Wheelchair users' perceptions of a system enabling them to traverse rough terrain controlling their own wheelchair.

We recently developed a dynamic mimicking system that mounts a user's wheelchair onto a carrier platform capable of performing required manoeuvres using the wheelchair's own controls. Two wheelchair user studies were performed to evaluate users' perception of their own wheelchair and the proposed system. The first user study included ten wheelchair users who were interviewed in order to map their current perceptions toward their wheelchair and their views about its shortcomings when traversing rough terrains. In the second study, the system was explained to 33 participants who were then exposed to three simulations of its main features. Participants were interviewed and the experimenter wrote down their answers, which were analysed using IBM SPSS Statistics 27 software. The conclusions are that special consideration should be given to motorized wheelchair users, and that the designers of the system should include a user interface that explains and demonstrates the system to users.

Penile cancer: an analysis of socioeconomic factors at a southeastern tertiary referral center.

INTRODUCTION: Penile cancer is rare, often presenting in later stages. We sought to determine if factors potentially related to access to care were associated with worse outcomes. METHODS: We performed a retrospective review of all patients with the diagnosis of penile cancer over a 14 year period at the only tertiary referral center in the state. We collected data on multiple factors potentially associated with access to care. RESULTS: Fifty-five patients with penile cancer were identified. The average age was 57 years. Of the 55 patients, 23 patients (42%) had private insurance carriers, 16 (29%) had Medicare/Medicaid, 13 (24%) had no insurance, one had VA benefits, and no data was available on two patients. Typically, 4% of patients seen at our institution are uninsured. Pathologic tumor stage distribution was Tis (n = 9), Ta (1), T1 (15), T2 (16), and T3 (4). Nodal disease was present in 11, four of whom (38%) were uninsured, and metastatic disease was present in three. Of the 55 patients, eight admitted to greater than two alcoholic drinks per day three, of whom 38% presented with advanced disease. School district graduation rate was also calculated and similar among all groups. Univariate and multivariate modeling revealed no factors associated with delay to care. CONCLUSIONS: Patients presenting to a referral center in the southeastern United States with penile cancer more commonly lack health insurance. Additionally, patients who are heavy alcohol users or are uninsured present with advanced disease. These factors contribute to poorer prognosis in these patients.

Jump stabilization and landing control by wing-spreading of a locust-inspired jumper.

Bio-inspired robotics is a promising design strategy for mobile robots. Jumping is an energy efficient locomotion gait for traversing difficult terrain. Inspired by the jumping and flying behavior of the desert locust, we have recently developed a miniature jumping robot that can jump over 3.5 m high. However, much like the non-adult locust, it rotates while in the air and lands uncontrollably. Inspired by the winged adult locust, we have added spreading wings and a tail to the jumper. After the robot leaps, at the apex of the trajectory, the wings unfold and it glides to the ground. The advantages of this maneuver are the stabilization of the robot when airborne, the reduction of velocity at landing, the control of the landing angle and the potential to change the robot's orientation and control its flight trajectory. The new upgraded robot is capable of jumping to a still impressive height of 1.7 m eliminating airborne rotation and reducing landing velocity. Here, we analyze the dynamic and aerodynamic models of the robot, discuss the robot's design, and validate its ability to perform a jump-glide in a stable trajectory, land safely and change its orientation while in the air.

A locust-inspired miniature jumping robot.

Unmanned ground vehicles are mostly wheeled, tracked, or legged. These locomotion mechanisms have a limited ability to traverse rough terrain and obstacles that are higher than the robot's center of mass. In order to improve the mobility of small robots it is necessary to expand the variety of their motion gaits. Jumping is one of nature's solutions to the challenge of mobility in difficult terrain. The desert locust is the model for the presented bio-inspired design of a jumping mechanism for a small mobile robot. The basic mechanism is similar to that of the semilunar process in the hind legs of the locust, and is based on the cocking of a torsional spring by wrapping a tendon-like wire around the shaft of a miniature motor. In this study we present the jumping mechanism design, and the manufacturing and performance analysis of two demonstrator prototypes. The most advanced jumping robot demonstrator is power autonomous, weighs 23 gr, and is capable of jumping to a height of 3.35 m, covering a distance of 1.37 m.