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This book describes the development of portable, wearable, and
highly customizable hand exoskeletons to aid patients suffering
from hand disabilities. It presents an original approach for the
design of human hand motion assistance devices that relies on (i)
an optimization-based kinematic scaling procedure, which guarantees
a significant adaptability to the user's hands motion, and (ii) a
topology optimization-based design methodology, which allowed the
design of a lightweight, comfortable device with a high level of
performance. The book covers the whole process of hand exoskeleton
development, from establishing a new design strategy, to the
construction and testing of hand exoskeleton prototypes, using
additive manufacturing techniques. As such, it offers timely
information to both researchers and engineers developing human
motion assistance systems, especially wearable ones.
This book looks at the common problems both human and robotic hands
encounter when controlling the large number of joints, actuators
and sensors required to efficiently perform motor tasks such as
object exploration, manipulation and grasping. The authors adopt an
integrated approach to explore the control of the hand based on
sensorimotor synergies that can be applied in both neuroscience and
robotics. Hand synergies are based on goal-directed, combined
muscle and kinematic activation leading to a reduction of the
dimensionality of the motor and sensory space, presenting a highly
effective solution for the fast and simplified design of artificial
systems. Presented in two parts, the first part, Neuroscience,
provides the theoretical and experimental foundations to describe
the synergistic organization of the human hand. The second part,
Robotics, Models and Sensing Tools, exploits the framework of hand
synergies to better control and design robotic hands and
haptic/sensing systems/tools, using a reduced number of control
inputs/sensors, with the goal of pushing their effectiveness close
to the natural one. Human and Robot Hands provides a valuable
reference for students, researchers and designers who are
interested in the study and design of the artificial hand.
This book describes the development of portable, wearable, and
highly customizable hand exoskeletons to aid patients suffering
from hand disabilities. It presents an original approach for the
design of human hand motion assistance devices that relies on (i)
an optimization-based kinematic scaling procedure, which guarantees
a significant adaptability to the user's hands motion, and (ii) a
topology optimization-based design methodology, which allowed the
design of a lightweight, comfortable device with a high level of
performance. The book covers the whole process of hand exoskeleton
development, from establishing a new design strategy, to the
construction and testing of hand exoskeleton prototypes, using
additive manufacturing techniques. As such, it offers timely
information to both researchers and engineers developing human
motion assistance systems, especially wearable ones.
This book looks at the common problems both human and robotic hands
encounter when controlling the large number of joints, actuators
and sensors required to efficiently perform motor tasks such as
object exploration, manipulation and grasping. The authors adopt an
integrated approach to explore the control of the hand based on
sensorimotor synergies that can be applied in both neuroscience and
robotics. Hand synergies are based on goal-directed, combined
muscle and kinematic activation leading to a reduction of the
dimensionality of the motor and sensory space, presenting a highly
effective solution for the fast and simplified design of artificial
systems. Presented in two parts, the first part, Neuroscience,
provides the theoretical and experimental foundations to describe
the synergistic organization of the human hand. The second part,
Robotics, Models and Sensing Tools, exploits the framework of hand
synergies to better control and design robotic hands and
haptic/sensing systems/tools, using a reduced number of control
inputs/sensors, with the goal of pushing their effectiveness close
to the natural one. Human and Robot Hands provides a valuable
reference for students, researchers and designers who are
interested in the study and design of the artificial hand.
Chronic granulomatous disease (CGD) is a group of primary
immunodeficiencies caused by mutations in genes encoding phagocyte
nicotinamide adenine dinucleotide phosphate (NADPH) oxidase
subunits (gp91phox, p22phox, p47phox, p67phox, and p40phox). CGD
phagocytes do not produce reactive oxygen species, kill microbes
poorly and consequently patients are susceptible to recurrent
life-threatening bacterial and fungal infections. Aspergillus spp.
infections, which cause pneumonia and disseminated disease, are the
leading cause of death in CGD patients. Up to now it was unclear
how neutrophils control Aspergillus species in healthy individuals.
We showed for the first time that the microbicidal pathway through
neutrophil extracellular traps (NETs) is efficient against A.
nidulans conidia and hyphae in vitro, and that restoration of NET
formation was achieved by complementation of NADPH oxidase function
by gene therapy in a patient with X-linked CGD. This aided clearing
severe invasive A. nidulans infection in vivo. We demonstrated the
critical role of NET-associate calprotectin for dose-dependent
fungistatic of fungicidal anti-Aspergillus activity by Zn2+
sequestration.
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