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Background: Infliximab seems to be the most efficacious of the three available anti-TNF agents for ulcerative colitis (UC) but little is known when it is used as the second anti-TNF. Objectives: To compare the clinical and treatment outcomes of a second subcutaneous or intravenous anti-TNF in UC patients. Design: Retrospective observational study. Methods: Patients from the ENEIDA registry treated consecutively with infliximab and a subcutaneous anti-TNF (or vice versa), naïve to other biological agents, were identified and grouped according to the administration route of the first anti-TNF into IVi (intravenous initially) or SCi (subcutaneous initially). Results: Overall, 473 UC patients were included (330 IVi and 143 SCi). Clinical response at week 14 was 42.7% and 48.3% in the IVi and SCi groups (non-statistically significant), respectively. Clinical remission rates at week 52 were 32.8% and 31.4% in the IVi and SCi groups (nonsignificant differences), respectively. A propensity-matched score analysis showed a higher clinical response rate at week 14 in the SCi group and higher treatment persistence in the IVi group. Regarding long-term outcomes, dose escalation and discontinuation due to the primary failure of the first anti-TNF and more severe disease activity at the beginning of the second anti-TNF were inversely associated with clinical remission. Conclusion: The use of a second anti-TNF for UC seems to be reasonable in terms of efficacy, although it is particularly reduced in the case of the primary failure of the first anti-TNF. Whether the second anti-TNF is infliximab or subcutaneous does not seem to affect efficacy.

This article describes the way in which six nontraditional legs collaborate to provide locomotion to a walking machine when it moves along a path. Such legs are based on the one-degree-of-freedom Peaucellier–Lipkin mechanism, which was modified by the addition of four degrees of freedom. Such five-degree-of-freedom legs have the ability to adapt their postures according to the center of rotation around of which the machine walks. The attributes and abilities of the hexapod are expressed by means of a mathematical framework, which grants the spatial description and required joint variables, according to a specific task, resulting in the configuration of its legs for a particular path planning. Additionally, the article presents an illustrative example describing a detailed procedure concerning the configurations and collaboration of their legs according to an imposed center of rotation around of which the six-legged robot walks.

This article shows the characteristics of a sprawling robotic leg inspired by the limb postures of certain reptilian animals known as sprawling-legged creatures. The main part of the robotic limb is based on the eight-bar Peaucellier–Lipkin linkage, and its main attribute is the ability to trace a true straight line, due to the rotational motion of the input link. However, when the eight-bar linkage is modified, it is capable of tracing true circular concave or convex arcs, when two of its constitutive links have distinct and precise lengths. This gives rise to the concepts of concavity and convexity, related to a robotic leg based on the Peaucellier–Lipkin mechanism, such as the one described herein. Our bioinspired robotic leg can trace concave or convex curves, as well as straight lines, making it a reptile-like robotic limb that is very similar to the natural one. We also introduce the concept of rotation center tuning, which refers to the ability of the leg to adapt its posture to the center of rotation of the entire walking machine, resulting in an easy and suitable gait process. The theoretical information is illustrated through the simulation of an example that provides a path-planning procedure, focusing on the rotation center tuning process and a walking gait. The example also includes the design of an elliptical path projected onto the cylindrical workspace and followed by the reptilian foot.

This article presents the principles upon which a new nonanthropomorphic biped exoskeleton was designed, whose legs are based on an eight-bar mechanism. The main function of the exoskeleton is to assist people who have difficulty walking. Every leg is based on the planar Peaucellier–Lipkin mechanism, which is a one degree of freedom linkage. To be used as a robotic leg, the Peaucellier–Lipkin mechanism was modified by including two more degrees of freedom, as well as by the addition of a mechanical system based on toothed pulleys and timing belts that provides balance and stability to the user. The use of the Peaucellier–Lipkin mechanism, its transformation from one to three degrees of freedom, and the incorporation of the stability system are the main innovations and contributions of this novel nonanthropomorphic exoskeleton. Its mobility and performance are also presented herein, through forward and inverse kinematics, together with its application in carrying out the translation movement of the robotic foot along paths with the imposition of motion laws based on polynomial functions of time.

This article deals with the kinematics and dynamics of a novel leg based on the Peaucellier–Lipkin mechanism, which is better known as the straight path tracer. The basic Peaucellier–Lipkin linkage with 1 degree of freedom was transformed into a more skillful mechanism, through the addition of 4 more degrees of freedom. The resulting 5-degree-of-freedom leg enables the walking machine to move along paths that are straight lines and/or concave or convex curves. Three degrees of freedom transform the leg in relation to a reachable center of rotation that the machine walks around. Once the leg is transformed, the remaining 2 degrees of freedom position the foot at a desirable Cartesian point during the transfer or support phase. We analyzed the direct and inverse kinematics developed for the leg when the foot describes a straight line and found some interesting relationships among the motion parameters. The dynamic model equations of motion for the leg were derived from the Lagrangian dynamic formulation to calculate the required torques during a particular transfer phase.