Search Results (4,887)

With the development of inspection robot control technology, wheel-legged robots are increasingly used in complex underground space inspection. To address low stability during obstacle crossing in unstructured terrains, a motion control strategy integrating an improved CPG algorithm and a biological reflex mechanism is proposed. It introduces an adaptive coupling matrix, augmented with the Lyapunov function, and vestibular/stumbling reflex models for real-time motion feedback. Simulink–Adams virtual prototypes and single-wheeled leg experiments (on the left front leg) were used to verify the system. Results show that the robot’s turning oscillation was ≤±0.00593 m, the 10° tilt maintained a stable center of mass at 10.2° with roll angle fluctuations ≤±5°, gully-crossing fluctuations ≤±0.01 m, and pitch recovery ≤2 s. The experiments aligned with the simulations, proving that the strategy effectively suppresses vertical vibrations, ensuring stable and high-precision inspection. Full article

Treadmill running gait differs to overland running and is commonly used to evaluate interventions. One challenge is accurately defining strike pattern and related impact kinetics. This study aimed to characterise foot-strike patterns during treadmill running using the spatial distribution of in-shoe plantar forces and to identify differences in impact kinetics through spectral analysis. Low- and high-frequency power components were analysed in heel, midfoot and forefoot strike patterns. No distinct impact peaks were identified in the force traces; however, significant spatial differences were found. Forefoot strikes exhibited lower peak impact force, average loading rate, and high-frequency power spectral density (PSD) components compared to heel and midfoot strikes, with heel also lower than midfoot. Strike pattern classification was derived from spatial force distribution, where >70% posterior and >50% anterior denote heel and forefoot strikes, while midfoot strikes demonstrate a more balanced distribution with >25% in the central zone. These findings support the integration of spatial, force-based classification with frequency-domain analysis to enhance the evaluation of impact attenuation in treadmill-based running interventions. Full article

To enable intelligent inspection of underground cable systems, this study presents a gecko-inspired quadruped robot that integrates multi-degree-of-freedom motion with a deep learning-based visual detection system. Inspired by the gecko’s flexible spine and leg structure, the robot exhibits strong adaptability to confined and uneven tunnel environments. The motion system is modeled using the standard Denavit–Hartenberg (D–H) method, with both forward and inverse kinematics derived analytically. A zero-impact foot trajectory is employed to achieve stable gait planning. For defect detection, the robot incorporates a binocular vision module and an enhanced YOLOv8 framework. The key improvements include a lightweight feature fusion structure (SlimNeck), a multidimensional coordinate attention (MCA) mechanism, and a refined MPDIoU loss function, which collectively improve the detection accuracy of subtle defects such as insulation aging, micro-cracks, and surface contamination. A variety of data augmentation techniques—such as brightness adjustment, Gaussian noise, and occlusion simulation—are applied to enhance robustness under complex lighting and environmental conditions. The experimental results validate the effectiveness of the proposed system in both kinematic control and vision-based defect recognition. This work demonstrates the potential of integrating bio-inspired mechanical design with intelligent visual perception to support practical, efficient cable inspection in confined underground environments. Full article

Background: Plantar fasciitis (PF) is a common enthesopathy in patients with ankylosing spondylitis (AS). Shear wave elastography (SWE) and the Belgrade ultrasound enthesitis score (BUSES) may detect PF, but their comparative diagnostic performance is unclear. Objective: To compare SWE with the BUSES for identifying PF in individuals with and without AS. Methods: In this cross-sectional study, 96 participants were stratified into AS and non-AS populations, each further divided based on the presence or absence of clinical PF. Demographic data, the American Orthopedic Foot and Ankle Society Score (AOFAS), and the BASDAI score were recorded. All subjects underwent grayscale ultrasonography, the BUSES scoring, and SWE assessment of the plantar fascia. Logistic regression models were constructed for each population, controlling for age, body mass index (BMI), and fascia–skin distance. ROC curve analyses were performed to evaluate diagnostic accuracy. Results: In both AS and non-AS groups, SWE and the BUSES were significant predictors of PF (p < 0.05). SWE demonstrated slightly higher diagnostic accuracy, with area under the curve (AUC) values of 0.845 (AS) and 0.837 (non-AS), compared to the BUSES with AUCs of 0.785 and 0.831, respectively. SWE also showed stronger adjusted odds ratios in regression models. The interobserver agreement was good to excellent for both modalities. Conclusions: Both SWE and the BUSES are effective for PF detection, with SWE offering marginally superior diagnostic performance, particularly in AS patients. SWE may enhance the early identification of biomechanical changes in the plantar fascia. Full article

To study and quantify the impact of water storage on lake slope stability after the closure of an open-pit mine, we targeted slope control measures by large-scale parallel computing methods and strength reduction theory. This was based on a three-dimensional refined numerical model to simulate the evolution of slope stability under different water storage levels and backfilling management conditions, and to quantitatively assess the risk of slope instability through the spatial distribution of stability coefficients. This study shows that during the impoundment process, the slope stability has a nonlinear decreasing trend due to the decrease in effective stress caused by the increase in pore water pressure. When the water storage was at 0 m, the instability range is the largest, and the surface range is nearly 200 m from the edge of the pit; when the water level continued to rise to 50 m, the hydrostatic pressure of the pit lake water on the slope support effect began to appear, and the stability was improved, but there is still a wide range of unstable areas at the bottom. In view of the unstable area of the steep slope with soft rock in the north slope during the process of water storage, the management scheme of backfilling the whole bottom to −150 m was proposed, and the slope protection and pressure footing were formed by discharging the soil to −40 m in steps to improve the anti-slip ability of the slope. Full article

Objectives: We assessed the difference between quiet stance and gait in the spatial distribution and intensity of foot plantar pressures and whether it is possible to estimate the distribution during gait from data obtained during stance. Methods: A total of 60 healthy subjects with a mean age of 31.0 ± 9.4 years performed two trials for quiet stance and four trials for gait on a baropodometric walkway with their eyes open. Foot plantar pressures were recorded from 10 areas of the foot sole. Results: During quiet stance, the highest plantar pressure occurred at metatarsal heads (M2 to M4) and the medial (MH) and lateral halves of the heel (LH). During gait, the profile of plantar pressure values was like that during stance, but significantly higher. The differences concentrated at the big toe (T1), M2 to M4, MH, and LH, whilst toes (T2,3,4,5) and midfoot (MF) showed the smallest difference. A significant positive correlation was found between the corresponding areas of foot pressure during gait and stance. Conclusions: During quiet stance and gait, the overall profile of plantar pressure distribution was similar. During quiet stance, the subjects loaded more on the heels, in keeping with the known position of the center of pressure just in front of the ankles. During gait, higher pressures on the metatarsal areas are related to the forward propulsion of the center of mass. The correlation between the corresponding areas of foot pressure during gait and stance suggests that the pressure distribution during gait can partly be estimated from that during stance. This finding might be useful in most clinical settings when a single sensorized platform rather than a complete walkway is available. Full article

In the study of biomechanical models, balance represents a complex problem due to the issue of indeterminate forces while standing. In order to solve this problem, it is essential to measure the ground reaction forces (GRFs) applied to each foot independently. The present work proposes a methodology for determining the independent GRF applied to each foot while standing when only one forceplate is available. For this purpose, an analytical method is proposed to determine the distribution of vertical GRFs and the position of the independent center of pressure (CoP) in each foot. Concurrently, several neural network (NN) models are trained to improve the results obtained. This hypothesis is experimentally validated by a self-developed device that allows one to simultaneously obtain the vertical GRF and CoP location of each foot at the same time that the GRF and the global CoP location are obtained from a single forceplate. The results obtained achieve a CoP position error of less than 8% and a vertical force error of 2%. The analytical hypothesis is demonstrated to offer a satisfactory level of precision, while the NN is shown to result in considerable improvement in some cases. Full article

Background: Diabetic foot ulcers (DFUs) are a serious complication of diabetes and are often difficult to treat. Hyperbaric oxygen therapy (HBOT) has been proposed as an adjunctive treatment to promote healing, but its long-term clinical and biological effects remain insufficiently characterized. This study aimed to evaluate the impact of HBOT on systemic biomarkers, local microvasculature, and clinical outcomes in patients with DFUs. Methods: In this non-randomized prospective study, 20 patients with ischemic DFUs were followed over a 36-month period. Fourteen received HBOT in addition to standard care, while six received standard care alone. Clinical outcomes—including DFU resolution, recurrence, lower extremity amputation (LEA), and mortality—were assessed alongside systemic inflammatory and angiogenic biomarkers and wound characteristics at baseline and at 3, 6, 12, and 36 months. CD31 immunostaining was performed on available tissue samples. Results: The two groups were comparable at baseline (mean age 62 ± 12 years; diabetes duration 18 ± 9 years). At 3 months, the HBOT group showed significant reductions in erythrocyte sedimentation rate and DFU size (p < 0.05), with downward trends observed in C-reactive protein (CRP), vascular endothelial growth factor (VEGF), and placental growth factor (PlGF), and an increase in stromal-derived factor-1 alpha (SDF1-α). No significant changes were observed in the control group. CD31+ microvessel density appeared to increase in HBOT-treated DFU tissue after one month, although the sample size was limited. Patients receiving HBOT had lower rates of LEA and mortality, improved wound healing, and sustained outcomes over three years. DFU recurrence rates were similar between groups. Conclusions: HBOT was associated with improved wound healing and favorable biomarker profiles in patients with treatment-resistant ischemic DFUs. While these findings are encouraging, the small sample size and non-randomized design limit their generalizability, highlighting the need for larger, controlled studies. Full article

Objectives: The aim of this study was to evaluate the impact of four working heights on lumbar biomechanics during wall construction tasks, focusing on work-related musculoskeletal disorders (WMSDs). Methods: Fifteen young male participants performed simulated mortar-spreading and bricklaying tasks while actual body movements were recorded using Inertial Measurement Unit (IMU) sensors. Muscle activities of the lumbar erector spinae (ES), quadratus lumborum (QL), multifidus (MF), gluteus maximus (GM), and iliopsoas (IL) were estimated using a 3D musculoskeletal (MSK) model and measured via surface electromyography (sEMG). The analysis of variance (ANOVA) test was conducted to identify the significant differences in muscle activities across four working heights (i.e., foot, knee, waist, and shoulder). Results: Findings showed that working at foot-level height resulted in the highest muscle activity (7.6% to 40.6% increase), particularly in the ES and QL muscles, indicating an increased risk of WMSDs. The activities of the ES, MF, and GM muscles were statistically significant across both tasks and all working heights (p < 0.01). Conclusions: Both MSK and sEMG analyses indicated significantly lower muscle activities at knee and waist heights, suggesting these as the best working positions (47 cm to 107 cm) for minimizing the risk of WMSDs. Conversely, working at foot and shoulder heights was identified as a significant risk factor for WMSDs. Additionally, the similar trends observed between MSK simulations and sEMG data suggest that MSK modeling can effectively substitute for sEMG in future studies. These findings provide valuable insights into ergonomic work positioning to reduce WMSD risks among wall construction workers. Full article

Variations in damper configuration strategies have a direct impact on the seismic damage patterns of long-span deck-type concrete-filled steel tube (CFST) arch bridges. This study developed an analysis and evaluation framework to identify the damage category, state, and progression sequence of structural components. The framework aims to investigate the influence of viscous dampers on the seismic response and damage patterns of long-span deck-type CFST arch bridges under near-fault pulse-like ground motions. The effects of different viscous damper configuration strategies and design parameters on seismic responses of long-span deck-type CFST arch bridges were systematically investigated, and the preferred configuration and parameter set were identified. The influence of preferred viscous damper configurations on seismic damage patterns of long-span deck-type CFST arch bridges was systematically analyzed through the established analysis and evaluation frameworks. The results indicate that a relatively optimal reduction in bridge response can be achieved when viscous dampers are simultaneously installed at both the abutments and the approach piers. Minimum seismic responses were attained at a damping exponent α = 0.2 and damping coefficient C = 6000 kN/(m/s), demonstrating stability in mitigating vibration effects on arch rings and bearings. In the absence of damper implementation, the lower chord arch foot section is most likely to experience in-plane bending failure. The piers, influenced by the coupling effect between the spandrel construction and the main arch ring, are more susceptible to damage as their height decreases. Additionally, the end bearings are more prone to failure compared to the central-span bearings. Implementation of the preferred damper configuration strategy maintains essentially consistent sequences in seismic-induced damage patterns of the bridge, but the peak ground motion intensity causing damage to the main arch and spandrel structure is significantly increased. This strategy enhances the damage-initiation peak ground acceleration (PGA) for critical sections of the main arch, while concurrently reducing transverse and longitudinal bending moments in pier column sections. The proposed integrated analysis and evaluation framework has been validated for its applicability in capturing the seismic damage patterns of long-span deck-type CFST arch bridges. Full article

Objective: To develop and validate a ResNet-50-based deep learning model for automatic detection of osteomyelitis (DFO) in plain radiographs of patients with diabetic foot ulcers (DFUs). Research Design and Methods: This retrospective study included 168 patients with type one or type two diabetes and clinical suspicion of DFO confirmed via a surgical bone biopsy. An experienced clinician and a pretrained ResNet-50 model independently interpreted the radiographs. The model was developed using Python-based frameworks with ChatGPT assistance for coding. The diagnostic performance was assessed against the histopathological findings, calculating sensitivity, specificity, the positive predictive value (PPV), the negative predictive value (NPV), and the likelihood ratios. Agreement between the AI model and the clinician was evaluated using Cohen’s kappa coefficient. Results: The AI model demonstrated high sensitivity (92.8%) and PPV (0.97), but low-level specificity (4.4%). The clinician showed 90.2% sensitivity and 37.8% specificity. The Cohen’s kappa coefficient between the AI model and the clinician was −0.105 (p = 0.117), indicating weak agreement. Both the methods tended to classify many cases as DFO-positive, with 81.5% agreement in the positive cases. Conclusions: This study demonstrates the potential of IA to support the radiographic diagnosis of DFO using a ResNet-50-based deep learning model. AI-assisted radiographic interpretation could enhance early DFO detection, particularly in high-prevalence settings. However, further validation is necessary to improve its specificity and assess its utility in primary care. Full article

Background and Clinical Significance: Angioleiomyoma (ALM) is a benign tumor that generally presents as a single lesion and, according to the updated WHO classification, includes the following three histological subtypes: solid (or capillary), cavernous, and venous. Typically, ALMs are described as well-defined nodules in the lower extremities but are unusually located in the acral locations and toes. We summarize two cases of ALM and perform a systematic review to provide foot surgeons with the most up-to-date and useful information on the epidemiological aspects, anatomical distribution, and specific histological subtypes of ALM in the foot. Materials and Methods: A systematic review was carried out according to the criteria of a PICO framework, and a systematic search and data processing were carried out according to the PRISMA guidelines. We analyzed patient demographics, clinical characteristics, diagnostic workup, treatment, and clinical outcomes. Each one of the included articles was independently assessed for methodological quality and risk of bias by an independent evaluator. The risk of bias of the included studies was assessed based on their characteristics. Results: This systematic review included 14 case series with 172 reported cases of ALM. One hundred and seventy-two (18.57%) were cases of ALM located on foot, excluding the ankle region. The female-to-male ratio was 1.48. The most common location was the hindfoot (41.5%), followed by the forefoot (20.2%) and the midfoot (8.9%). In 29.4% of cases, the location of the lesions could not be determined. The most frequent location of the lesions was subcutaneous (69%), followed by subaponeurotic (16.5%) and skin (14.5%) locations. The most frequent histological presentation was the solid histologic subtype (65%), followed by the venous subtype (21%) and the cavernous subtype (14%), respectively. Of the total reported cases of ALM located in foot, 63.1% presented as solid painful lesions. Calcified presentations occurred in 7% of cases, with more than half of the cases located in the hindfoot. Surgical excision was the treatment of choice in the two herein reported cases of solid ALM located in the hindfoot, one of them with a calcified presentation. No recurrence was observed in either case after two and five years of follow-up, respectively. All cases reviewed after surgical excision showed a low recurrence rate with a favorable prognosis regardless of the histological subtype and a very rare tendency toward malignancy. Conclusions: ALMs of the foot present as well-defined, painful nodules in the subcutaneous tissue of middle-aged women. Solid histological subtypes are the most prevalent. Histopathological analysis is usually essential for confirmation. Treatment consists primarily of direct excision, with remarkably low recurrence rates. Full article

Introduction: The optimal management of hallux sesamoid fracture nonunions remains a subject of ongoing debate, particularly in the context of personalized medicine. This systematic review aimed to synthesize current evidence regarding surgical strategies for this rare but disabling condition. Methods: A comprehensive literature search was conducted in accordance with the PRISMA guidelines. Results: Six studies met the inclusion criteria, encompassing a total of 80 patients. Surgical techniques varied and included open and arthroscopic sesamoidectomy, autologous bone grafting (alone or combined with screw fixation), and percutaneous screw fixation. When reported, outcomes were generally favorable, with union rates ranging from 90.5% to 100% and with consistent postoperative improvements in clinical function. Complication and reoperation rates were both 6.5%. The most frequent reoperation was sesamoidectomy for persistent pain or nonunion, followed by hardware removal. Conclusions: Despite the limited and low-quality evidence, available data suggest that individualized surgical planning can lead to favorable outcomes with low complication rates. Sesamoidectomy remains the most reliable salvage procedure in refractory cases. These findings support a personalized, stepwise approach to treatment—prioritizing sesamoid preservation, when feasible, while reserving excision for symptomatic nonunions. Further studies are needed to validate tailored algorithms and refine patient-specific decision-making in this challenging clinical scenario. Full article

Haemophilic arthropathy is caused by repeated joint bleeding episodes, primarily affecting knees, ankles and elbows. Conservative options should be considered prior to surgery, as well as postural evaluation, since any functional overload promotes the development of new bleeding. The aim of this study is to verify the use of foot orthoses in combination with postural rehabilitation, assessing the incidence of spontaneous haemarthroses and haematomas. In total, 15 patients were enrolled and randomly divided into two groups: 8 in group A, composed of patients who were prescribed foot orthoses and a 20-session rehabilitation program, and 7 in group B, composed of patients who were instructed to use foot orthoses only. All patients were evaluated at baseline (T0), at 3 months (T1—end of the rehabilitation program), and at 12 months (T2), using the following scales: Functional Independence Score in Haemophilia (FISH), Haemophilia Joint Health Score (HJHS) and Numerical Rating Scale (NRS). During the 12 months between the first and the last assessment, no patient in group A developed hemarthroses or hematomas, while one case of hemarthrosis was recorded in group B. The HJHS improved significantly (≤0.05) in group A at both T1 and T2, while in group B it improved significantly only in T2. As for FISH, it showed significant improvements in both groups at T1 and T2. NRS showed a significant reduction only at T2 in both groups (p-value T0–T1 0.3 in group A e 0.8 in group B). No patient reported any adverse effects from the use of orthotic insoles. The combination of postural rehabilitation, the use of foot orthoses and pharmacological prophylaxis could improve functioning and joint status in patients affected by haemophilic arthopathy, delaying or preventing new hemarthroses by improving the distribution of joint loads and the modification of musculoskeletal system’s characteristics. Full article

Background/Objectives: The simulation of human movement offers transformative potential for the design of medical devices, particularly in understanding the cause–effect dynamics in individuals with neurological or musculoskeletal impairments. This study presents a simulation-driven framework to determine the optimal ankle–foot orthosis (AFO) stiffness for mitigating the risk of ankle sprains due to excessive subtalar inversion during high-impact activities, such as landing from a free fall. Methods: We employed biomechanical simulations to assess the influence of translational stiffness on subtalar inversion control, given that inversion angles exceeding 25 degrees are strongly correlated with injury risk. Simulations were conducted using a musculoskeletal model with and without a passive AFO; the stiffness varied in three anatomical directions. A Design of Experiments (DoE) approach was utilized to capture nonlinear interactions among stiffness parameters. Results: The results indicated that increased translational stiffness significantly reduced inversion angles to safer levels, though direction–dependent effects were noted. Based on these insights, we developed a 4D visualization tool that integrates simulation data with an interactive color–coded interface to depict ”safe design” zones for various AFO stiffness configurations. This tool supports clinicians in selecting stiffness values that optimize both safety and functional performance. Conclusions: The proposed framework enhances clinical decision-making and engineering processes by enabling more accurate and individualized AFO designs. Full article