taiwanese normal subjects. Specifically, the corneal Young's moduli and damping ratios were estimated. In fact the model is dependent on the physiological parameters such as cornea thickness, densities, and intraocular pressure. It is thus also possible to extract these parameters through multi-goal minimisation processes. CONCLUSIONS: The spherical diaphragm model was able to better describe the dynamic response of the eyeball. The model analysis also provides additional corneal physiological properties that were not available through other means.

Model-Based Experimental Development of Passive Compliant Robot Legs from Fiberglass Composites.

We report on the methodology of developing compliant, half-circular, and composite robot legs with designable stiffness. First, force-displacement experiments on flat cantilever composites made by one or multifiberglass cloths are executed. By mapping the cantilever mechanics to the virtual spring model, the equivalent elastic moduli of the composites can be derived. Next, by using the model that links the curved beam mechanics back to the virtual spring, the resultant stiffness of the composite in a half-circular shape can be estimated without going through intensive experimental tryouts. The overall methodology has been experimentally validated, and the fabricated composites were used on a hexapod robot to perform walking and leaping behaviors.

Imaging monitored loosening of dense fibrous tissues using high-intensity pulsed ultrasound.

Pulsed high-intensity focused ultrasound (HIFU) is proposed as a new alternative treatment for contracture of dense fibrous tissue. It is hypothesized that the pulsed-HIFU can release the contracted tissues by attenuating tensile stiffness along the fiber axis, and that the stiffness reduction can be quantitatively monitored by change of B-mode images. Fresh porcine tendons and ligaments were adapted to an ex vivo model and insonated with pulsed-HIFU for durations ranging from 5 to 30 min. The pulse length was 91 µs with a repetition frequency of 500 Hz, and the peak rarefactional pressure was 6.36 MPa. The corresponding average intensities were kept around 1606 W cm(-2) for ISPPA and 72.3 W cm(-2) for ISPTA. B-mode images of the tissues were acquired before and after pulsed-HIFU exposure, and the changes in speckle intensity and organization were analyzed. The tensile stiffness of the HIFU-exposed tissues along the longitudinal axis was examined using a stretching machine. Histology examinations were performed by optical and transmission electron microscopy. Pulsed-HIFU exposure significantly decreased the tensile stiffness of the ligaments and tendons. The intensity and organization of tissue speckles in the exposed region were also decreased. The speckle changes correlated well with the degree of stiffness alteration. Histology examinations revealed that pulsed-HIFU exposure probably damages tissues via a cavitation-mediated mechanism. Our results suggest that pulsed-HIFU with a low duty factor is a promising tool for developing new treatment strategies for orthopedic disorders.

Effective pressure and bubble generation in a microfluidic T-junction.

To improve the existing trial-and-error process in designing a microfluidic T-junction, a systematic study of the geometrical (mainly the channel length) effects on the generated bubbly/slug flow was conducted to figure out basic design guidelines based on experimental and theoretical analyses. A driving system with dual constant pressure sources, instead of the commonly used dual constant volume-rate sources (such as two syringe pumps), was chosen in this study. The newly proposed effective pressure ratio (P(e)*) has revealed its advantages in excluding the surface tension effect of fluids. All the data of generated bubbly/slug flow for a given geometry collapse excellently into the same relationship of void fraction and effective pressure ratio. This relationship is insensitive to the liquid viscosity and the operation range is strongly affected by the geometrical effect, i.e., the channel length ratio of downstream to total equivalent length of the main channel in a T-junction chip. As to the theoretical design and analysis of gas-liquid-flow characteristics in a microfluidic T-junction, which is still sporadic in the literature, the proposed semi-empirical model has successfully predicted the operation boundaries and the output flow rate of bubbly/slug flow of different investigated cases and demonstrated its usability.

Volumetric intensity-modulated Arc (RapidArc) therapy for primary hepatocellular carcinoma: comparison with intensity-modulated radiotherapy and 3-D conformal radiotherapy.

BACKGROUND: To compare the RapidArc plan for primary hepatocellular carcinoma (HCC) with 3-D conformal radiotherapy (3DCRT) and intensity-modulated radiotherapy (IMRT) plans using dosimetric analysis. METHODS: Nine patients with unresectable HCC were enrolled in this study. Dosimetric values for RapidArc, IMRT, and 3DCRT were calculated for total doses of 45~50.4 Gy using 1.8 Gy/day. The parameters included the conformal index (CI), homogeneity index (HI), and hot spot (V107%) for the planned target volume (PTV) as well as the monitor units (MUs) for plan efficiency, the mean dose (Dmean) for the organs at risk (OAR) and the maximal dose at 1% volume (D1%) for the spinal cord. The percentage of the normal liver volume receiving ≥ 40, > 30, > 20, and > 10 Gy (V40 Gy, V30 Gy, V20 Gy, and V10 Gy) and the normal tissue complication probability (NTCP) were also evaluated to determine liver toxicity. RESULTS: All three methods achieved comparable homogeneity for the PTV. RapidArc achieved significantly better CI and V107% values than IMRT or 3DCRT (p < 0.05). The MUs were significantly lower for RapidArc (323.8 ± 60.7) and 3DCRT (322.3 ± 28.6) than for IMRT (1165.4 ± 170.7) (p < 0.001). IMRT achieved a significantly lower Dmean of the normal liver than did 3DCRT or RapidArc (p = 0.001). 3DCRT had higher V40Gy and V30 Gy values for the normal liver than did RapidArc or IMRT. Although the V10 Gy to the normal liver was higher with RapidArc (75.8 ± 13.1%) than with 3DCRT or IMRT (60.5 ± 10.2% and 57.2 ± 10.0%, respectively; p < 0.01), the NTCP did not differ significantly between RapidArc (4.38 ± 2.69) and IMRT (3.98 ± 3.00) and both were better than 3DCRT (7.57 ± 4.36) (p = 0.02). CONCLUSIONS: RapidArc provided favorable tumor coverage compared with IMRT or 3DCRT, but RapidArc is not superior to IMRT in terms of liver protection. Further studies are needed to establish treatment outcome differences between the three approaches.

Development of 2D Microdisplay Using an Integrated Microresonating Waveguide Scanning System.

Our research team has developed a 2D micro image display device that can potentially overcome the size reduction limits while maintaining the high-image resolution and field of view obtained by mirror-based display systems. The basic design of the optical scanner includes a microfabricated SU-8 cantilever waveguide that is electromechanically deflected by a piezoelectric actuator. From the distal tip of the cantilever waveguide, a light beam is emitted and the direction of propagation is displaced along two orthogonal directions. The waveforms for the actuator and the LED light modulation are generated and controlled using a field programmable gate array. Our recent study is an update to the previously-reported mechanical scanner, replacing the hand-built PZT scanner and fiber waveguide with a microfabricated system incorporating aerosol-deposited PZT thin film and a polymeric SU-8 wave guide. In this article, we report on the design and fabrication of a prototype miniaturized 2D scanner, discuss optical and mechanical the modeling of the system's properties and present the experimental results.

Flexible temperature sensor array based on a graphite-polydimethylsiloxane composite.

This paper presents a novel method to fabricate temperature sensor arrays by dispensing a graphite-polydimethylsiloxane composite on flexible polyimide films. The fabricated temperature sensor array has 64 sensing cells in a 4×4 cm2 area. The sensor array can be used as humanoid artificial skin for sensation system of robots. Interdigitated copper electrodes were patterned on the flexible polyimide substrate for determining the resistivity change of the composites subjected to ambient temperature variations. Polydimethylsiloxane was used as the matrix. Composites of different graphite volume fractions for large dynamic range from 30 °C to 110 °C have been investigated. Our experiments showed that graphite powder provided the composite high temperature sensitivity. The fabricated temperature sensor array has been tested. The detected temperature contours are in good agreement with the shapes and magnitudes of different heat sources.

A miniature system for separating aerosol particles and measuring mass concentrations.

We designed and fabricated a new sensing system which consists of two virtual impactors and two quartz-crystal microbalance (QCM) sensors for measuring particle mass concentration and size distribution. The virtual impactors utilized different inertial forces of particles in air flow to classify different particle sizes. They were designed to classify particle diameter, d, into three different ranges: d<2.28 µm, 2.28 µm≤d≤3.20 µm, d>3.20 µm. The QCM sensors were coated with a hydrogel, which was found to be a reliable adhesive for capturing aerosol particles. The QCM sensor coated with hydrogel was used to measure the mass loading of particles by utilizing its characteristic of resonant frequency shift. An integrated system has been demonstrated.

Real time monitoring of temperature of a micro proton exchange membrane fuel cell.

Silicon micro-hole arrays (Si-MHA) were fabricated as a gas diffusion layer (GDL) in a micro fuel cell using the micro-electro-mechanical-systems (MEMS) fabrication technique. The resistance temperature detector (RTD) sensor was integrated with the GDL on a bipolar plate to measure the temperature inside the fuel cell. Experimental results demonstrate that temperature was generally linearly related to resistance and that accuracy and sensitivity were within 0.5 °C and 1.68×10(-3)/°C, respectively. The best experimental performance was 9.37 mW/cm(2) at an H(2)/O(2) dry gas flow rate of 30/30 SCCM. Fuel cell temperature during operation was 27 °C, as measured using thermocouples in contact with the backside of the electrode. Fuel cell operating temperature measured in situ was 30.5 °C.