A pulsar in a binary with a compact object in the mass gap between neutron stars and black holes.

Some compact objects observed in gravitational wave events have masses in the gap between known neutron stars (NSs) and black holes (BHs). The nature of these mass gap objects is unknown, as is the formation of their host binary systems. We report pulsar timing observations made with the Karoo Array Telescope (MeerKAT) of PSR J0514-4002E, an eccentric binary millisecond pulsar in the globular cluster NGC 1851. We found a total binary mass of 3.887 ± 0.004 solar masses (M⊙), and multiwavelength observations show that the pulsar's binary companion is also a compact object. The companion's mass (2.09 to 2.71 M⊙, 95% confidence interval) is in the mass gap, indicating either a very massive NS or a low-mass BH. We propose that the companion formed in a merger between two earlier NSs.

External devices increasing bone quality in animals: A systematic review.

Background: Osteoporosis can reduce bone quality and increase the risk of fractures. In addition to pharmacological approaches, physical activity, and implanted devices, external devices can also be detected in the literature as a technique to strengthen bones. This type of intervention arises to be particularly promising because it minimizes the invasiveness of therapy. Methods: A systematic review of the technologies involved in such devices was carried out to identify the most fruitful ones in improving bone quality. This review, according to the PRISMA Statement, focuses on studies involving animals, and excludes pharmaceutical approaches. Findings: The animal models and devices used, their settings, interventions, outcomes measured, and consequent effect on bone quality are reported for each detected technology. Ultrasound and laser arose to be the most studied technologies in the literature, even if they have yet to be proved to have a significant effect on bone quality. Interpretation: External devices for bone quality improvement offer a non-invasive approach that causes minimum discomfort to the patient. This review aimed to detect which technologies reported in the literature significantly affect bone quality. The results showed that several technologies are currently used to improve bone quality. However, each study measures different outcomes and uses different measurement methods, device settings, and interventions. This lack of standardization and the reduced number of articles found do not allow for proper quantitative comparisons.

Wearable Robots: An Original Mechatronic Design of a Hand Exoskeleton for Assistive and Rehabilitative Purposes.

Robotic devices are being employed in more and more sectors to enhance, streamline, and augment the outcomes of a wide variety of human activities. Wearable robots arise indeed as of-vital-importance tools for telerehabilitation or home assistance targeting people affected by motor disabilities. In particular, the field of "Robotics for Medicine and Healthcare" is attracting growing interest. The development of such devices is a primarily addressed topic since the increasing number of people in need of rehabilitation or assistive therapies (due to population aging) growingly weighs on the healthcare systems of the nation. Besides, the necessity to move to clinics represents an additional logistic burden for patients and their families. Among the various body parts, the hand is specially investigated since it most ensures the independence of an individual, and thus, the restoration of its dexterity is considered a high priority. In this study, the authors present the development of a fully wearable, portable, and tailor-made hand exoskeleton designed for both home assistance and telerehabilitation. Its purpose is either to assist patients during activities of daily living by running a real-time intention detection algorithm or to be used for remotely supervised or unsupervised rehabilitation sessions by performing exercises preset by therapists. Throughout the mechatronic design process, special attention has been paid to the complete wearability and comfort of the system to produce a user-friendly device capable of assisting people in their daily life or enabling recorded home rehabilitation sessions allowing the therapist to monitor the state evolution of the patient. Such a hand exoskeleton system has been designed, manufactured, and preliminarily tested on a subject affected by spinal muscular atrophy, and some results are reported at the end of the article.

Variable Admittance Control of a Hand Exoskeleton for Virtual Reality-Based Rehabilitation Tasks.

Robot-based rehabilitation is consolidated as a viable and efficient practice to speed up and improve the recovery of lost functions. Several studies highlight that patients are encouraged to undergo their therapies and feel more involved in the process when collaborating with a user-friendly robotic environment. Object manipulation is a crucial element of hand rehabilitation treatments; however, as a standalone process may result in being repetitive and unstimulating in the long run. In this view, robotic devices, like hand exoskeletons, do arise as an excellent tool to boost both therapy's outcome and patient participation, especially when paired with the advantages offered by interacting with virtual reality (VR). Indeed, virtual environments can simulate real-life manipulation tasks and real-time assign a score to the patient's performance, thus providing challenging exercises while promoting training with a reward-based system. Besides, they can be easily reconfigured to match the patient's needs by manipulating exercise intensity, e.g., Assistance-As-Needed (AAN) and the required tasks. Modern VR can also render interaction forces when paired to wearable devices to give the user some sort of proprioceptive force or tactile feedback. Motivated by these considerations, a Hand Exoskeleton System (HES) has been designed to be interfaced with a variable admittance control to achieve VR-based rehabilitation tasks. The exoskeleton assists the patient's movements according to force feedback and following a reference value calculated inside the VR. Whenever the patient grasps a virtual object, the HES provides the user with a force feedback sensation. In this paper, the virtual environment, developed within the Webots framework and rendering a HES digital-twin mapping and mimicking the actual HES motion, will be described in detail. Furthermore, the admittance control strategy, which continuously varies the control parameters to best render the force sensation and adapt to the user's motion intentions, will be investigated. The proposed approach has been tested on a single subject in the framework of a pilot study.

A Novel Point-in-Polygon-Based sEMG Classifier for Hand Exoskeleton Systems.

In the early 2000s, data from the latest World Health Organization estimates paint a picture where one-seventh of the world population needs at least one assistive device. Fortunately, these years are also characterized by a marked technological drive which takes the name of the Fourth Industrial Revolution. In this terrain, robotics is making its way through more and more aspects of everyday life, and robotics-based assistance/rehabilitation is considered one of the most encouraging applications. Providing high-intensity rehabilitation sessions or home assistance through low-cost robotic devices can be indeed an effective solution to democratize services otherwise not accessible to everyone. However, the identification of an intuitive and reliable real-time control system does arise as one of the critical issues to unravel for this technology in order to land in homes or clinics. Intention recognition techniques from surface ElectroMyoGraphic (sEMG) signals are referred to as one of the main ways-to-go in literature. Nevertheless, even if widely studied, the implementation of such procedures to real-case scenarios is still rarely addressed. In a previous work, the development and implementation of a novel sEMG-based classification strategy to control a fully-wearable Hand Exoskeleton System (HES) have been qualitatively assessed by the authors. This paper aims to furtherly demonstrate the validity of such a classification strategy by giving quantitative evidence about the favourable comparison to some of the standard machine-learning-based methods. Real-time action, computational lightness, and suitability to embedded electronics will emerge as the major characteristics of all the investigated techniques.

Underwater Robotics Competitions: The European Robotics League Emergency Robots Experience With FeelHippo AUV.

Underwater robots are nowadays employed for many different applications; during the last decades, a wide variety of robotic vehicles have been developed by both companies and research institutes, different in shape, size, navigation system, and payload. While the market needs to constitute the real benchmark for commercial vehicles, novel approaches developed during research projects represent the standard for academia and research bodies. An interesting opportunity for the performance comparison of autonomous vehicles lies in robotics competitions, which serve as an useful testbed for state-of-the-art underwater technologies and a chance for the constructive evaluation of strengths and weaknesses of the participating platforms. In this framework, over the last few years, the Department of Industrial Engineering of the University of Florence participated in multiple robotics competitions, employing different vehicles. In particular, in September 2017 the team from the University of Florence took part in the European Robotics League Emergency Robots competition held in Piombino (Italy) using FeelHippo AUV, a compact and lightweight Autonomous Underwater Vehicle (AUV). Despite its size, FeelHippo AUV possesses a complete navigation system, able to offer good navigation accuracy, and diverse payload acquisition and analysis capabilities. This paper reports the main field results obtained by the team during the competition, with the aim of showing how it is possible to achieve satisfying performance (in terms of both navigation precision and payload data acquisition and processing) even with small-size vehicles such as FeelHippo AUV.

Animal-assisted activity and emotional status of patients with Alzheimer's disease in day care.

BACKGROUND: Preliminary studies suggest beneficial effects of animal-assisted activities (AAA) on behavioral and psychological symptoms of dementia (BPSD), but data are inconsistent. This study aimed to assess the effect of AAA with dogs on cognition, BPSD, emotional status and motor activity in severe Alzheimer's disease (AD). METHODS: Ten patients attending an Alzheimer Day Care Center (ADCC) participated in a repeated measures study, which included: two weeks' pre-intervention, three weeks' control activity with plush dogs (CA), and three weeks' AAA. Cognitive function (Severe Impairment Battery), mood (Cornell Scale for Depression in Dementia; CSDD), BPSD (Neuropsychiatric Inventory; NPI) and agitation (Cohen-Mansfield Agitation Inventory; CMAI) were assessed at baseline and after each period. Observed Emotion Rating Scale (OERS) for emotional status, Agitated Behavior Mapping Instrument (ABMI) and a checklist for motor activity were completed across the study periods, both during intervention sessions and after three hours. RESULTS: Cognition and NPI were unchanged across the study. Declines in the CMAI and CSDD scores after AAA were not significant, while the NPI anxiety item score decreased in comparison with CA (CA 3.1±2.3, AAA 1.5±2.7, p = 0.04). OERS "sadness" decreased (p = 0.002), while "pleasure" (p = 0.016) and "general alertness" (p = 0.003) increased during AAA compared with CA sessions, and observed sadness remained lower after three hours (p = 0.002). Motor activity increased significantly during AAA. CONCLUSION: In this sample of severe AD patients in ADCC, AAA was associated with a decrease in anxiety and sadness and an increase in positive emotions and motor activity in comparison with a control activity.