Accelerometers and force sensing resistors for optimal control of walking of a hemiplegic.

We developed a method for use of accelerometers and force sensing resistors (FSRs) within an optimal controller of walking for hemiplegic individuals. The data from four dual-axis accelerometers and four FSRs were inputs, while six muscle activation profiles were outputs. The controller includes two stages: 1) estimating the target gait pattern using artificial neural networks; and 2) optimal control minimizing tracking errors (from the estimated gait pattern) and muscle efforts.

Radical retropubic prostatectomy--report on 41 cases.

Anatomic radical retropubic prostatectomy is an effective method for long-term control of the prostatic carcinoma. In the current era of the anatomic prostatic surgery, blood loss is reduced, complication rate is low and control of the disease may be excellent. Some authors reported cancer-specific survival rate after the radical retropubic prostatectomy of 85-90% over the 10-year period and 82% over the 15-year period.