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Terrestrial mobile robotics are increasingly important to a range of missions including planetary exploration, search and rescue, logistics, and national security. Many of these missions require the robot to operate on a broad variety of terrain. Wheels are ideal for energy efficiency but can suffer catastrophic failure when presented with obstacles or complex ground. Legs can help navigate obstacles but at the cost of energy efficiency. Physical adaptation can enable a robot to benefit from both modes of locomotion. This paper describes a new approach to physical adaptation through manipulation. Specifically, this paper examines how manipulators can be used to change the vehicle's mode of locomotion and improve energy efficiency and versatility. This paper presents “swappable propulsors”, which can be easily attached/detached to adapt the vehicle through the use of permanent magnets. A new robot system that uses its manipulator to discretely switch between wheeled and legged locomotion is created. The experimental results demonstrate how this approach provides a unique combination of energy efficiency and versatility. This work describes the design of swappable propulsors, analyzes how to manipulate them, and describes how they can be used to improve performance. This work extends on prior work with additional analysis, an improved robot prototype, and new experimental results.

The majority of patients receiving radiation therapy will experience a skin reaction, ranging from mild erythema to severe moist desquamation. Physical changes to the skin can have a negative effect on daily activities, mood and body image, sense of independence and self-care. No research has been published on the experiences of patients with head and neck cancer (HNC) patients and their skin reactions. This qualitative study sought to address a gap in our understanding of how these patients perceive and address the impact of a skin reaction. Methods: This study utilized the interpretive descriptive approach (Thorne, 1997). After obtaining informed consent, patients with HNC who experienced any grade of skin reaction were interviewed by 2 researchers approximately 2-3 months after treatment. Participants were encouraged to tell the story about their experience of having a radiation skin reaction. A semi structured interview guide supported the exploration of topics that arose from the discussion. Interviews ranged from 30-40 minutes per patient. All interviews were audiotaped and transcribed verbatim. Nvivo software was used for data management. Analysis was guided by the interpretive descriptive approach. Results: Twenty-one patients were approached and 10 participated in the interview. 1 interview was not included in the analysis due to technical difficulties. Data reached saturation after 9 interviews and the study was closed. Three main themes emerged: Study respondents downplayed the overall experience of having a skin reaction in comparison to other symptoms that developed during treatment. Some participants compared themselves to others as a way of normalizing their experience or gauging what they might later experience. Overwhelmingly, participants said they would advise others to listen to the health care team and follow their advice and instructions. Conclusions: Skin toxicity impacts many different aspects of the patients' life and this is the first investigation that explores the experiences of patients' with HNC living with a skin reaction. Three main themes emerged from the interviews, the symptom experience, comparison to others, and the experience of support and information from the healthcare team. This research provides healthcare practitioners with a unique insight into the patient journey and may support a personalized approach to teaching to ensure holistic care.

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