In this study, a new configuration of Bidirectional Magneto-Rheological Actuator (BMRA) is proposed, optimally designed and experimentally evaluated. The BMRA has two discs rotating in opposite directions at the same speed. The two discs are placed inside a housing which is connected to the haptic devices. The BMRA has two coils placed directly on each side of the housing. The coils are separated with the Magnetorheological Fluid (MRF) by a thin wall of the housing. With this configuration, the inner face of the side housing, which is interfaced with the MRF, is continuous. This allows the MRF duct being manufactured more easily and accurately. After the introduction of the proposed configuration, braking torque of the proposed BMRA is analyzed based on Bingham-plastic rheological model of the MRF. Optimization of the proposed BMRA is then performed considering maximum torque and mass of the actuator. Based on the optimal result, detailed design of the BMRA is conducted and a prototype of the BMRA is manufactured. Experimental works on the prototype is then performed and performance characteristics of the proposed BMRA are figured out. 

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Objective: Describing the clinical and subclinical characteristics on breast cancer patients treated with Anthracyclines at Thong Nhat hospital.Subjects and methods: a prospective descriptive study on 43 patients with breast cancer was treated with Anthracyclines with 4 to 6 cycles as determined by clinical doctor at Thong Nhat hospital. Results: Average age: 49.2 ± 3.2 years old. The age group accounted for the largest proportion in the study object was the 50-60 age group (48.84%). The percentage of patients who self-examined the tumor was the highest with 79.07%. There were 9.30% of patients with pain symptoms, 11.63% of patients with nipple discharge. Tumor position in the upper-external quadrant accounted for the largest percentage with 55.81%. The average size of tumors was 2.56 ± 1.2 (cm). The main form of lesions detected on ultrasound was the local lesion with over 80% with an unknown boundaryfeature (81.40%) and predominantly invasive (76.74%). The histopathological type accounted for the highest percentage was the invasive tubular carcinoma (79.07%), the medullary carcinoma andmucinous carcinoma body accounted for the lowest rate with 2.33% and 0%, respectively. The histological degree accounted for the highest percentage among the research subjects was degree 2with 50.18%. Stage III accounted for the highest rate with 46.51%.Conclusion: The most common age group for breast cancer was 50-60 years old, the main symptom was self-examination with breast tumors, breast cancer were mainly local tumor at the upper-externalposition. On ultrasound, the lesions were the local, unknown boundary, and invasive lesions. Breast cancer was mainly invasive ductal carcinoma, histologic degree 2.

Objective: To investigate the effect of Anthracyclines on left ventricular function onbreast cancer patients at Thong Nhat Hospital. Objects and methods: A prospectivedescriptive study on 43 patients with breast cancer treated with Anthracyclines with4 to 6 cycles as determined by the clinical doctor at Thong Nhat Hospital. Results:Percentage of left ventricular ejection, total deformation of the vertical systolic stagedecreased significantly after treatment: EF before and after treatment were 60.23± 3.46 and 59.44 ± 3,67 (%), respectively; GLS before and after treatment were-20.01 ± 1.62 and -19.14 ± 1.82 (%), respectively. The incidence of cardiotoxicitywas 6.98%. The proportion of patients with subclinical left ventricular dysfunctionwas 23.26%. After treatment, the proportion of respectively. The proportion ofpatients with subclinical systolic dysfunction was higher in the decreased diastolicfunction group compared to the group with normal diastolic function. Patients withnormal diastolic function after treatment decreased, the proportion of patients withdiastolic dysfunction increased significantly, accounting for 41.86% and 58.14%No association was found between the type of anthracycline used, also diseasestage and the effect of anthracycline on left ventricular function. Conclusion: Leftventricular ejection fraction, total deformation of the vertical systolic stage reduced.The prevalence of cardiac toxicity and subclinical left ventricular dysfunction weremoderate. After treatment, the proportion of patients with normal diastolic functiondecreased, the diastolic dysfunction increased. There was no relationship between thetype of Anthracycline used, also the disease stage and the effect of Anthracycline onleft ventricular function.