From CySkin to ProxySKIN: Design, Implementation and Testing of a Multi-Modal Robotic Skin for Human-Robot Interaction.

The Industry 5.0 paradigm has a human-centered vision of the industrial scenario and foresees a close collaboration between humans and robots. Industrial manufacturing environments must be easily adaptable to different task requirements, possibly taking into account the ergonomics and production line flexibility. Therefore, external sensing infrastructures such as cameras and motion capture systems may not be sufficient or suitable as they limit the shop floor reconfigurability and increase setup costs. In this paper, we present the technological advancements leading to the realization of ProxySKIN, a skin-like sensory system based on networks of distributed proximity sensors and tactile sensors. This technology is designed to cover large areas of the robot body and to provide a comprehensive perception of the surrounding space. ProxySKIN architecture is built on top of CySkin, a flexible artificial skin conceived to provide robots with the sense of touch, and arrays of Time-of-Flight (ToF) sensors. We provide a characterization of the arrays of proximity sensors and we motivate the design choices that lead to ProxySKIN, analyzing the effects of light interference on a ToF, due to the activity of other sensing devices. The obtained results show that a large number of proximity sensors can be embedded in our distributed sensing architecture and incorporated onto the body of a robotic platform, opening new scenarios for complex applications.

Treatment options for secondary osteonecrosis of the knee.

Knee osteonecrosis is a debilitating progressive degenerative disease characterized by subchondral bone ischemia. It can lead to localized necrosis, tissue death, and progressive joint destruction. For this reason, it is essential to diagnose and treat this disease early to avoid subchondral collapse, chondral damage, and end-stage osteoarthritis, where the only solution is total knee arthroplasty. Three types of knee osteonecrosis have been documented in the literature: spontaneous or primitive, secondary, and post arthroscopy. Spontaneous osteonecrosis is the most common type studied in the literature. Secondary osteonecrosis of the knee is a rare disease and, unlike the spontaneous one, involves patients younger than 50 years. It presents a particular set of pathological, clinical, imaging, and progression features. The management of secondary osteonecrosis is determined by the stage of the disorder, the clinical manifestation, the size and location of the lesions, whether the involvement is unilateral or bilateral, the patient's age, level of activity, general health, and life expectancy. This review aims to present the recent evidence on treatment options for secondary osteonecrosis of the knee, including conservative treatment, joint preserving surgery, and knee replacement.

Localized cervical pain: advantages and limits of ultrasound evaluation.

PURPOSE: Cervical pain is very frequent in the general population. In clinical practice, plain X-ray and, in selected cases, computed tomography or magnetic resonance imaging, are performed. However, the feasibility and utility of ultrasound examination have been poorly investigated. Aim of the present study was to evaluate whether ultrasound could be useful in the diagnosis of localized cervical pain. METHODS: Subjects suffering from posterior cervical pain without irradiation to surrounding tissues were enrolled. After clinical and functional evaluation (demographic and anthropometric data, VAS at rest and during neck movements, symptoms duration, and characteristics of pain onset [atraumatic or traumatic]), an ultrasound exam of the cervical spine was performed according to standard protocols. RESULTS: The anatomic structures of the neck district were visualized in 124/127 enrolled patients and pathological features were observed in 58. Significant ultrasound differences were registered between the patients with traumatic and atraumatic onset of neck pain. In the first group, articular effusion, capsular bulging, disalignment and avulsion of the articular apex were observed, whereas in the latter cortical irregularities, osteophytosis, and articular ankylosis were prevalent. CONCLUSIONS: Ultrasound examination can be used as diagnostic tool in the evaluation of selected patients suffering from localized cervical pain, particularly in cases of pain due to traumatic injuries.

Sonoelastography in the diagnosis of tendinopathies: an added value.

BACKGROUND: sonoelastography helps in the detection of abnormalities not yet evident on B-mode exam. METHODS: in this observational study, we report a collection of cases of symptomatic patients without alterations at ultrasound imaging but with evidence of pathological findings at sonoelastography. Patients, with clinical history suggestive for tendinopathies or surgically treated, and negative at the ultrasound exam, were submitted to sonoelastography. Out of 846, 632 patients with positive ultrasound exam were excluded. Sonoelastography was therefore performed in the remaining 214. RESULTS: the examination was positive in 168 cases: 78 patients were affected with shoulder diseases, while elbow pathology was observed in 31 subjects; patellar, Achilles and plantar fascia disorders were reported in 19, 27, and 13 patients, respectively. CONCLUSION: sonoelastography can reveal tendon abnormalities of clinical relevance in a high percentage of cases, where the ultrasound exam was negative, making the method a complementary tool to ultrasound evaluation.