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Development of antagonistic wire-driven joint employing kinematic transmission mechanism

100%

Sonoda T. , Nishida Y. , Nassiraei A. A. F. , Ishii K.

tom Vol. 4, No. 2

62-70

Antagonistic mechanisms attract attentions as joint actuators of linkage mechanisms, which control output torque, joint stiffness and position simultaneously. As the actuators or components of antagonistic driven joints, special devices with nonlinear elasticity property such as pneumatic actuators, nonlinear springs are often utilized to satisfy the requirements of antagonistic mechanisms. However, these devices have difficulties in control caused by complex and nonlinear properties, downsizing of actuator, and response time of articular compliance. In order to solve these problems, we propose a new antagonistic joint mechanism using kinematic transmission mechanism (KTM), which is composed of links and cams with dedicated design. The performance of KTM is evaluated through stiffness and position control simulations and experiments.

PCR amplification and DNA sequence analysis of parasitic intestinal protozoa in specimens stained with Chlorazol Black E

75%

Morimoto N. , Korenaga M. , Nishida Y. , Takeuchi H. , Kumon Y. , Sugiura T.

nr 2

Chlorazol Black E (CBE) stain has been used for the detection and identification of intestinal parasitic protozoa. In recent years, genotyping of protozoa has been performed to examine pathogenicity and for epidemiologic analysis. In this study, protozoan DNA was amplified from preserved human fecal specimens stained with CBE that were positive for Giardia intestinalis (syn. G. lamblia and G. duodenalis), Chilomastix mesnili, Pentatrichomonas hominis, and Entamoeba histolytica. DNA was amplified from 11 of the 12 (91.6%) samples examined. DNA from CBE-stained smears of G. intestinalis, E. histolytica, and P. hominis was amplified, whereas any amplification product could not be obtained from one of three smears of C. mesnili. Storage term and protozoan number had no association with results of PCR amplification. In genotyping of G. intestinalis, four out of six (66.7%) samples were of genotype AI, while the remaining two (33.3%) samples were of genotype B. The amplified DNA sequences showed high similarity (>99%) with that of G. intestinalis in the GenBank database. These results suggest that DNA remains stable in CBE-stained smears for long term. The present study demonstrates that nuclear extracts from specimens stained with CBE can be amplified by PCR and suggests that specimens stored for extended periods could be applied to genetic and prospective epidemiologic analyses.