This article presents the development and control of a novel hybrid controlled vertical climbing robot based on Pneumatic Muscle Actuators (PMAs). PMAs are highly non– linear pneumatic actuators where their elongation is proportional to the internal pressure. The vertical sliding of the robot is based on four PMAs and through the combined and sequential contraction–extension of the pneumatic mu...

ADROIT Manipulation platform is a pneumatically actuated, tendon driven 28 degree of freedom platform being developed for investigating complex hand manipulation behaviors. ADROIT derives its unique capabilities, necessary to support dynamic and dexterous manipulation, from a custom designed high performance pneumatic actuation system for tendon driven hands. The custom pneumatic actuation syst...

This paper presents a nonlinear optimal control scheme for a mechatronic system that consists of a guided carriage and an antagonistic pair of pneumatic muscles as actuators. Modelling leads to a system of nonlinear differential equations including polynomial approximations of the volume characteristic as well as the force characteristic of the pneumatic muscles. The proposed control has a casc...

The treatment of venous ulcers has remained largely unchanged for centuries. The application of properly applied graduated compression bandages, the use of graduated compression stockings, and surgery have been shown to achieve healing. However, some ulcers persist despite appropriate management. A randomized study was undertaken to compare two regimens of treatment for such patients. Both regi...

CONTEXT Pneumatic dilatation and surgical (Heller) myotomy are the 2 principal methods for treatment of achalasia. There are no population-based studies comparing outcomes of these 2 treatments in typical practice settings. OBJECTIVE To compare the outcomes of pneumatic dilatation and surgical myotomy for achalasia. DESIGN, SETTING, AND PARTICIPANTS Retrospective longitudinal study using li...

This paper proposes a variation on a sliding mode control approach that provides significant energy savings for the control of pneumatic servo systems. The control methodology is formulated by first decoupling the standard four-way spool valve used for pneumatic servo control into two three-way valves, then using the resulting two control degrees of freedom to simultaneously satisfy both the sl...

Objective: To assess the efficacy and safety of extracorporeal shock wave lithotripsy or pneumatic ureteroscopic lithotripsy for lower ureteral stones therapy, we sought to identify and summarize randomized controlled trials that were used to treat distal ureteral stone. Methods: Eligible studies were identified from electronic databases. Database search, quality assessment, and data extraction...

Novel latching microfluidic valve structures are developed, characterized, and controlled independently using an on-chip pneumatic demultiplexer. These structures are based on pneumatic monolithic membrane valves and depend upon their normally-closed nature. Latching valves consisting of both three- and four-valve circuits are demonstrated. Vacuum or pressure pulses as short as 120 ms are adequ...

BACKGROUND To investigate the incidence of pulmonary embolism and risk factors for this condition after obstetric and gynecologic surgery, as well as the efficacy of intermittent pneumatic compression. METHODS A total of 6,218 patients operated at Keio University Hospital excluding obstetric or infertility-related surgery and uterine cervical conization were evaluated retrospectively to deter...