This paper studies the problem of modeling and control of multiple cooperative underactuated manipulators handling a rigid object. A single underactuated manipulator is a nonholonomic system in most cases, but cooperative underactuated manipulator systems may not. We reveal holonomic property of such a system by presenting a smooth feedback controller subject to two conditions: 1) there are not...

Osteonecrosis of multiple joints is described in a patient with systemic lupus erythematosus.

Nitric oxide (NO) may play important roles in rheumatoid arthritis (RA). RA is an inflammatory disease involving joints and other systems including salivary glands. To assess NO production in RA patients, we compared levels of serum, urine, and salivary nitrite and nitrate (NOx) in patients with RA and normal subjects, and we examined the relationships of these measures to disease activity. Ser...

arginine vasopressin as a supplementary vasopressor in septic shock restores vascular tone and mean arterial pressure, meanwhile decreases dose and exposure time to catecholamines. the objective of this study was to evaluate the effect of vasopressin on lactate and lactate clearance as markers of tissue perfusion during septic shock. in this prospective, randomized, controlled trial, 30 patient...

We reviewed the pathophysiology of gout in this review article. Gout occurs as a response to monosodium urate crystal (MSU) that is present in joints, bones and soft tissue. Hyperuricemia in gout is mainly due to the decreased renal clearance of uric acid and is considered to be the cause of MSU formation. However, hyperuricemia alone does not explain the development of gout. Acute gout attack ...

The Motion Foot is a new foot/ankle system that offers near-normal ankle range of motion via a hydraulic ankle (ROM = 50 deg), paired with an energy-storing foot plate. This system has been developed to offer to above-knee and below-knee prosthesis wearer: 1) improved comfort, 2) reducedloads on proximal joints and 3) improved stability. Improved comfort and reduced proximal joint loading is ac...

PURPOSE The purpose of this study was to determine listeners' ability to learn talker identity from speech produced with an electrolarynx, explore source and filter differentiation in talker identification, and describe acoustic-phonetic changes associated with electrolarynx use. METHOD Healthy adult control listeners learned to identify talkers from speech recordings produced using talkers' ...

BACKGROUND The effect of cold temperature on arthritis symptoms is unclear. The aim of this study was to investigate how environmental cold affects pain and blood flow in mono-arthritic mice, and examine a role for transient receptor potential ankyrin 1 (TRPA1), a ligand-gated cation channel that can act as a cold sensor. METHODS Mono-arthritis was induced by unilateral intra-articular inject...

Lichen nitidus is an uncommon skin condition that is clinically characterized by the presence of pinpoint papules, which are usually asymptomatic, flesh colored, with a flat, shiny surface. The histopathologic feature of it is characteristic. We report a 30-year-old man with typical skin lesions of lichen nitidus confirmed with histopathology, who also had multiple palmar pits. Treatment ...

BACKGROUND Dupuytren's contracture (DC) is a progressive fibroproliferative disorder characterized by development of nodules and collagen cords within the palmar fascia of the hand. Collagenase clostridium histolyticum (CCH) is currently approved in adults with DC for the nonsurgical treatment of a single palpable cord during a 30-day treatment cycle. This open-label pilot study was designed to...