Direct Teaching/Playback Method for the Contact Task of a six-DOF Manipulator using a Parallel-Wire-Type Teaching Device with a Remote Center Compliance Device

Tatsuya Okochi,Masao Sakai,Yoshifumi Morita 제어로봇시스템학회 2023 제어로봇시스템학회 국제학술대회 논문집 Vol.2023 No.10

Development of Knee Joint Robot for Students Becoming Therapist

Yoshifumi Morita,Yuki Kawai,Yusuke Hayashi,Tatsuya Hirano,Hiroyuki Ukai,Kouji Sanaka,Hironori Nakamuta,Keiko Takao 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10

The authors are developing a knee joint robot as an educational tool for students becoming physical therapist (PT) or occupational therapist (OT). The robot can simulate some problems of a knee joint, such as range of motion trouble, contracture, rigidity, spasticity and so on. The robot has a knee joint mechanism to realize not only flexion/extension movement but also inner/outer rotation movement, which is based on the idea of rolling, sliding and coming off movement. In addition the robot has the wire drive system to control the knee joint passive movement. In this paper we design optimal arrangement of four pulleys in the wire drive system by introducing performance indices. In addition we design control algorithms to imitate two kinds of knee joint troubles and verify the effectiveness by fundamental experiments.

Study on performance of knitted string mesh earthing electrode

Hayashi Tatsuya,Morita Hiroshi,Takahashi Takehiko 한국조명·전기설비학회 2010 한국조명·전기설비학회 학술대회논문집 Vol.2010 No.9월

Prognostication of the Last Days of Life

Masanori Mori,Tatsuya Morita,Eduardo Bruera,David Hui 대한암학회 2022 Cancer Research and Treatment Vol.54 No.3

Accurate prediction of impending death (i.e., last few days of life) is essential for terminally-ill cancer patients and their families. International guidelines state that clinicians should identify patients with impending death, communicate the prognosis with patients and families, help them with their end-of-life decision-making, and provide sufficient symptom palliation. Over the past decade, several national and international studies have been conducted that systematically investigated signs and symptoms of impending death as well as how to communicate such a prognosis effectively with patients and families. In this article, we summarize the current evidence on prognostication and communication regarding the last days of life of patients with cancer, and future directions of clinical research.

Development of Knee Joint Robot for Students Becoming Therapists

Yoshie Maeda,Tatsuya Hirano,Noritaka Sato,Yoshifumi Morita,Hiroyuki Ukai,Kouji Sanaka,Keiko Takao,Ayako Satonaka 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

Students becoming physical therapists (PT) or occupational therapists (OT) cannot experience rehabilitation for actual patients’ troubles before clinical training. For this reason we have developed the knee joint robot imitating patients" troubles such as range of motion trouble, contracture, rigidity, spasticity and so on. Therefore students can experience rehabilitation for patients’ troubles virtually by using the robot. Moreover, from the standpoint of educational effect we have to develop a training program using the robot for the students to learn skilled manual therapy techniques for patients’ troubles. In this paper, we propose a training program consisting of the monitoring system, the force display system, the supervisory system and the evaluation system. Firstly, we develop monitoring function in which the graphs of robot’s angle, velocity and their appropriate values for training are displayed during training. Secondly, we develop simulation algorithms of clonus and hypertonia occurring in manual therapy. Lastly, we develop an evaluation method of manual therapy techniques for a patient with hypertonia.

Advances in Hospice and Palliative Care in Japan: A Review Paper

Masanori Mori,Tatsuya Morita 한국호스피스완화의료학회 2016 한국호스피스.완화의료학회지 Vol.19 No.4

Over the past decade, hospice and palliative care in Japan have progressed rapidly under the national policies supported by the Cancer Control Act. The numbers of palliative care units/inpatient hospices, hospital palliative care teams, and clinics with a home hospice function have been steadily increasing. The increasing numbers of physicians, nurses, and pharmacists have been certified as specialists in palliative care by national associations. Collaborative efforts have been made to standardize and disseminate educational programs and training opportunities in undergraduate, postgraduate, and continuing medical education. Research activities in Japan have markedly contributed to the growing body of evidence, especially in the fields of terminal delirium, terminal dehydration, palliative sedation, care for dying patients, prognostication, communication, psycho-oncology, and regional palliative care programs. This review focuses on major palliative care settings, specialty, national associations, education, and research in palliative care in Japan.

Advances in Hospice and Palliative Care in Japan: A Review Paper

Mori, Masanori,Morita, Tatsuya Korean Society for Hospice and Palliative Care 2016 한국호스피스.완화의료학회지 Vol.19 No.4

Over the past decade, hospice and palliative care in Japan have progressed rapidly under the national policies supported by the Cancer Control Act. The numbers of palliative care units/inpatient hospices, hospital palliative care teams, and clinics with a home hospice function have been steadily increasing. The increasing numbers of physicians, nurses, and pharmacists have been certified as specialists in palliative care by national associations. Collaborative efforts have been made to standardize and disseminate educational programs and training opportunities in undergraduate, postgraduate, and continuing medical education. Research activities in Japan have markedly contributed to the growing body of evidence, especially in the fields of terminal delirium, terminal dehydration, palliative sedation, care for dying patients, prognostication, communication, psycho-oncology, and regional palliative care programs. This review focuses on major palliative care settings, specialty, national associations, education, and research in palliative care in Japan. 지난 10년 동안 암 관리법에 의한 국가 정책에 따라 일본에서는 호스피스 및 완화의료가 급속히 발전해왔다. 완화의료 시설 및 입원 환자의 호스피스, 병원의 완화 의료팀, 가정 호스피스 기능을 갖춘 진료소의 수는 꾸준히 증가하고 있으며 국가 협회로부터 완화의료 전문가로 공인된 의사, 간호사, 약사의 수도 증가하고 있다. 학부, 대학원 및 계속적인 의학 교육을 통해서 교육프로그램 및 교육의 기회를 표준화하고 보급하기 위한 공동 노력이 이루어졌다. 일본의 연구 활동은 말기 섬망, 말기 탈수증, 완화적 진정, 임종 환자의 의료, 예후, 의사 소통, 정신 종양학, 지역적인 완화의료 프로그램의 분야에서 현저하게 기여하였다. 이 보고서에서는 일본에서의 주요 완화의료 환경, 특성, 국가 협회, 교육, 완화의료 연구에 초점을 맞추었다.

Liquid/liquid interface layering of 1-butanol and [bmim]PF₆ ionic liquid: a nonlinear vibrational spectroscopy and molecular dynamics simulation study

Iwahashi, Takashi,Ishiyama, Tatsuya,Sakai, Yasunari,Morita, Akihiro,Kim, Doseok,Ouchi, Yukio The Royal Society of Chemistry 2015 Physical chemistry chemical physics Vol.17 No.38

<P>IR-visible sum-frequency generation (IV-SFG) vibrational spectroscopy and a molecular dynamics (MD) simulation were used to study the local layering order at the interface of 1-butanol-d<SUB>9</SUB> and 1-butyl-3-methylimidazolium hexafluorophosphate ([bmim]PF<SUB>6</SUB>), a room-temperature ionic liquid (RTIL). The presence of a local non-polar layer at the interface of the two polar liquids was successfully demonstrated. In the SFG spectra of 1-butanol-d<SUB>9</SUB>, we observed significant reduction and enhancement in the strength of the CD<SUB>3</SUB> symmetric stretching (<I>r</I><SUP>+</SUP>) mode and the antisymmetric stretching (<I>r</I><SUP>−</SUP>) mode peaks, respectively. The results can be well explained by the presence of an oppositely oriented quasi-bilayer structure of butanol molecules, where the bottom layer is strongly bound by hydrogen-bonding with the PF<SUB>6</SUB><SUP>−</SUP> anion. MD simulations reveal that the hydrogen-bonding of butanol with the PF<SUB>6</SUB><SUP>−</SUP> anion causes the preferential orientation of the butanols; the restriction on the rotational distribution of the terminal methyl group along their <I>C</I><SUB>3</SUB> axis enhances the <I>r</I><SUP>−</SUP> mode. As for the [bmim]<SUP>+</SUP> cations, the SFG spectra taken within the CH stretch region indicate that the butyl chain of [bmim]<SUP>+</SUP> points away from the bulk RTIL phase to the butanol phase at the interface. Combining the SFG spectroscopy and MD simulation results, we propose an interfacial model structure of layering, in which the butyl chains of the butanol molecules form a non-polar interfacial layer with the butyl chains of the [bmim]<SUP>+</SUP> cations at the interface.</P> <P>Graphic Abstract</P><P>IV-SFG vibrational spectroscopy and MD simulation studies reveal a local polar/nonpolar layering structure at the interface of 1-butanol-d<SUB>9</SUB> and 1-butyl-3-methylimidazolium hexafluorophosphate ([bmim]PF<SUB>6</SUB>). <IMG SRC='http://pubs.rsc.org/services/images/RSCpubs.ePlatform.Service.FreeContent.ImageService.svc/ImageService/image/GA?id=c5cp03307a'> </P>

Nutritional condition in the dry period is related to the incidence of postpartum subclinical endometritis in dairy cattle

Taniguchi Asako,Nishikawa Tatsuya,Morita Yasuhiro 아세아·태평양축산학회 2021 Animal Bioscience Vol.34 No.4

Objective: Endometritis is a major disease, that causes infertility in cattle, and is usually categorized as clinical or subclinical endometritis (SCE). The nutritional condition during the dry period is important for recovery after the last stage of the lactation period, and for postpartum production and reproduction. This study aimed to clarify the relationship between nutritional and metabolic characteristics in the dry period, and the risk of postpartum SCE. Methods: Multiparous Holstein dairy cows (n = 25, raised in a tied stall) were used. Endometrial cytological analysis was performed around 30 days post-partum, with 5% to 14% polymorphonuclear (PMN) as a cut-off point to define SCE. Serum levels of glucose, non-esterified fatty acids, β-hydroxybutyric acid (BHBA), blood urea nitrogen, total cholesterol, aspartate aminotransferase, γ-glutamyl transpeptidase, calcium, phosphorus, and magnesium were measured in the cows at the dry period to evaluate energy status, protein metabolism, and mineral metabolism. Results: The incidence of SCE in the cows was 60.0% (n = 15/25) and the mean PMN% in postpartum cows diagnosed as SCE was 8.05%±2.6%. Overall, 17 and 8 samples were collected from the cows in the far-off and close-up periods, respectively. The serum concentration of BHBA in the far-off period and serum glucose concentration in the closeup period were correlated with postpartum PMN% (r = 0.62, p<0.01; r = –0.74, p<0.05, respectively). Serum levels of calcium and magnesium in the dry period were associated with the incidence of postpartum SCE (healthy vs SCE cows, p<0.05). Conclusion: Blood levels of glucose, BHBA, calcium, and magnesium in dry periods could be useful parameters for predicting the risk of postpartum SCE. The present study also suggests that management in the close-up period is essential for promoting recovery from calving fatigue. Objective: Endometritis is a major disease, that causes infertility in cattle, and is usually categorized as clinical or subclinical endometritis (SCE). The nutritional condition during the dry period is important for recovery after the last stage of the lactation period, and for postpartum production and reproduction. This study aimed to clarify the relationship between nutritional and metabolic characteristics in the dry period, and the risk of postpartum SCE.Methods: Multiparous Holstein dairy cows (n = 25, raised in a tied stall) were used. Endometrial cytological analysis was performed around 30 days post-partum, with 5% to 14% polymorphonuclear (PMN) as a cut-off point to define SCE. Serum levels of glucose, non-esterified fatty acids, β-hydroxybutyric acid (BHBA), blood urea nitrogen, total cholesterol, aspartate aminotransferase, γ-glutamyl transpeptidase, calcium, phosphorus, and magnesium were measured in the cows at the dry period to evaluate energy status, protein metabolism, and mineral metabolism.Results: The incidence of SCE in the cows was 60.0% (n = 15/25) and the mean PMN% in postpartum cows diagnosed as SCE was 8.05%±2.6%. Overall, 17 and 8 samples were collected from the cows in the far-off and close-up periods, respectively. The serum concentration of BHBA in the far-off period and serum glucose concentration in the closeup period were correlated with postpartum PMN% (r = 0.62, p<0.01; r = –0.74, p<0.05, respectively). Serum levels of calcium and magnesium in the dry period were associated with the incidence of postpartum SCE (healthy vs SCE cows, p<0.05).Conclusion: Blood levels of glucose, BHBA, calcium, and magnesium in dry periods could be useful parameters for predicting the risk of postpartum SCE. The present study also suggests that management in the close-up period is essential for promoting recovery from calving fatigue.

Validity of a System to Measure Lower Extremity Function

Kazunori Yamazaki,Donggun Kim,Yoshifumi Morita,Noritaka Sato,Hiroyuki Ukai,Tatsuya Hirai,Yuka Sugiura 한국재활복지공학회 2014 한국재활복지공학회 학술대회논문집 Vol.2014 No.11