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Postural control is one of the primary body functions for fall prevention. Unexpected perturbation-based balance training is effective for improving postural control. However, the effect of perturbation-based training using assistive devices on muscle activity and co-contraction for standing balance is still unclear. This training is also difficult to perform easily because it requires large instruments or expert guidance. The purpose of this study is to demonstrate the effect of perturbation-based balance training using a wearable balance training device (WBTD) on postural control. In this study, fourteen healthy young adult males were assigned to either a WBTD group or a sham group. In the intervention session, participants in the WBTD group were perturbed either left or right direction at random timing by the WBTD during tandem stance balance training. Participants in the Sham group did not receive external perturbation during tandem stance balance training. Before and after the intervention session, participants of both groups underwent unexpected lateral perturbation postural control testing (pre- and post-test). The normalized integral of electromyography (IEMG), co-contraction index (CCI), and center of pressure (COP) parameters were measured in the pre- and post-test. Experimental results showed that the WBTD group in the post-test significantly decreased left Gluteus Medius IEMG, CCI of both Gluteus Medius, and peak $\text {COP}_{\text {ML}}$ velocity, compared to those of the pre-test ( ${p} \lt 0.001$ , ${p} \,\, =0.024$ , ${p} \,\, =0.031$ , respectively). We conclude that balance training using WBTD could improve flexible postural control adjustment via cooperative muscle activation.

In daily routine movement, the ankle joint plays a crucial role in stability and mobility, especially when different types of terrain are involved. However, the simple task of standing can become a biomechanical difficulty when performed on a slope since demands that have to be accommodated are made on the complex structure of the ankle joint. The purpose of this study is to develop finite element (FE) models of the ankle joint with different inclined foot postures and to analyse the stress distributions on the ankle joint while standing on an inclined or declined surface. In this study, the FE model of the foot was developed, and von Mises stress distribution at the ankle joint was explored. The results show that the bone, cartilage, and ligament of the ankle experienced a different von Mises stress distribution pattern during flat standing in comparison with slope standing. In addition, this study found that the maximum von Mises stress distribution at the component of the ankle joint is higher during slope standing than flat standing. Taken together, these results suggest that slope standing, both inclined and declined, with more than 10° inclination, might contribute to a higher risk of injury as a higher maximum stress was observed. Therefore, to maintain proper body posture, it is suggested that weight be evenly distributed at both feet, since this can reduce stress at the ankle.

Surgeons face a significant challenge due to the heat generated during drilling, as excessive temperatures at the bone–tool interface can lead to irreversible damage to the regenerative soft tissue and result in thermal osteonecrosis. While previous studies have explored the use of machine learning to predict the temperature rise during bone drilling, this in vitro study introduces a comprehensive approach by combining the Response Surface Methodology (RSM) with advanced machine learning techniques. The main objective lies in the comprehensive evaluation and comparison of support vector machine (SVM) and random forest (RF) models specifically for the optimization of the bone drilling parameters to prevent thermal bone necrosis. A total of 27 experiments were conducted using a multi-level factorial method, with analysis performed via the Minitab software version 19.1. Performance metrics such as the mean squared error (MSE), mean absolute percentage error (MAPE), and coefficient of determination (R2) were used to assess model accuracy. The RF model emerged as the most effective, with R2 values of 94.2% for testing and 97.3% for training data, significantly outperforming other models in predicting temperature fluctuations. This study demonstrates the superior predictive capabilities of the RF model and offers a robust framework for the optimization of surgical procedures to mitigate the risk of thermal damage.

Abstract The insertion of conventional colonoscopes can sometimes cause patients to experience pain during the procedure owing to the stretching of the mesentery. In this study, a prototype of a robotic colonoscope with a double-balloon and double-bend tube based on the conventional double-balloon endoscope was developed to simplify insertion and prevent the overstretching of the colon. Both the outer and inner tubes were confirmed to be free from interference from wires and sheaths. Additionally, all functions such as tip bending, inflation and deflation of the balloons, and actuator-driven pulling and pushing of the inner tube were operated properly. During the insertion test, the device could be reached the cecum of a colon model in approximately 442 s when operated by a non-medical operator. In addition, the device did not overstretch the colon model, thereby suggesting that the insertion mechanism can follow the shape of the colon model. As a result, the developed mechanism has the potential to navigate through a highly-bent colon without overstretching.

This article proposes a means of autonomous mobile robot navigation in dense crowds based on predicting pedestrians’ future trajectories. The method includes a pedestrian trajectory prediction for a running mobile robot and spatiotemporal path planning for when the path crosses with pedestrians. The predicted trajectories are converted into a time series of cost maps, and the robot achieves smooth navigation without dodging to the right or left in crowds; the path planner does not require a long-term prediction. The results of an evaluation implementing this method in a real robot in a science museum show that the trajectory prediction works. Moreover, the proposed planning’s arrival times is 26.4% faster than conventional 2D path planning’s arrival time in a simulation of navigation in a crowd of 50 people.

Reactive postural control is an important component of the balance function for fall prevention. Perturbation-based balance exercises improve reactive postural control; however, these exercises require large, complex instruments and expert medical guidance. This study investigates the effects of unexpected perturbation-based balance exercises using a wearable balance exercise device (WBED) on reactive postural control. Eighteen healthy adult males participated in this study. Participants were assigned to the WBED and Sham groups. In the intervention session, participants in the WBED group randomly underwent unexpected perturbation in the mediolateral direction, while the Sham group performed the same exercises without perturbation. Before and after the intervention session, all participants underwent evaluation of reactive balance function using air cylinders. Peak displacement (D), time at peak displacement (T), peak velocity (V), and root mean square (RMS) of center of pressure (COP) data were measured. For mediolateral and anteroposterior COP (COPML and COP $_{\mathrm {AP}}$ ), the main effects of group and time factors (pre/post) were investigated through the analysis of variance for split-plot factorial design. In the WBED group, the D-COPML and V-COPML of the post-test significantly decreased compared to those of the pre-test (p = 0.017 and p = 0.003, respectively). Furthermore, the D-COPAP and RMSAP of the post-test significantly decreased compared to those of the pre-test (p = 0.036 and p = 0.015, respectively). This study proved that the perturbation-based balance exercise using WBED immediately improved reactive postural control. Therefore, wearable exercise devices, such as WBED, may contribute to the prevention of falls and fall-related injuries.

Abstract A markerless gait analysis system can measure useful gait metrics to determine effective clinical treatment. Although this gait analysis system does not require a large space, several markers, or time constraints, it inaccurately measure lower limb joint kinematics during gait. In particular, it has a substantial ankle joint angle error. In this study, we investigated the markerless gait analysis method capability using single RGB camera-based pose estimation by OpenPose (OP) and an inertial measurement unit (IMU) sensor on the foot segment to measure ankle joint kinematics under various gait conditions. Sixteen healthy young adult males participated in the study. We compared temporo-spatial parameters and lower limb joint angles during four gait conditions with varying gait speeds and foot progression angles. These were measured by optoelectronic motion capture, markerless gait analysis method using OP, and proposed method using OP and IMU. We found that the proposed method using OP and an IMU significantly decreased the mean absolute errors of peak ankle joint angles compared with OP in the four gait conditions. The proposed method has the potential to measure temporo-spatial gait parameters and lower limb joint angles, including ankle angles, in various gait conditions as a clinical settings gait assessment tool.

Postural stability may be affected during slope walking, as there are different body kinetics and kinematic responses compared with level walking. Understanding body adaptations toward different inclinations is essential to prevent the risk of injury from falls or slips. This study was conducted to determine the correlations between stability parameters and loading response in terms of joint reaction force at the lower-extremity joints during inclined and declined walking. Twenty male subjects walked in the level, incline, and decline directions on a custom-built platform at three different slope angles (i.e., 5°, 7.5°, and 10°). To determine the ground reaction force (GRF), joint reaction force (JRF), center of pressure (COP), and center of mass (COM), a motion capture system was used to read the data of the ten reflective markers and transfer them to visual three-dimensional (3D) software. Pearson’s correlation test was performed with statistical significance set at p < 0.05 to evaluate the correlation of the required coefficient of friction (RCOF), postural stability index (PSI), and COP-COM distance with the JRF. This study has identified that the JRF changes in opposition to the changes in the RCOF during the initial strike during incline and decline walking, as JRF increases, the RCOF decreases with different strengths of correlation. There is also a strong positive correlation between the PSI and JRF in the proximal–distal direction, where the JRFs change in accordance with the change in the PSI, and the JRF increases with the increment of PSI. In addition, the JRF of the lower extremity also changed in a manner similar to the COP-COM distance in the medial–lateral direction. Overall, each stability parameter was correlated with the JRF of the lower-extremity joints in different directions and strengths. This study demonstrated that slope walking is particularly affected by surface inclination in terms of stability and loading. Therefore, this research can serve as a basis for future studies on slopes, as there is no specific basis for a maximum degree of inclination that is safe and suitable for all applications.

IntroductionAutism spectrum disorder (ASD) is a neurodevelopmental disorder, which is reportedly related to difficulties in the visual processing of human motion, such as biological motion and gestures. Moreover, neurotypical (here, we mention it as individuals without a diagnosis) adults with autistic traits are clumsier than those without autistic traits when passing by others. It is still unclear whether the clumsiness derived from atypical visual processing of another’s approaching gait motion. We aim to address this question by investigating the association between autistic traits in neurotypical adults and the visual processing of an approaching life-sized avatar’s gait.MethodsWe clarified a typical visual motion processing and autistic traits in daily life in 26 neurotypical adults by analyzing the subthreshold autism trait questionnaire (SATQ) score, a 24-item self-report scale of ASD, and event-related potentials (ERPs) in response to walking motion of a passing avatar. Videos of walking life-sized virtual avatars approaching and retreating were presented as visual stimuli.Results and discussionThe association between the participants’ SATQ scores and the latencies and amplitudes of the ERPs was examined. ERP components (N170 and P200) components were identified at T5 and T6 electrodes. Participants reporting higher SATQ scores had longer latencies of P200 at T6 and lower amplitudes of P200 at T5 and T6 electrodes for the approaching avatar than those reporting lower SATQ scores. These findings indicate that adults with autistic traits have delayed and less sensitive visual processing of the approaching avatar. It suggests that while passing another person, these individuals have atypical visual processing of their approach. This study may contribute to elucidating autistic traits from the perspective of visual processing in an environment simulating daily life.

Background: A previous study on 2-dimensional evaluation of the subtalar joint functioning in varus ankle osteoarthritis concluded that varus deformity was compensated for by the subtalar joint during early stages but not in the advanced stages. Although compensatory function is expected both along the axial and coronal planes, compensatory function in all 3 dimensions (3D) remains unevaluated. This study evaluated the 3D-compensatory function of a varus subtalar joint using Globally Optimal Iterative Closest Points (Go-ICP), a 3D-shape registration algorithm, after 3D-bone shape reconstruction using computed tomography. Methods: This study included 22 ankles: 4 stage 2 ankles, 5 stage 3a ankles, 6 stage 3b ankles, and 4 stage 4 ankles, categorized according to the Takakura-Tanaka classification. As the control group, 3 ankles without prior ankle injuries and disorders and 4 stage 2 ankles were included. One control ankle was used as a reference. Relative values compared with the reference ankle were evaluated in each group using Go-ICP. Each axis was set so that dorsiflexion, valgus, and abduction were positive on the X axis, Y axis, and Z axis, respectively. Results: Rotation angles of the talus (Rotation T) and calcaneus (Rotation C) on the Y axis in the control and stage 3b were −7.6, −28, −2.1, and −13 degrees, respectively, indicating significant differences. Value of Rotation T-Rotation C (Rotation T-C) represents compensatory function of the subtalar joint. In all ankles, there was a correlation between Rotation T and Rotation T-C on the Y axis and Z axis ( P < .01, r = 0.84; P < .01, r = −0.84, respectively). There was a correlation between Rotation T values on the on Y and Z axes ( P = .01, r = 0.53). Conclusion: In varus ankle osteoarthritis, the talus had varus deformity with adduction. Compensatory function in the coronal plane persisted, even in the advanced stages; however, it was not sufficiently maintained in stage 3b. Furthermore, compensatory function in the axial plane was relatively sustained. Level of Evidence: Level III, retrospective comparative study.

Abstract Although weight transfer is an important component of gait rehabilitation, the biomechanical strategy underlying the vertical ground reaction force loading/unloading in individuals with unilateral transfemoral amputation between intact and prosthetic limbs remains unclear. We investigated weight transfer between limbs at different walking speeds in 15 individuals with unilateral transfemoral amputation and 15 individuals without amputation as controls, who walked on an instrumented treadmill. The normalized unloading and loading rates were calculated as the slope of decay and rise phase of the vertical ground reaction force, respectively. We performed linear regression analyses for trailing limb’s unloading rate and leading limb’s loading rate between the prosthetic, intact, and control limbs. While loading rate increased with walking speed in all three limbs, the greatest increase was observed in the intact limb. In contrast to the other limbs, the prosthetic limb unloading rate was relatively insensitive to speed changes. Consequently, the regression line between trailing prosthetic and leading intact limbs deviated from other relationships. These results suggest that weight transfer is varied whether the leading or trailing limb is the prosthetic or intact side, and the loading rate of the leading limb is partially affected by the unloading rate of the contralateral trailing limb.

Mechanical testing and gait measurement for ankle-foot orthosis (AFO) are crucial for determining the AFO stiffness magnitude in an individual. However, information on the effect of the stiffness magnitude on the muscle force during gait is limited. This study aimed to investigate the relationship between the AFO stiffness and ankle muscle force during gait. The AFO stiffness was mechanically tested using a six-axis robot arm. The stiffness magnitude was adjusted using different spring constants. Five stiffness conditions were set for each plantarflexion resistive (PFR) and dorsiflexion resistive (DFR) function. The effect of the PFR and DFR on the ankle muscle force during gait were determined using musculoskeletal and AFO models. Tibialis anterior (TA) and triceps surae (TS) muscle forces were calculated through gait simulation. The angle-moment relationships display hysteresis loops for each condition. One of the PFR and DFR conditions differed significantly from the others (for all, p < 0.05). In order of lower stiffness, the each PFR contribution ratio to the peak TA muscle force normalized in the no-stiffness condition was 8.4%, 10.8%, 11.3%, 13.5%, and 15.3%; while the each DFR contribution ratio to the peak TS muscle force was 16.2%, 20.9%, 25.3%, 29.8%, and 30.5%, respectively. Through mechanical testing as well as gait simulation, it was demonstrated that the magnitude of the AFO stiffness decreased the required ankle muscle force during gait. This study can contribute to more effective gait rehabilitation using AFO as well as AFO fabrication with customized stiffness for individual gait function.

Abstract The diagnosis of gastrointestinal stromal tumor (GIST) using conventional endoscopy is difficult because submucosal tumor (SMT) lesions like GIST are covered by a mucosal layer. Near-infrared hyperspectral imaging (NIR-HSI) can obtain optical information from deep inside tissues. However, far less progress has been made in the development of techniques for distinguishing deep lesions like GIST. This study aimed to investigate whether NIR-HSI is suitable for distinguishing deep SMT lesions. In this study, 12 gastric GIST lesions were surgically resected and imaged with an NIR hyperspectral camera from the aspect of the mucosal surface. Thus, the images were obtained ex-vivo. The site of the GIST was defined by a pathologist using the NIR image to prepare training data for normal and GIST regions. A machine learning algorithm, support vector machine, was then used to predict normal and GIST regions. Results were displayed using color-coded regions. Although 7 specimens had a mucosal layer (thickness 0.4–2.5 mm) covering the GIST lesion, NIR-HSI analysis by machine learning showed normal and GIST regions as color-coded areas. The specificity, sensitivity, and accuracy of the results were 73.0%, 91.3%, and 86.1%, respectively. The study suggests that NIR-HSI analysis may potentially help distinguish deep lesions.

Carbon-fiber running-specific prostheses have enabled individuals with lower extremity amputation to run by providing a spring-like leg function in their affected limb. When individuals without amputation run at a constant speed on level ground, the net external mechanical work is zero at each step to maintain a symmetrical bouncing gait. Although the spring-like “bouncing step” using running-specific prostheses is considered a prerequisite for running, little is known about the underlying mechanisms for unilateral transfemoral amputees. The aim of this study was to investigate external mechanical work at different running speeds for unilateral transfemoral amputees wearing running-specific prostheses. Eight unilateral transfemoral amputees ran on a force-instrumented treadmill at a range of speeds (30, 40, 50, 60, 70, and 80% of the average speed of their 100-m personal records). We calculated the mechanical energy of the body center of mass (COM) by conducting a time-integration of the ground reaction forces in the sagittal plane. Then, the net external mechanical work was calculated as the difference between the mechanical energy at the initial and end of the stance phase. We found that the net external work in the affected limb tended to be greater than that in the unaffected limb across the six running speeds. Moreover, the net external work of the affected limb was found to be positive, while that of the unaffected limb was negative across the range of speeds. These results suggest that the COM of unilateral transfemoral amputees would be accelerated in the affected limb’s step and decelerated in the unaffected limb’s step at each bouncing step across different constant speeds. Therefore, unilateral transfemoral amputees with passive prostheses maintain their bouncing steps using a limb-specific strategy during running.

Generally, severity, any additional damage to the joint surface, and the optimal rehabilitation influence the recovery of an ankle injury. Optimal rehabilitation is the only approach for a human to heal as soon as possible. Ankle injury rehabilitation robots (AIRRs) are designed to fulfil the ideal rehabilitation by providing the required accuracy, consistency, and repeatability, compared to conventional rehabilitation methods. This review is to explore the performance of the existing AIRR using a SWOT analysis with a focus on the strengths and opportunities of an AIRR. Sources from journals and conference papers are selected for review after several screenings, according to the search conditions set by the authors. The results have shown a large group of AIRRs could accomplish all basic ankle motions and select parallel mechanisms to drive the foot platform. Most AIRRs provides crucial feedback sensors, such as position, torque, and angle. These factors determine the accuracy of the foot platform. Both the electrical/pneumatic actuation and wearable/platform-based AIRRs have their purpose for rehabilitation and must be considered as equal contributions to ankle injury rehabilitation research using robots. Opportunities to provide innovation to the already established AIRR research still exist in the ability to accommodate complex motion ankle rehabilitation exercises and to establish teaching and playback into the rehabilitation procedures for AIRRs. In general, the existing strengths of AIRRs provide advantages to patients where they can enhance the rehabilitation procedures while opportunities and knowledge gaps for AIRR research are still open to improvement.

The application of an appropriate force system is indispensable for successful orthodontic treatments. Second-order moment control is especially important in many clinical situations, so we developed a new force system composed of a straight orthodontic wire and two crimpable hooks of different lengths to produce the second-order moment. The objective of this study was to evaluate this new force system and determine an optimum condition that could be used in clinics. Methods: We built a premolar extraction model with two teeth according to the concept of a modified orthodontic simulator. This system was activated by applying contractile force from two hooks that generated second-order moment and force. The experimental device incorporated two sensors, and forces and moments were measured along six axes. We changed the contractile force and hook length to elucidate their effects. Three types of commercial wires were tested. Results: The second-order moment was greater on the longer hook side of the model. Vertical force balanced the difference in moments between the two teeth. Greater contractile force generated a greater second-order moment, which reached a limit of 150 g. Excessive contractile force induced more undesired reactions in the other direction. Longer hooks induced greater moment generation, reaching their limit at 10 mm in length. Conclusion: The system acted similar to an off-center V-bend and can be applied in clinical practice as an unconventional loop design. We suggest that this force system has the potential for second-order moment control in clinical applications.

In this paper, an approach through a Deep Learning architecture for the three-dimensional reconstruction of outdoor environments in challenging terrain conditions is presented. The architecture proposed is configured as an Autoencoder. However, instead of the typical convolutional layers, some differences are proposed. The Encoder stage is set as a residual net with four residual blocks, which have been provided with the necessary knowledge to extract the feature maps from aerial images of outdoor environments. On the other hand, the Decoder stage is set as a Generative Adversarial Network (GAN) and called a GAN-Decoder. The proposed network architecture uses a sequence of the 2D aerial image as input. The Encoder stage works for the extraction of the vector of features that describe the input image, while the GAN-Decoder generates a point cloud based on the information obtained in the previous stage. By supplying a sequence of frames that a percentage of overlap between them, it is possible to determine the spatial location of each generated point. The experiments show that with this proposal it is possible to perform a 3D representation of an area flown over by a drone using the point cloud generated with a deep architecture that has a sequence of aerial 2D images as input. In comparison with other works, our proposed system is capable of performing three-dimensional reconstructions in challenging urban landscapes. Compared with the results obtained using commercial software, our proposal was able to generate reconstructions in less processing time, with less overlapping percentage between 2D images and is invariant to the type of flight path.

Currently, most rescue robots are mainly teleoperated and integrate some level of autonomy to reduce the operator’s workload, allowing them to focus on the primary mission tasks. One of the main causes of mission failure are human errors and increasing the robot’s autonomy can increase the probability of success. For this reason, in this work, a stair detection and characterization pipeline is presented. The pipeline is tested on a differential drive robot using the ROS middleware, YOLOv4-tiny and a region growing based clustering algorithm. The pipeline’s staircase detector was implemented using the Neural Compute Engines (NCEs) of the OpenCV AI Kit with Depth (OAK-D) RGB-D camera, which allowed the implementation using the robot’s computer without a GPU and, thus, could be implemented in similar robots to increase autonomy. Furthermore, by using this pipeline we were able to implement a Fuzzy controller that allows the robot to align itself, autonomously, with the staircase. Our work can be used in different robots running the ROS middleware and can increase autonomy, allowing the operator to focus on the primary mission tasks. Furthermore, due to the design of the pipeline, it can be used with different types of RGB-D cameras, including those that generate noisy point clouds from low disparity depth images.

Knowledge of joint moments will provide greater insight into the manner in which lower-extremity amputees wearing running-specific prostheses regain running capacity and compensate for replacement of an active leg with a passive prosthetic implement. Thus, the purpose of this study was to investigate three-dimensional joint moments during sprinting for unilateral transfemoral amputees wearing running-specific prostheses. Ten sprinters with unilateral transfemoral amputation performed maximal sprinting at the 22 m mark while wearing running-specific prostheses. Joint moments were calculated through an inverse dynamics approach. All peak flexion and extension moments in the prosthetic leg were found to be lower than those of the intact leg, except for the peak plantar flexion moment. In the frontal plane, the peak adduction and abduction moments in the prosthetic leg were generally lower than those of the intact leg. The peak internal rotation moments differed significantly between the legs, but the peak external rotation moments did not. The results of the present study suggest that asymmetric joint moment adaptations occur for unilateral transfemoral amputees to compensate for replacement of the biological leg with a passive prosthetic knee joint and running-specific prosthesis.

In this study, a laparoscopic imaging device and a light source able to select wavelengths by bandpass filters were developed to perform multispectral imaging (MSI) using over 1000 nm near-infrared (OTN-NIR) on regions under a laparoscope. Subsequently, MSI (wavelengths: 1000–1400 nm) was performed using the built device on nine live mice before and after tumor implantation. The normal and tumor pixels captured within the mice were used as teaching data sets, and the tumor-implanted mice data were classified using a neural network applied following a leave-one-out cross-validation procedure. The system provided a specificity of 89.5%, a sensitivity of 53.5%, and an accuracy of 87.8% for subcutaneous tumor discrimination. Aggregated true-positive (TP) pixels were confirmed in all tumor-implanted mice, which indicated that the laparoscopic OTN-NIR MSI could potentially be applied in vivo for classifying target lesions such as cancer in deep tissues.

People adjust their gait by interacting with the surrounding environment. Thus, hidden factors in the environment such as fall risk that influence the gait can be exposed by measuring its change during daily walking. For this purpose, in this paper, we employed wearable IMU sensors that enables measurement of stride length and stride time of the pedestrian without environment fixed MoCap system. We also used the GPS receiver for measuring the global position of the pedestrian simultaneously, since the IMU sensors only offer a local change of the gait. The change of the stride length and the stride time were calculated from the IMU sensors and mapped onto the geographic map referring to the GPS data for constructing the Geographical Information System (GIS) of the gait. These gait indices changed according to the type of the walkway, plane, stair, and slope. Also, even in the same walkway, the indices changed by the environmental factors such as obstacles, walking direction and traffic light. The experimental results suggest that measurement of the gait during daily walking in the daily environment seemed to have the potential to expose the factors hidden in the environment such as the fall risk that influence the gait.

The design and control of an active ankle-foot rehabilitation orthotic system that was designed as a wearable and portable rehabilitation and walking assistive tool is presented. This device can measure and assist the six degree of freedoms (DOFs) movement of the human ankle joint by using a Stewart platform mechanism, which can adapt to the displacement of the rotation axis during the movement of a human foot. The estimation method of an instantaneous rotation axis of ankle-foot motion is also proposed. In this paper, the motion measurement and motion control performance of the developed assistive device is evaluated. Static and dynamic motion measurement and motion reproduction performance verification experiments are conducted. The experimental results showed that the developed assistive device is enough for measuring and controlling the human ankle-foot motion.

Aims: In Japan, cancer is the most prevalent cause of death; the number of patients suffering from cancer is increasing. Hence, there is an increased burden on pathologists to make diagnoses. To reduce pathologists′ burden, researchers have developed methods of auto-pathological diagnosis. However, virtual slides, which are created when glass slides are digitally scanned, saved in a unique format, and it is difficult for researchers to work on the virtual slides for developing their own image processing method. This paper presents the support system for pathologists and researchers who use auto-pathological diagnosis (P-SSD). Main purpose of P-SSD was to support both of pathologists and researchers. P-SSD consists of several sub-functions that make it easy not only for pathologists to screen pathological images, double-check their diagnoses, and reduce unimportant image data but also for researchers to develop and apply their original image-processing techniques to pathological images. Methods: We originally developed P-SSD to support both pathologists and researchers developing auto-pathological diagnoses systems. Current version of P-SSD consists of five main functions as follows: (i) Loading virtual slides, (ii) making a supervised database, (iii) learning image features, (iv) detecting cancerous areas, (v) displaying results of detection. Results: P-SSD reduces computer memory size random access memory utilization and the processing time required to divide the virtual slides into the smaller-size images compared with other similar software. The maximum observed reduction in computer memory size and reduction in processing time is 97% and 99.94%, respectively. Conclusions: Unlike other vendor-developed software, P-SSD has interoperability and is capable of handling virtual slides in several formats. Therefore, P-SSD can support both of pathologists and researchers, and has many potential applications in both pathological diagnosis and research area.