The primary role of a robot exploring an unknown space is to investigate the state and the spatial shape of the environment. We have designed a soft robot that aims to move forward in an unknown space as it recognizes and adapts to the spatial shape of the environment. We previously reported that soft tensegrity and recurrent neural network can be used to realize tensegrity structure shape recognition. In this study, a tensegrity robot was designed to actively generate propulsive force as it presses its body against a wall in its surrounding environment. This robot design includes a novel artificial muscle arrangement called "4/3 muscle winding," which induces large deformation in the tensegrity structure. The application of this new artificial muscle arrangement allows two types of large deformations to be induced in the tensegrity structure, which results in displacements of 20% to 40% in the axial and radial directions. We have demonstrated that the robot, which was created by connecting the tensegrity structures, is lightweight and possesses passive shape adaptability in a three-dimensional environment. This tensegrity robot could enter an unknown space, such as a cave, and recognize the spatial shape of the surrounding environment by recognizing the tensegrity structure shape.

Tensegrity structures have been actively studied in recent years because they are lightweight, compliant, and flexible, which are properties not typically found in conventional robots. This structure can be modularized to create soft robots that operate in unknown environments such as cave or space with more complex and effective behavior. The basic deformation elements in modularization are stretching, bending, and torsion. Among them, torsional motion is important for proper manipulation and rotational operation. However, active, and large torsion in soft tensegrity structures has not been developed. Therefore, this study describes torsional deformation and a novel arrangement method for thin artificial muscles. The proposed method leads to the optimal placement of artificial muscles for torsion, by which we generated a large torsion of ±50 deg. This is more than 2.5 times larger than that of a previous tensegrity without compromising the favorable properties of the structure. Furthermore, by modularizing the tensegrity structure, a tensegrity arm capable of removing a plastic bottle cap was developed. The applicability of torsional deformation and the usefulness of modularization of the structure are demonstrated.

Cerebellar injuries can cause syntax impairments. Cortical dysfunction due to cerebello-cerebral diaschisis is assumed to play a role in this phenomenon. Functional magnetic resonance imaging studies have repeatedly shown the activation of Broca's area in response to syntactic tasks. However, there have been no reports of selective syntax impairment and hypoperfusion restricted to this area after cerebellar injury. We herein report a patient with right cerebellar hemorrhage that led to marked syntax impairment along with severe hypoperfusion confined to the Brodmann area (BA) 45 (anterior part of Broca's area) and BA46.

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Background: Neuroleptic malignant syndrome (NMS), a rare but potentially lifethreatening adverse reaction to treatment with antipsychotic drugs, is characterized by hyperthermia, muscle rigidity, impaired consciousness, and autonomic disturbances. Some reports have described rapidly progressing cases of NMS resulting in death within several days. This report describes a clinical course of fatal and fulminant NMS in a patient with schizoaffective disorder.Case Presentation: A 67-year-old man had long been in a stable condition under antipsychotic pharmacotherapy. At 3 days before admission to our hospital, he complained of diarrhea, fatigue, and reduced appetite. On admission to our hospital, he showed fever, mild muscle rigidity at the four extremities, elevated heart rate, hypertension, excessive diaphoresis, and decreased percutaneous oxygen saturation (SpO 2 ). He was diagnosed as having NMS. Within 3 days after the onset of NMS, he displayed severe hyperthermia up to 41.4°C and severe autonomic disturbances, including elevated heart rate and hypertension. Despite treatments with dantrolene and bromocriptine, he went into shock and died on the fourth day after admission. Conclusion:The present case suggests that severe hyperthermia and severe autonomic disturbances at the early stage of the onset might be signs of fatal and fulminant NMS. It may be recommended that clinicians consider electro-convulsive therapy when treating fulminant NMS with these symptoms.