Cycling-enhanced Knee Exoskeleton Using Planar Spiral Spring.

Reported in our previous study on passive cycling support, the energy cost of knee extension can be reduced using the energy stored from knee flexion by torsion spring. In the current study, the planar spiral spring is applied to attain the compact design of the cycling augmented knee exoskeleton (CAKE-2). The surface electromyography (EMG) results over the rectus femoris muscles of three healthy male participants performing constant power cycling on a trainer at 200 W and 225 W are analyzed in time-frequency via the continuous wavelet transform.

Point Pair Feature-Based Pose Estimation with Multiple Edge Appearance Models (PPF-MEAM) for Robotic Bin Picking.

Automation of the bin picking task with robots entails the key step of pose estimation, which identifies and locates objects so that the robot can pick and manipulate the object in an accurate and reliable way. This paper proposes a novel point pair feature-based descriptor named Boundary-to-Boundary-using-Tangent-Line (B2B-TL) to estimate the pose of industrial parts including some parts whose point clouds lack key details, for example, the point cloud of the ridges of a part. The proposed descriptor utilizes the 3D point cloud data and 2D image data of the scene simultaneously, and the 2D image data could compensate the missing key details of the point cloud.

Tumor necrosis factor-alpha mediates photoreceptor death in a rodent model of retinal detachment.

Purpose: Photoreceptor degeneration is a major cause of visual loss in various retinal diseases, including retinal detachment (RD) and neovascular AMD, but the underlying mechanisms remain elusive. In this study, the role of TNFα in RD-induced photoreceptor degeneration was investigated.

Methods: RD was induced by subretinal injection of hyaluronic acid.

13C-n.m.r. analysis of some sulphate derivatives of chitosan.

Positions of substitution with sulphate in three water-soluble sulphated derivatives of chitosan were analysed by 13C n.m.r.