The application of robots in critical missions in hazardous environments requires the development of reliable or fault tolerant manipulators. In this paper, we define fault tolerance as the ability to continue the performance of a task after immobilization of a joint due to failure. Initially, no joint limits are considered, in which case we prove the existence of fault tolerant manipulators an...

BACKGROUND Tuberculosis of the foot and ankle still remains to be a significant problem, especially in the developing countries, and with an increase in incidence in immunosuppressed patients. Treatment is mainly medical using multidrug chemotherapy; surgical interventions range from biopsy, synovectomy and debridement, to joint preserving procedures like distraction in early cases, and arthrod...

 Abstract Two cases (20 and 15 years old) of shoulder joint synovial chondromatosis were initially treated with arthroscopic debridement. One was further treated with a second arthroscopy and partial synovectomy (case 1) the second was fully treated by arthroscopic surgery (case 2). The postoperative control X- ray revealed no loose body and the joint was normal. One of the cases (case 1) was a...