Caracterización de la cerámica elaborada a mano en la Gran Canaria prehispánica. Un acercamiento etnoarqueológico y arqueométrico

Programa de doctorado: Historiografía, fuentes y métodos de investigación histórica.

Model and control of tendon actuated robots

The use of tendons for the transmission of the forces and the movements in robotic devices has been investigated from several researchers all over the world. The interest in this kind of actuation modality is based on the possibility of optimizing the position of the actuators with respect to the moving part of the robot, in the reduced weight, high reliability, simplicity in the mechanic design and, finally, in the reduced cost of the resulting kinematic chain. After a brief discussion about the benefits that the use of tendons can introduce in the motion control of a robotic device, the design and control aspects of the UB Hand 3 anthropomorphic robotic hand are presented. In particular, the tendon-sheaths transmission system adopted in the UB Hand 3 is analyzed and the problem of force control and friction compensation is taken into account. The implementation of a tendon based antagonistic actuated robotic arm is then investigated. With this kind of actuation modality, and by using transmission elements with nonlinear force/compression characteristic, it is possible to achieve simultaneous stiffness and position control, improving in this way the safety of the device during the operation in unknown environments and in the case of interaction with other robots or with humans. The problem of modeling and control of this type of robotic devices is then considered and the stability analysis of proposed controller is reported. At the end, some tools for the realtime simulation of dynamic systems are presented. This realtime simulation environment has been developed with the aim of improving the reliability of the realtime control applications both for rapid prototyping of controllers and as teaching tools for the automatic control courses.

Studio e sviluppo di un prototipo di un meccanismo per l'azionamento di una mano protesica cinematica

Lo studio si prefigge di verificare la fattibilità di un nuovo meccanismo per l'azionamento di una mano protesica e inoltre di costruirne un prototipo. Questo nuovo meccanismo andrebbe a sostituire le molle azionate da tiranti delle attuali protesi cinematiche, evitando all'amputato vistosi movimenti del corpo atti ad azionare la mano protesica. Tramite confronto tra le forze calcolate tramite modellazione del meccanismo e quelle realmente fornite dal paziente, si può dichiarare che il meccanismo funziona correttamente. Il prototipo costruito inoltre rispetta i vincoli dimensionali che deve avere una protesi per arto superiore.

Metafora: specchio della mente umana un viaggio mano per mano con Steven Pinker

L'elaborato mostra in un primo momento i poteri del linguaggio, inteso come diretta espressione della persona. In un secondo momento la ricerca si sofferma sui poteri particolari della metafora. La metafora è in grado se usata in maniere consapevole di modificare il nostro rapporto con la comunità e quello con noi stessi.

Studio e sviluppo di una protesi cinematica per amputazioni parziali di mano mediante prototipazione rapida

Questo elaborato descrive il lavoro svolto nell'Area ricerca e formazione del Centro Protesi INAIL volto all'integrazione della tecnologia di stampa 3D con i processi produttivi dell'azienda stessa al fine di ottenere una protesi cinematica e funzionale per pazienti con amputazioni parziali di mano (a livello metacarpale e transmetacarpale) che risulti economica e in grado di restituire la funzionalità di grasping della mano.

Proof of concept di una mano ad azionamento bilaterale per l'impiego nei settori della Robotica e della Protesica.

A partire dal concept ideato dall’ing. Emanuele Gruppioni, ricercatore presso il Centro Protesi stesso, l’obiettivo del lavoro è rappresentato dallo studio di fattibilità, dalla realizzazione e dalla messa in opera della suddetta mano, che presenta come caratteristica peculiare e innovativa un azionamento bilaterale che le consente di essere ambidestra. Questo azionamento è attuato da due cavi posti in ogni dito, che grazie all’azione dei motori inseriti nel palmo vengono riavvolti su delle pulegge consentendo la flessione delle dita in una direzione o nell’altra, in una struttura di mano nella quale non sono quindi individuabili a priori le tipiche ragioni palmare e dorsale. Questo tipo di azionamento in futuro potrebbe essere rielaborato nell’ottica di avere un’unica protesi di mano che possa essere utilizzata sia da pazienti destrimani sia mancini, o, in alternativa, di avere un dispositivo protesico che ampli le funzionalità di presa rispetto alla mano umana.

Kinematic improvement following Botulinum Toxin-A injection in upper-limb spasticity due to stroke

Background Focal spasticity is a significant motor disorder following stroke, and Botulinum Toxin Type-A (BoNT-A) is a useful treatment for this. The authors evaluated kinematic modifications induced by spasticity, and whether or not there is any improvement following injection of BoNT-A. Methods Eight patients with stroke with upper-limb spasticity, showing a flexor pattern, were evaluated using kinematics before and after focal treatment with BoNT-A. A group of sex- and age-matched normal volunteers acted as a control group. Results Repeated-measures ANOVA showed that patients with stroke performed more slowly than the control group. Following treatment with BoNT-A, there was a significant improvement in kinematics in patients with stroke, while in the control group, performance remained unchanged. Conclusions Focal treatment of spasticity with BoNT-A leads to an adaptive change in the upper limb of patients with spastic stroke.

AICAR and metformin, but not exercise, increase muscle glucose transport through AMPK-, ERK-, and PDK1-dependent activation of atypical PKC

Activators of 5'-AMP-activated protein kinase (AMPK) 5-aminoimidazole-4-carboxamide-1-beta-d-ribofuranoside (AICAR), metformin, and exercise activate atypical protein kinase C (aPKC) and ERK and stimulate glucose transport in muscle by uncertain mechanisms. Here, in cultured L6 myotubes: AICAR- and metformin-induced activation of AMPK was required for activation of aPKC and ERK; aPKC activation involved and required phosphoinositide-dependent kinase 1 (PDK1) phosphorylation of Thr410-PKC-zeta; aPKC Thr410 phosphorylation and activation also required MEK1-dependent ERK; and glucose transport effects of AICAR and metformin were inhibited by expression of dominant-negative AMPK, kinase-inactive PDK1, MEK1 inhibitors, kinase-inactive PKC-zeta, and RNA interference (RNAi)-mediated knockdown of PKC-zeta. In mice, muscle-specific aPKC (PKC-lambda) depletion by conditional gene targeting impaired AICAR-stimulated glucose disposal and stimulatory effects of both AICAR and metformin on 2-deoxyglucose/glucose uptake in muscle in vivo and AICAR stimulation of 2-[(3)H]deoxyglucose uptake in isolated extensor digitorum longus muscle; however, AMPK activation was unimpaired. In marked contrast to AICAR and metformin, treadmill exercise-induced stimulation of 2-deoxyglucose/glucose uptake was not inhibited in aPKC-knockout mice. Finally, in intact rodents, AICAR and metformin activated aPKC in muscle, but not in liver, despite activating AMPK in both tissues. The findings demonstrate that in muscle AICAR and metformin activate aPKC via sequential activation of AMPK, ERK, and PDK1 and the AMPK/ERK/PDK1/aPKC pathway is required for metformin- and AICAR-stimulated increases in glucose transport. On the other hand, although aPKC is activated by treadmill exercise, this activation is not required for exercise-induced increases in glucose transport, and therefore may be a redundant mechanism.

Reconstruction of the medial patellofemoral ligament using the adductor magnus tendon: an anatomic study

The aims of this study were to evaluate the anatomic feasibility of medial patellofemoral ligament (MPFL) reconstruction using a part of the adductor magnus tendon and to identify possible risks.