Background The study aims to test a new, simple, and reliable apparatus and procedure for the diagnostics and treatment evaluation of peripheral arterial disease (PAD). The test apparatus involves near infrared spectroscopy (NIRS) of a main part of the lower leg muscles during isometric flexion and extension of the ankle joint performed with the foot strapped in a specially designed pedal ergom...

The instantaneous centers of rotation (ICRs) for the two treads skid-steer vehicles moving with low inertia on hard horizontal terrain almost remain constant local coordinates, which allows to establish an equivalence differential-drive locomotion. However, this significant kinematic relationship has not been analyzed yet sloped ground. One relevant difficulty studying ICR behavior inclined ter...