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  • 1
    ISSN: 1432-0533
    Keywords: Key words Cerebral cortical lesion ; Clinicopathological correlation ; Corticobasal degeneration ; Pick’s disease ; Progressive supranuclear palsy
    Source: Springer Online Journal Archives 1860-2000
    Topics: Medicine
    Notes: Abstract We investigated five Japanese patients with autopsy-proven corticobasal degeneration (CBD) both clinically and pathologically, and examined the distribution of their cerebral cortical lesions in hemisphere specimens. The lesions were classified into three categories (slight, moderate and severe). Only two of our patients had clinical features considered to be typical of CBD. Severe lesions were present in the posterior portions of the frontal lobe, anterior to the precentral gyrus in two patients with the clinical diagnosis of CBD. By comparison, in two patients with clinically diagnosed frontal Pick’s disease, and one with the clinical diagnosis of progressive supranuclear palsy (PSP), severe lesions were seen in the anterior portions of the frontal lobe. The primary motor area of all five had mostly slight to moderate lesions. We postulate that the clinical features of CBD have a much wider spectrum than previously believed. Our data also indicate that the lesion responsible for limb-kinetic apraxia in CBD is in the premotor cortex. We suggest that when the anterior portions of the frontal lobe are damaged, the clinical picture mimics those of Pick’s disease and PSP. In addition, we consider that focal cerebral atrophy of CBD is multicentric.
    Type of Medium: Electronic Resource
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  • 2
    Electronic Resource
    Electronic Resource
    Springer
    Artificial life and robotics 3 (1999), S. 55-60 
    ISSN: 1614-7456
    Keywords: Biped locomotion ; Optimal motion ; Inverse kinematics ; Inverse dynamics
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract In this paper we propose a calculation method for the optimal trajectory of a biped locomotion machine which is based on inverse kinematics and inverse dynamics. First, the trajectory of the waist is expressed by a Fourier series, where the bases are selected appropriately so that the periodic boundary conditions are strictly satisfied. A biped locomotion machine establishes optimal walking by using kicking forces to the ground at the moment of switching legs. In order to include the effecs of the kicking forces, additional terms that indicate the impulsive forces at the moment of switching legs are included in the formulation. Then the angles of each joint are determined by inverse kinematics, and using inverse dynamics, the input torques of each joint are expressed in terms of Fourier coefficients. By defining the performance index as a quadratic form of the input torques, the motion planning problem is formulated as an optimization problem of the trajectory of the waist, whose paramaters are Fourier coefficients of the trajactory of the waist. Using the successive quadratic programming (SQP) method, the optimal trajectory of a biped locomotion machine is obtained.
    Type of Medium: Electronic Resource
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