Spinal cord injury (SCI) is a damage to spinal cord that results in loss of function, mobility and sensation below the level at which the spinal cord has been injured. The incidence of this disorder varies between 12.7 and 59 new cases per million each year (1). These subjects used various orthoses to improve their abilities to stand and walk, such as mechanical orthoses, functional electrical ...

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...

This paper deals with the dynamics and control of a two degree of freedom robot arm actuated by pneumatic artificial muscles (PAMs). The high power-weight ratio of PAMs justifies their use as actuators in robotics. To achieve trajectory tracking performance, controllers are constructed based on a dynamic model of the robot arm. Due to the high non-linear dynamics of the robotic system, fuzzy co...

In minimally invasive surgery, tactile feedback is lacking. A tactile display, consisting of a matrix of micro-actuators, represents tactile sensations on the fingertip. Miniaturising powerful, dynamic and accurate actuators with a sufficient stroke and bandwidth is a considerable challenge. The use of pneumatics is promising due to the potential for high power density. This paper discusses a p...