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Copyright of Acta Medica Medianae is the property of Acta Medica Medianae and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Anali Pravnog Fakulteta u Beogradu is the property of University of Belgrade, Faculty of Law and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Under Communist rule in Yugoslavia a university professor could either raise his voice and pay a high price, join the Party or accept the ketman practice. Mihailo Konstantinović tried to find a fourth way: retain the office, not cross to the red side and avoid being perceived as a ketman. Konstantinović was absent at the meeting of the Faculty's Council in 1946 when Dragoljub Jovanović was expelled. When in 1947 Communist students required removal of professors Milan Vladisavljević and Đorđe Mirković, Konstantinović was one of the professors who defended them, exposed to attacks by his communist colleagues. The Council eventually relinquished the decision to higher authorities and Vladisavljević and Mirković were consequently dismissed. The following year assistant professor Milivoje Marković was targeted but due to the Communist pressure fewer colleagues defended him. Konstantinović did not take a stand on that occasion. His most important goal was to preserve the Faculty. [ABSTRACT FROM AUTHOR]

Tax sparing clause emerged in double taxation treaties 63 years ago. Despite criticisms, it can presently be found in about 15% of all treaties, with Serbia having this clause in 46% of its double taxation agreements. It is the authors' view that this provision represents a confirmation of the right to introduce tax incentives as a part of a country's right to tax, while pointing out the necessity of preventing abuses of the provision. After conducting an analysis of the effects of tax sparing on foreign direct investments in Serbia and outgoing investments of Serbia's residents, the remaining portion of the paper is dedicated to exploration of the interaction between GloBE Income Inclusion Rule and tax sparing. Their incompatibility, which implies that tax sparing would be annulled under BEPS 2.0, may be overcome via a specific carve-out, but at present such initiative is not endorsed by Inclusive Framework on BEPS. [ABSTRACT FROM AUTHOR]

Tax sparing clause emerged in double taxation treaties 63 years ago. Despite criticisms, it can presently be found in about 15% of all treaties, with Serbia having this clause in 46% of its double taxation agreements. It is the authors' view that this provision represents a confirmation of the right to introduce tax incentives as a part of a country's right to tax, while pointing out the necessity of preventing abuses of the provision. After conducting an analysis of the effects of tax sparing on foreign direct investments in Serbia and outgoing investments of Serbia's residents, the remaining portion of the paper is dedicated to exploration of the interaction between GloBE Income Inclusion Rule and tax sparing. Their incompatibility, which implies that tax sparing would be annulled under BEPS 2.0, may be overcome via a specific carve-out, but at present such initiative is not endorsed by Inclusive Framework on BEPS. [ABSTRACT FROM AUTHOR]

Quantified assessment of spasticity is essential for the rehabilitation of persons with paralysis. We introduce the new SPAsticity Scale (SPAS), which we found highly correlated with the Modified Ashworth Score (MAS); yet, with a delicate gradation of spasticity compared to the MAS. The parameters defining the SPAS show the level and the type of spasticity (flexion or extension). The SPAS is based on a complex model of the pendulum type oscillations of the lower leg, which includes the spastic torques. The data to calculate SPAS were collected by a wearable instrument with two inertial measurement units and two EMG recording units in subjects with a complete chronic spinal cord injury. [ABSTRACT FROM AUTHOR]

In the paper Serbia's Law on Determining the Origin of Property and the Special Tax is analysed and compared with solutions based on cross-checking of the declared income with the worth accretion, which can be found in comparative tax law. After having established the advantages and limits of the net worth method, the author presents this Serbian statute, pointing out the fact that significant resources have been allocated for its application. The explanation lies in its PR impact and the possibility that detected unreported income of those who are the Government's political opponents could be taxed at a rate of 75%. Net worth method has been present in another Serbian statute since 2003, but it was not applied due to the absence of political will. However, this provision remains in the system, providing for dualism since 2021 - one group of taxpayers is subject to the old regime (with 20% tax), while the others are exposed to new confiscatory 75% tax. The analysis shows that numerous provisions of the 2021 statute contradict constitutional provisions on the unity of legal order, nondiscrimination, legality of taxes, and prohibition of retroactivity. Provided these flaws are eliminated, the application of net worth method could make sense. [ABSTRACT FROM AUTHOR]

Copyright of Anali Pravnog Fakulteta u Beogradu is the property of University of Belgrade, Faculty of Law and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Annals of the Faculty of Law in Belgrade is the property of University of Belgrade, Faculty of Law and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Anali Pravnog Fakulteta u Beogradu is the property of University of Belgrade, Faculty of Law and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Annals of the Faculty of Law in Belgrade is the property of University of Belgrade, Faculty of Law and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Acta Medica Medianae is the property of Acta Medica Medianae and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Canadian Journal of Physiology & Pharmacology is the property of Canadian Science Publishing and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Annals of the Faculty of Law in Belgrade is the property of University of Belgrade, Faculty of Law and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Acta Medica Medianae is the property of Acta Medica Medianae and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

This article shows that the principle of legality of a tax norm is not exhausted in its "source" component (i.e. that the norm is enacted by parliament) but also encompasses the "content" element - a set of requirements for it to be deemed as good law. It is not just retroactivity of a law that is an issue, but legal certainty is also jeopardized by retroactive interpretation implying changes in interpretation of the same norm by authorities who understood it for a long period in a different sense. A threat to legal certainty also exists when a provision that was dormant for years is suddenly applied. A case study shows that the Serbian Parliament issued an authentic interpretation of a tax norm to assert essentially a different interpretation compared to the one well-established in the past, in order to solve a particular case, while a court used that interpretation to pass judgment in a pending case. Within the EU we find notable cases where not only are norms attributed a certain meaning from their inception, even though 60 years may have passed from their initial introduction to the possibility of the existence of a "new meaning" being suggested for the first time, but taxpayers are made to suffer the consequences of the new interpretation. Had the legislator been able to pay more attention to the content of the bills and apply a more comprehensive approach to current issues, the legal certainty, in terms of avoiding "innovative" retroactive interpretations, could be preserved. [ABSTRACT FROM AUTHOR]

This article shows that the principle of legality of a tax norm is not exhausted in its "source" component (i.e. that the norm is enacted by parliament) but also encompasses the "content" element - a set of requirements for it to be deemed as good law. It is not just retroactivity of a law that is an issue, but legal certainty is also jeopardized by retroactive interpretation implying changes in interpretation of the same norm by authorities who understood it for a long period in a different sense. A threat to legal certainty also exists when a provision that was dormant for years is suddenly applied. A case study shows that the Serbian Parliament issued an authentic interpretation of a tax norm to assert essentially a different interpretation compared to the one well-established in the past, in order to solve a particular case, while a court used that interpretation to pass judgment in a pending case. Within the EU we find notable cases where not only are norms attributed a certain meaning from their inception, even though 60 years may have passed from their initial introduction to the possibility of the existence of a "new meaning" being suggested for the first time, but taxpayers are made to suffer the consequences of the new interpretation. Had the legislator been able to pay more attention to the content of the bills and apply a more comprehensive approach to current issues, the legal certainty, in terms of avoiding "innovative" retroactive interpretations, could be preserved. [ABSTRACT FROM AUTHOR]

The gait restoration is a significant component of the rehabilitation of patients with hemiplegia after central nervous system lesion. The typical symptom of the disability is the lack of hip extension during the stance phase and hip flexion during the swing phase of the affected leg; therefore, asymmetry and perturbed balance while walking. We developed a new modular orthosis for assisting hip flexion and extension during the therapeutic sessions of the gait in hemiplegic individuals based on thorough analysis of the gait characteristics of normal gait. The system is designed to fit into the powered postural controller Walkaround®. The system is developed based on the estimation of torque and power requirement for the gait at speeds up to 1.1 m/s. The model used for the simulation is a known double pendulum in the sagittal plane. The kinematics and dynamics used as the input for the simulation have been recorded in the gait laboratory with eight cameras and force platforms. The system needs to be clinically evaluated before it possibly can be turned into innovation. [ABSTRACT FROM AUTHOR]

The pendulum test is the method for quantification of the level of spasticity in persons with spinal cord and brain injuries/diseases. The data for the assessment comes from the analysis of lower leg rotation in the sagittal plane while sitting caused by gravity. We built a simple instrument that uses the smart phone and passive markers for studying the pendulum movement of the leg. We compared the results of the new device with the results acquired with the conventional apparatus which uses a knee joint angle encoder and inertial sensors mounted on the upper and lower leg. The differences of parameters estimated from the test between the two systems are in the range of 5%, which is in the same range as the precision of the positioning of the pendulum apparatus on the leg. The new system is simple for the application (donning, doffing, setup time, accuracy, repeatability) and allows a straightforward interpretation to a clinician. [ABSTRACT FROM AUTHOR]

The development of a comprehensive computational model of the pendulum test which is appropriate for the analysis of the pathologic behavior of the leg in humans with the central nervous system (CNS) lesion is presented in this review. The model relates to the pendulum movement of the lower leg (shank and the foot) in the lateral plane due to the gravity and involuntary contractions of the muscles. The viscous damping and elastic stiffness reflect the soft tissues and friction in the knee joint. To quantify the pathologic activity of paralyzed muscles a reflex torque was added to the gravity generated knee joint torque. The knee joint encoder, accelerometers and gyroscopes positioned along the shank and thigh, and EMG amplifiers were used to acquire data for the illustration of the validity of the model. We show that the linear model of the movement of the lower leg is not a good representation of the motor impairment. We show that the model expanded with the reflex torque affecting the movement is well suited for the pendulum analysis. The timing of the reflex torques can be determined from the EMG recordings. [ABSTRACT FROM AUTHOR]

Copyright of Financing is the property of Financing and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

This study compares the time required to activate a grasp or function of a hand prosthesis when using an electromyogram (EMG) based control scheme and when using a control scheme combining EMG and control signals from an inductive tongue control system (ITCS). Using a cross-over study design, 10 able-bodied subjects used a computer model of a hand and completed simulated grasping exercises. The time required to activate grasps was recorded and analyzed for both control schemes. End session mean activation times (ATs; seconds) for the EMG control scheme grasps 1 -5 were 0.80, 1.51, 1.95, 2.93, and 3.42; for the ITCS control scheme grasps 1 ‒5 they were 1.19, 1.89, 1.75, 2.26, and 1.80. Mean AT for grasps 1 and 2 was statistically significant in favor of the EMG control scheme (p = 0.030; p = 0.004). For grasp 3 no statistical significance occurred, and for grasps 4 and 5 there was a statistical significance in favour of the ITCS control scheme (p = 0.048; p = 0.004). Based on the amount of training and the achieved level of performance, it is concluded that the proposed ITCS control scheme can be used as a means of enhancing prosthesis control. [ABSTRACT FROM AUTHOR]

Humans rely on their hands to perform everyday tasks. The hand is used as a tool, but also as the interface to "sense" the world. Current prosthetic hands are based on sophisticated multi-fingered structures, and include many sensors which counterpart natural proprioceptors and exteroceptors. The sensory information is used for control, but not sent to the user of the hand (amputee). Grasping without sensing is not good enough. This research is part of the development of the sensing interface for amputees, specifically addressing the analysis of human perception while grasping. The goal is to determine the small number of preferred positions of sensors on the prosthetic hand. This task has previously been approached by trying to replicate a natural sensory system characteristic for healthy humans, resulting in a multitude of redundant sensors and basic inability to make the patient aware of the sensor readings on the subconscious level. We based our artificial perception system on the reported sensations of humans when grasping various objects without seeing the objects (obstructed visual feedback). Subjects, with no known sensory deficits, were asked to report on the touch sensation while grasping. The analysis included objects of various sizes, weights, textures and temperatures. Based on this data we formed a map of the preferred positions for the sensors that is appropriate for five finger human-like robotic hand. The final map was intentionally minimized in size (number of sensors). [ABSTRACT FROM AUTHOR]

In the article an analysis of the impact of corruption, both administrative and state capture, on the tax structure is carried out. The authors established a negative correlation between the degree of corruption and the height of the effective tax burden, while isolating a simultaneous directly proportional impact of the nominal tax burden (which could reflect state intervention - the main corruption factor) on the scope of corruption. The effects of corruption on the decrease of individual taxes' share in GDP are diversified, with impact on direct taxes as a whole being more observable. The mode of tax assessment significantly determines exposure of certain tax to the administrative corruption: it is generally larger in case of taxes assessed by the decision of the competent tax officials who are carrying out both assessment and audit, while in the case of self-assessment and withholding they just perform audits implying limited exposure to corruption. Corruptive state capture is present in the case of taxes which are important for influential corruptors. That is why in Serbia laws preventing taxation of capital gains or heavier taxation of dividends and other income paid to non-residents located in the tax havens were adopted, while by-laws which should have enabled implementation of prescribed lump sum taxation based on external signs of wealth have not been enacted. The authors concluded that the anti-corruption strategy should rely on the increasing role of self-assessment, which could reduce the room for administrative corruption. Unclear and imprecise formulations of the tax norms facilitate corruption, because they create room for arbitrariness in interpretation and implementation of the laws and by-laws. It is therefore necessary to surpress discretion, simplify tax procedure and diminish the number of tax reliefs. [ABSTRACT FROM AUTHOR]

In the article an analysis of the impact of corruption, both administrative and state capture, on the tax structure is carried out. The authors established a negative correlation between the degree of corruption and the height of the effective tax burden, while isolating a simultaneous directly proportional impact of the nominal tax burden (which could reflect state intervention - the main corruption factor) on the scope of corruption. The effects of corruption on the decrease of individual taxes' share in GDP are diversified, with impact on direct taxes as a whole being more observable. The mode of tax assessment significantly determines exposure of certain tax to the administrative corruption: it is generally larger in case of taxes assessed by the decision of the competent tax officials who are carrying out both assessment and audit, while in the case of self-assessment and withholding they just perform audits implying limited exposure to corruption. Corruptive state capture is present in the case of taxes which are important for influential corruptors. That is why in Serbia laws preventing taxation of capital gains or heavier taxation of dividends and other income paid to non-residents located in the tax havens were adopted, while by-laws which should have enabled implementation of prescribed lump sum taxation based on external signs of wealth have not been enacted. The authors concluded that the anti-corruption strategy should rely onthe increasing role of self-assessment, which could reduce the room for administrative corruption. Unclear and imprecise formulations of the tax norms facilitate corruption, because they create room for arbitrariness in interpretation and implementation of the laws and by-laws. It is therefore necessary to surpress discretion, simplify tax procedure and diminish the number of tax reliefs. [ABSTRACT FROM AUTHOR]

The article presents a speech by professor Dejan Popović delivered during the Belgrade University Students Day on April 4, 2013 for the students and professors of Singidunum University in Serbia. The topics of his speech include his career development, the role of students in the society and the employment opportunities for university degree holders.

Quantification of motor performance is an important component of the rehabilitation of humans with sensory-motor disability. We developed a method for assessing arm movement performance of trainees (patients) termed “probability tube” (PT). PT captures the stochastic characteristics of a desired movement when repeated by an expert (therapist). The PT is being generated automatically from data recorded during point-to-point movement executed not more than 15 repetitions by the clinician and/or other non-expert programmer in just a few minutes. We introduce the index, termed probability tube score (PTS), as a single “goodness-of-fit” value allowing quantified analysis of the recovery and effects of the therapy. This index in fact scores the difference between the movement (velocity profile) executed by the trainee and the velocity profile of the desired movement (executed by the expert). We document the goodness of the automatic method with results from studies which included healthy subjects and show the use of the PTS in healthy and post-stroke hemiplegic subjects. [ABSTRACT FROM AUTHOR]

ABSTRACT Introduction: One important reason why functional electrical stimulation (FES) has not gained widespread clinical use is the limitation imposed by rapid muscle fatigue due to non-physiological activation of the stimulated muscles. We aimed to show that asynchronous low-pulse-rate (LPR) electrical stimulation applied by multipad surface electrodes greatly postpones the occurrence of muscle fatigue compared with conventional stimulation (high pulse rate, HPR). Methods: We compared the produced force vs. time of the forearm muscles responsible for finger flexion in 2 stimulation protocols, LPR (fL = 10 H z) and HPR (fH = 40 H z). Results: Surface-distributed low-frequency asynchronous stimulation (sDLFAS) doubles the time interval before the onset of fatigue (104 ± 80%) compared with conventional synchronous stimulation. Conclusions: Combining the performance of multipad electrodes (increased selectivity and facilitated positioning) with sDLFAS (decreased fatigue) can improve many FES applications in both the lower and upper extremities. Muscle Nerve 48: 930-937, 2013 [ABSTRACT FROM AUTHOR]

BACKGROUND: The main clinical measures of walking recovery in stroke patients were compared for training assisted by Walkaround® postural support (WPS) and conventional (CON) support by a cane/therapist. OBJECTIVE: We attributed the differences between the trainings to modified muscular synergies that occurred during assistance by WPS. METHODS: We studied the muscle activities of the primary knee and ankle joint movers in the paretic and non-paretic legs of sub-acute stroke patients during assisted walking with WPS and CON. Recorded signals were compared to normative data that were recorded during speed-matched gait trials in healthy subjects. The specific measures were the relative contribution of individual muscles, levels of cocontraction, and the timing of the maximum electromyography (EMG) activity during the walking sessions. RESULTS: We found that, for most patients, the individual contribution of muscles were more similar to the healthy with the WPS assistance. In parallel, the cocontraction of the rectus femoris muscles in both legs was lower (by up to 39 %) during walking assisted by WPS than by cane/therapist gait support); the results from this case series (10 patients) showed that WPS might be the superior training scheme. CONCLUSIONS: These findings indicated that assistance by WPS changed the motor control output relative to CON assistance in most patients. [ABSTRACT FROM AUTHOR]

Background: Functional electrical stimulation (FES) applied via transcutaneous electrodes is a common rehabilitation technique for assisting grasp in patients with central nervous system lesions. To improve the stimulation effectiveness of conventional FES, we introduce multi-pad electrodes and a new stimulation paradigm. Methods: The new FES system comprises an electrode composed of small pads that can be activated individually. This electrode allows the targeting of motoneurons that activate synergistic muscles and produce a functional movement. The new stimulation paradigm allows asynchronous activation of motoneurons and provides controlled spatial distribution of the electrical charge that is delivered to the motoneurons. We developed an automated technique for the determination of the preferred electrode based on a cost function that considers the required movement of the fingers and the stabilization of the wrist joint. The data used within the cost function come from a sensorized garment that is easy to implement and does not require calibration. The design of the system also includes the possibility for fine-tuning and adaptation with a manually controllable interface. Results: The device was tested on three stroke patients. The results show that the multi-pad electrodes provide the desired level of selectivity and can be used for generating a functional grasp. The results also show that the procedure, when performed on a specific user, results in the preferred electrode configuration characteristics for that patient. The findings from this study are of importance for the application of transcutaneous stimulation in the clinical and home environments. [ABSTRACT FROM AUTHOR]

The aim of the paper was to examine the correlation between the total risk of cardiovascular events, determined by the SCORE (Systematic Coronary Risk Evaluation) system, and bone density in postmenopausal women. Examinees and method: The research involved 300 postmenopausal women. On the basis of bone density measurements, the participants were divided into three groups: group I - 84 examinees had osteoporosis, group II - 115 examinees had osteopenia, and group III - 101 examinees had normal bone mineral density (BMD). Results: Participants with high SCORE risk were statistically significantly older compared to low-risk women (60±3 vs. 55±5; p<0.001). They had significantly lower BMD and T scores (−1.09±0.94 vs. −2.86±0.63; p<0.001). Elevation of the SCORE risk by 1% caused a BMD decrease of 0.033 g/cm(0.029 to 0.036 gr/cm). Multivariate logistic regression analysis showed that the following factors caused a significant increase in the risk of decreasing BMD: every year of life by 20%, menopause duration by 26%, increase in systolic blood pressure (BP) by 1 mm Hg by 7%, increase in SCORE risk by 1% by 5.31 times, physical inactivity by 5.96 times, and osteoporosis in the family history by 3.91 times. Conclusion: Postmenopausal women who are at high risk for cardiovascular diseases have a lower BMD than those who are not at high risk for cardiovascular diseases. [ABSTRACT FROM AUTHOR]

A new method for estimation of angles of leg segments and joints, which uses accelerometer arrays attached to body segments, is described. An array consists of two accelerometers mounted on a rigid rod. The absolute angle of each body segment was determined by band pass filtering of the differences between signals from parallel axes from two accelerometers mounted on the same rod. Joint angles were evaluated by subtracting absolute angles of the neighboring segments. This method eliminates the need for double integration as well as the drift typical for double integration. The efficiency of the algorithm is illustrated by experimental results involving healthy subjects who walked on a treadmill at various speeds, ranging between 0.15 m/s and 2.0 m/s. The validation was performed by comparing the estimated joint angles with the joint angles measured with flexible goniometers. The discrepancies were assessed by the differences between the two sets of data (obtained to be below 6 degrees) and by the Pearson correlation coefficient (greater than 0.97 for the knee angle and greater than 0.85 for the ankle angle). [ABSTRACT FROM AUTHOR]

Pathological tremor is manifested as an involuntary oscillation of one or more body parts. Tremor greatly decreases the quality of life and often prevents the patient from performing daily activities. We hypothesized that sensors-driven multichannel electrical stimulation could stabilize affected joints by activating the antagonistic muscles during involuntary activation of agonist muscles and vice versa (out-of-phase stimulation). Here, we present the new system (hardware and software) and the testing of its operation. The hardware consists of a multichannel stimulator and inertial sensors for feedback. The software implements adaptive sensors-driven control for the out-of-phase stimulation. The system was initially applied to healthy persons at the wrist and elbow joints to test the efficiency of the hardware and software solutions. Predefined rhythmic stimulation resulted in tremulous movement, which subjects could not prevent; yet, they were still able to functionally use their hand. The system was then applied to seven patients with Parkinson's disease and essential tremor for minimization of the wrist joint tremor. In six patients, the adaptive out-of-phase stimulation resulted in a significant decrease in the amplitude of tremor (67 ± 13%). In one patient, the stimulation did not result in the expected reduction of tremor. [ABSTRACT FROM AUTHOR]

We present a practical system for controlling the prehension of a transradial prosthesis. The system is mounted on the artificial hand and comprises simple hardware and software that are convenient for real-time implementation. The hardware consists of a standard web camera and an ultrasound distance sensor. The control algorithm mimics biological mechanisms for the control of grasping and uses the measured distance to the target object and the method of computer vision to estimate the object's size and orientation. Based on these estimates, the algorithm outputs the following commands for the control of prehension: (i) the type of grasp and the aperture size appropriate for the target object; and (ii) the angle through which the wrist should be rotated (pronation/supination) in order to properly position the hand for the grasp. We have tested the system's performance with different targets (planar geometric shapes, real-life objects) under static conditions (i.e., when the system is stationary) and dynamic conditions (i.e., when the system moves toward the target). The size estimation was more accurate in the static experiments (error < 36%). Importantly, the system showed to be very robust with respect to the estimation errors, and the correct control commands were generated in most of the tested cases. The presented system is only one component of the hand controller, related strictly to the prehension phase of grasping. The final solution is envisioned as a combination of the presented system, inertial sensors (hand orientation), and a myoelectric control (triggering). [ABSTRACT FROM AUTHOR]

We present a low-frequency stimulation method via multi-pad electrodes for delaying muscle fatigue. We compared two protocols for muscle activation of the quadriceps in paraplegics. One protocol involved a large cathode at 30 H Z (HPR, high pulse-rate), and the other involved four smaller cathodes at 16 H Z (LPR, low pulse-rate). The treatment included 30-min daily sessions for 20 days. One leg was treated with the HPR protocol and the other with the LPR protocol. Knee-joint torque was measured before and after therapy to assess the time interval before the knee-joint torque decreased to 70% of the initial value. The HPR therapy provided greater increases in muscle endurance and force in prolonged training. Yet the LPR stimulation produced less muscle fatigue compared to the HPR stimulation. The results suggest that HPR is the favored protocol for training, and LPR is better suited for prolonged stimulation. Muscle Nerve, 2010 [ABSTRACT FROM AUTHOR]

The article focuses on wearable neuroprosthesis (NP) that uses transcutaneous electrical stimulation (TES) for partial restoration of motor and sensory functions after damage to the nervous system. TES uses pairs of electrodes on the skin to send short electrical charge pulses that results in hyperpolarization and depolarization of excitable cellular membranes. The first and second generation of NP systems and problems are described which include somewhat limited muscle selectivity, increased rate of muscle fatigue and complexity in application.

Background: Dexterous prosthetic hands that were developed recently, such as SmartHand and i-LIMB, are highly sophisticated; they have individually controllable fingers and the thumb that is able to abduct/adduct. This flexibility allows implementation of many different grasping strategies, but also requires new control algorithms that can exploit the many degrees of freedom available. The current study presents and tests the operation of a new control method for dexterous prosthetic hands. Methods: The central component of the proposed method is an autonomous controller comprising a vision system with rule-based reasoning mounted on a dexterous hand (CyberHand). The controller, termed cognitive vision system (CVS), mimics biological control and generates commands for prehension. The CVS was integrated into a hierarchical control structure: 1) the user triggers the system and controls the orientation of the hand; 2) a high-level controller automatically selects the grasp type and size; and 3) an embedded hand controller implements the selected grasp using closed-loop position/force control. The operation of the control system was tested in 13 healthy subjects who used Cyberhand, attached to the forearm, to grasp and transport 18 objects placed at two different distances. Results: The system correctly estimated grasp type and size (nine commands in total) in about 84% of the trials. In an additional 6% of the trials, the grasp type and/or size were different from the optimal ones, but they were still good enough for the grasp to be successful. If the control task was simplified by decreasing the number of possible commands, the classification accuracy increased (e.g., 93% for guessing the grasp type only). Conclusions: The original outcome of this research is a novel controller empowered by vision and reasoning and capable of high-level analysis (i.e., determining object properties) and autonomous decision making (i.e., selecting the grasp type and size). The automatic control eases the burden from the user and, as a result, the user can concentrate on what he/she does, not on how he/she should do it. The tests showed that the performance of the controller was satisfactory and that the users were able to operate the system with minimal prior training. [ABSTRACT FROM AUTHOR]

This review presents technologies used in and assesses the main clinical outcomes of electrical therapies designed to speed up and increase functional recovery in stroke patients. The review describes methods which interface peripheral systems (e.g., cyclic neural stimulation, stimulation triggered by electrical activity of muscles, therapeutic functional electrical stimulation) and transcranial brain stimulation with surface and implantable electrodes. Our conclusion from reviewing these data is that integration of electrical therapy into exercise-active movement mediated by electrical activation of peripheral and central sensory-motor mechanisms enhances motor re-learning following damage to the central nervous system. Motor re-learning is considered here as a set of processes associated with practice or experience that leads to long-term changes in the capability for movement. An important suggestion is that therapeutic effects are likely to be much more effective when treatment is applied in the acute, rather than in the chronic, phase of stroke. [ABSTRACT FROM AUTHOR]