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To minimize the interference that skin-contact strain sensors cause natural skin deformation, physical conformability to the epidermal structure is critical. Here, we developed an ultrathin strain sensor made from poly(3,4-ethylenedioxythiophene):poly(styrene sulfonate) (PEDOT:PSS) inkjet-printed on a polystyrene–polybutadiene–polystyrene (SBS) nanosheet. The sensor, whose total thickness and gauge factor were ∼1 µm and 0.73 ± 0.10, respectively, deeply conformed to the epidermal structure and successfully detected the small skin strain (∼2%) while interfering minimally with the natural deformation of the skin. Such an epidermal strain sensor will open a new avenue for precisely detecting the motion of human skin and artificial soft-robotic skin.

This paper reports preliminary results on design and fabrication of a cutting tool with an integrated triaxial force sensor to be applied in fetal surgery procedures. The outer diameter of the proposed device is 7.4 mm, but a scaled down design can be easily achieved. Linearity and hysteresis tests have been performed for both normal and tangential loadings. A linear transformation relating the sensor output to the external applied force is introduced and discussed. The typical working range for the conceived instrument is around 0.3 N, while 20 N and 1 N are, respectively, maximum normal and tangential forces for which the device robustness has been assessed.

We propose a new surgical robotic system for intrauterine fetal surgery in an Open MRI. The target disease of the fetal surgery is spina bifida or myelomeningocele that is incomplete closure in the spinal column and one of the common fetal diseases. In the proposed surgical process, the abdominal wall and uterine wall would not widely be opened but rather surgical instruments inserted through the small holes in both walls to perform minimally invasive surgery. In this paper, a prototype of the micro manipulator of diameter is 2.4mm and bending radius 2.45 mm is presented. The diameter and bending radius of this manipulator is one of the smallest ever developed among surgical robots to the best of the knowledge of the investigating authors.The mechanism of the manipulator includes two ball joints and is driven using four wires able to bend through 90 degrees in any direction. The features of the mechanism include a small diameter, small bending radius, ease of fabrication, high rigidity and applicability for other surgical applications. Although the manipulator is not yet MRI compatible, the feature of the prototype demonstrated the feasibility of robotic intrauterine fetal surgery.

Abstract-The aim of this study was to evaluate three types of walkers for elderly people. Four elderly patients participated in the study. The experiments were performed using three walkers: a familiar conventional folding walker, a caster walker and a power-assisted walker. We evaluated walking speed, body acceleration and an electromyogram of the gastrocnemius during use of each walker. The results indicated that walkers should be selected according to the patient's walking ability. Comparison between Power-assisted walker and parallel bar, the walking speed in power-assited walker is higher than that in parallel bar. Power-assisted walkers are suitable for patients who are used to using a wheelchair. Keywords -walker, elderly, walking speed, acceleration, electromyogramWalking is a basic everyday activity. In an aging society, elderly people need to walk to promote their health and independence. By retaining ambulatory independence, elderly people increase their quality of life and reduce the costs of both public health services and private health insurance. Mobility is one of the most important factors in maintaining physical and mental health.To assist walking, several conventional types of walker are available. Different types are used for different walking abilities (see Fig. 1). The folding walker and the four-wheel walker with seat and basket are used under supervision. The folding walker consists of a folding four-legged frame with a supporting grip that the user can grasp or lean on. Wheelchairs are commonly used for elderly people who either cannot walk or can walk only with assistance and supervision. Caster walkers are used in hospitals and nursing homes. Users of caster walkers can lean on the supporting arms, and a non-weight-bearing gait is possible. However, these walkers can also be used by elderly people who have fairly good motor function.One of the authors has recently developed a powerassisted walker for elderly people who have difficulty walking. The device consists of four wheels and a supporting pad that is held by the user. The amount of assistance provided by this walker is based on the amount of force applied. The walker moves forward, or turns, at a speed proportional to the propulsive force applied by the user. The dynamic characteristics can be easily adjusted by changing the control parameters.Application or adaptation of these walkers is the important issue. In rehabilitation training, several walking stages are observed, and the use of a suitable walker is required to provide an improvement in the user's quality of life. However, no physiological evaluation based on walking ability has been made of the suitability of each kind of walker for each walking stage. The aim of this study was to evaluate the physiological parameters for walkers. II. METHODOLOGYSix elderly people aged between 70 and 91 years (average 82±7.9 years) participated in the study. Before the experiment, written informed consent was obtained from each subject or the subject's family. EVALUATION OF WALKERS FOR...