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Measurement of propulsive forces in swimming by using a swimming humanoid robot
Motomu Nakashima,Tatsuki Koga,Hideki Takagi 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
The objective of this study was to measure propulsive force during swimming motion by using a humanoid robot, SWUMANOID. First, the experimental setup in which the robot performed the swimming motions in a circulating water tank was constructed. Using the constructed experimental setup, the propulsive forces were measured by a force sensor. The swimming motions of the robot were filmed simultaneously. In the crawl stroke, two distinct peaks in the time history of the propulsive force were found when the left and right upper limbs generated the propulsive force. In the breaststroke, a small peak of the propulsive force which was generated by the upper limbs and a large peak which was generated by the lower limbs were found. In the butterfly stroke, two peaks about the same level which were generated by the upper limbs and lower limbs respectively were found. Since these results were consistent with the ones in previous researches, the validity of the present experimental results was confirmed.
윤성원,Kenta Suzuki,Hideki Takagi,Hiroshi Hiroshima,Yoshinori Kinoshita,Katsuhiro Hayashi 대한기계학회 2019 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.33 No.8
High-aspect-ratio microstructures (HARMS) of polyimides have many applications, such as components of microelectromechanical systems and X-ray gratings. This study demonstrates the fabrication of HARMS with vertical and smooth sidewalls in a thick, soluble block-copolymer polyimide (SBCP) film by an UV-assisted thermal imprint process. A preheating condition was controlled as a parameter that dominated the imprint pattern fidelity. After investigating a proper prebaking condition, patterns with a width of 3.4 μm and a height of 35.1 μm with a high-aspect ratio of 10 were successfully structured in an SBCP film that has a thickness of approximately a hundred micrometers. The process has potential as a low-cost fine pattern fabrication process for polyimide-based polymers.
Yusuke Asakura,Hiroki Tsuchiya,Hisatake Mori,Takashi Yano,Yasuhide Kanayama,Hideki Takagi 대한마취통증의학회 2011 Korean Journal of Anesthesiology Vol.61 No.5
Background: Venous thromboembolism (VTE) and the subsequent development of pulmonary embolism (PE) is a major cause of post-operative mortality in total knee arthroplasty (TKA). We evaluated whether the addition of an ultrasound-guided femoral nerve block with general anesthesia affected the incidence in the development of VTE following TKA. Methods: This was a retrospective non-randomized comparative study with patients assigned to groups based on the surgery date (pre-femoral nerve block versus post-femoral nerve block periods). All anesthesia and medical records of the patients who had undergone computer-navigated TKA in our facility between January 2009 and March 2010were retrospectively reviewed. Results: Forty patients were identified; 15 patients underwent computer-navigated TKA under general anesthesia alone (Group G) and 25 patients underwent surgery under general anesthesia combined with ultrasoundguided femoral nerve block (Group F). The incidence of development of VTE post-operatively was significantly lower in Group F (P = 0.037). Logistic regression analysis identified the use of a femoral nerve block as the most significant variable correlating with the incidence of post-operative development of VTE, and the odds ratio for VTE development in Group G was 3.12 (95% CI, 0.57-20.56). Conclusions: We suggest the possibility that the addition of a femoral nerve block on general anesthesia may reduce the incidence of the development of VTE following TKA.