text:
|Publication number||US8075633 B2|
|Application number||US 10/671,329|
|Publication date||Dec 13, 2011|
|Filing date||Sep 25, 2003|
|Priority date||Sep 25, 2003|
|Also published as||US8287477, US8376971, US8551029, US8808214, US9668888, US20050070834, US20120136459, US20150127117, US20170231854|
|Publication number||10671329, 671329, US 8075633 B2, US 8075633B2, US-B2-8075633, US8075633 B2, US8075633B2|
|Inventors||Hugh Herr, Joaquin Blaya, Gill A. Pratt|
|Original Assignee||Massachusetts Institute Of Technology|
|Export Citation||BiBTeX, EndNote, RefMan|
|Patent Citations (37), Non-Patent Citations (9), Referenced by (45), Classifications (20), Legal Events (2)|
|External Links: USPTO, USPTO Assignment, Espacenet|
Individuals may suffer from a variety of ankle foot gait pathologies, such as muscle weakness in the anterior and/or posterior compartments of the leg, which severely inhibit locomotory function. For example, drop foot gait is the inability of an individual to lift or dorsiflex their foot because of reduced or no muscular activity, typically in the anterior compartment of the leg around their ankle. The major causes of drop foot include stroke, cerebral palsy, multiple sclerosis, and neurological trauma from accident or surgical complication. The two major complications of drop foot are slapping of the foot after heel strike (foot slap) and dragging of the toe during swing (toe drag). At heel strike, the foot generally falls uncontrolled to the ground, producing a distinctive slapping noise (foot slap). During mid-swing, toe drag prevents proper limb advancement and increases the risk of tripping.
A conventional approach to the treatment of drop foot gait is a mechanical brace called an Ankle Foot Orthosis (AFO), which has increased in popularity over the last several years. Although AFO's offer some biomechanical benefits, disadvantages still remain. For example, AFO's do not improve gait velocity or stride length in children with cerebral palsy. Further, although a constant stiffness AFO is able to provide safe toe clearance in drop foot patients, the device does not reduce the occurrence of slap foot at all walking speeds.
Increasingly, robotic technology is employed in the treatment of individuals suffering from physical disability, either for the advancement of therapy tools or permanent assistive devices. Initial research has focused primarily on devices that provide therapy to the arms of stroke patients. However, lower extremity robotic devices have recently been developed. When used for permanent assistance, adaptive orthoses enables disabled persons to walk with greater ease and less kinematic difference when compared to normals. Active leg prostheses also show promise. Preliminary studies report that the Otto Bock C-Leg, a microprocessor-controlled artificial knee, provides amputees with an increased independence compared with passive knee prostheses.
In one embodiment, a variable-impedance Active Ankle-Foot Orthosis (AAFO) is provided to treat ankle foot gait pathologies, such as drop foot gait.
Another embodiment for the treatment of ankle foot gait pathologies, such as drop foot gait, includes functional electrical stimulation (FES). Short bursts of electrical pulses can be applied to elicit muscle contractions. FES can be used as a permanent assistance device, and the technology can be customized to the individual using trial-and-error methods and qualitative measurements.
Neither AFOs nor conventional FES systems adapt to the gait of the user, adapt to step-to-step changes in gait pattern due to speed or terrain, or adapt to long-term gait changes due to changes in muscle function. In one embodiment, a computer-controlled Active Ankle Foot Orthosis (AAFO) is provided where joint impedance is varied in response to walking phase and step-to-step gait variations. The AAFO includes an actuator, such as a force-controllable Series Elastic Actuator (SEA) capable of controlling orthotic joint stiffness and damping for plantar and dorsiflexion ankle rotations.
A variable-impedance orthosis has certain clinical benefits for the treatment of drop foot gait compared to both unassisted gait and conventional AFO's that include constant impedance joint behaviors. For example, the major complications of drop foot gait, namely foot slap and toe drag, can be reduced by actively controlling orthotic joint impedance in response to walking phase and step-to-step gait variations. Recent investigations have shown that for the healthy ankle-foot complex, ankle function during controlled plantar flexion closely resembles a linear torsional spring where ankle moment is proportional to ankle position. Thus, by adjusting the stiffness of a virtual linear torsional spring acting about the orthotic joint, forefoot collisions can be minimized and the slap foot complication alleviated, not only at a single speed but at every forward walking speed. Furthermore, during swing, a spring-damper (PD) control can be applied to the orthotic joint, with gains that vary with gait speed, to dorsiflex the ankle through a greater angular range to provide sufficient clearance at variable walking speeds. For individuals suffering from unilateral drop foot gait, changing orthotic joint impedance results in a more symmetric gait between affected and unaffected legs.
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular description of various embodiments of the invention, as illustrated in the accompanying drawings in which like reference characters refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention.
A description of various embodiments of the invention follows.
Some advantages of the SEA 12 are that it has low impedance, the motor is isolated from shock loads, and the effects of backlash, torque ripple, and friction are filtered by the spring 20. A further advantage is that the SEA 12 exhibits stable behavior while in contact with most environments, even when in parallel with a human limb. In particular embodiments, the SEA 12 allows for the implementation of any virtual, torsion mechanical element about the ankle.
In a particular embodiment, the conventional AFO 18 includes a standard polypropylene AFO with a metallic hinge, such as a Scotty© ankle joint. This joint allows free motion in the sagittal plane (plantar and dorsiflexion) but is rigid for inversion/eversion movements. The AFO 18 can be modified by molding two recesses—one at the heel and the other at mid-calf. Several holes can be drilled in these recesses to attach the SEA 12.
In a particular embodiment, an ankle angle sensor 14 includes a Bourns 6637S-1-502 5 kΩ rotary potentiometer to determine the angle between a shank or leg portion 22, which is attachable to a person's foot, and the foot 24. The angle sensory signal can be sampled at 1000 Hz and passed through a first order low pass filter with a cutoff frequency of 50 Hz. The ankle velocity can be found by differentiating the pot signal and then passing it through a second order Butterworth filter with a cutoff frequency of 8 Hz. In another embodiment, the position of the orthotic ankle joint can be measured with a rotary encoder placed on the SEA 12. Such a sensor can measure motor position directly and orthotic position indirectly.
In other embodiments, Ground Reaction Force (GRF) sensors 16 can be used to measure forces on the foot 24. In a particular embodiment, an Ultraflex system can be used. In one embodiment, six capacitive force transducers, 25 mm square and 3 mm thick, can be placed on the bottom or foot 24 of the AFO 18, two sensors beneath the heel and four beneath the forefoot region. In particular embodiments, each sensor 16 can detect up to 1000 N, and can have a resolution of 2.5, and a scanning frequency of 125 Hz. The signal from each sensor 16 can be passed through a first-order filter with a cut-off frequency equal to 5 Hz. A single foot switch, model MA-153, can be placed in the heel of a shoe worn with the orthosis to detect heel strike approximately 30 ms earlier than the Ultraflex force sensors.
Ankle biomechanics for level ground walking on smooth surfaces can be described using four distinct walking phases. In this description, only sagittal rotations are described, that is to say, dorsi and plantarflexion and not inversion-eversion movements.
Beginning with heel strike, the stance ankle begins to plantarflex slightly. This flexion, called controlled plantarflexion, allows for a smooth heel-strike to forefoot-strike transition. Recent investigations show that the torque versus angle data are spring-like with ankle torque increasing linearly with ankle position. Although a normal, healthy ankle behaves as a passive mechanical linear spring within a contact phase, the stiffness of that linear spring is continually modulated by the central nervous system from step to step. It is believed that the body adjusts ankle spring stiffness to achieve a fixed energy absorption and release at each walking speed. Data also show that energy absorption and release increases with increasing walking speed, necessitating an increase in ankle stiffness with walking speed (when the heel-strike angle remains invariant to speed variations).
After maximum plantarflexion is reached in the stance ankle, the joint begins to dorsiflex. In this particular walking phase, called controlled dorsiflexion, the ankle also is spring-like but is distinctly nonlinear; here, ankle stiffness increases with increasing ankle dorsiflexion to gradually slow tibia progression.
During late stance, the ankle begins to power plantarflex to drive kinetic energy into the lower limb in preparation for the swing phase. For moderate to fast walking speeds, about 10-20 Joules of ankle work are performed. That energy is above and beyond the spring energies stored and released from early to late stance.
As the hip is flexed, and the knee has reached a certain angle in knee break, the leg leaves the ground and the knee continues to flex. Throughout the swing phase, the swing foot continues to rotate to cancel the angular momentum of the adjacent stance foot such that the net angular momentum contribution about the body's center of mass is zero.
A finite state machine can be implemented to address each complication of an ankle foot gait pathology, such as drop foot gait. Three states were used, each with a specific control objective (
In a Contact 1 state, from heel strike to midstance, the objective of the controller is to prevent foot slap. During a Contact 2 state, from midstance to toe-off, the controller minimizes the impedance of the brace so as not to impede power plantar flexion movements. Finally, in a Swing state, spanning the entire swing phase, the user's foot is lifted to prevent toe drag. A Safe State can be used to shut off the device when any unexpected circumstances occur. The triggers or transitional parameters for the finite state machine are shown in
For a gait cycle in accordance with one embodiment, Contact 1 begins when the foot switch within the heel was compressed. In this embodiment, the transition into Contact 2 occurred when the Ground Reaction Force (GRF), equal to the sum of all six force transducers, was greater than On Ground, equal to about 60 N, and when the ankle was in dorsiflexion. The ankle was considered to be in dorsiflexion when the angle between the tibia and foot was less than 90°. In this embodiment, On Ground was set to about 60 N because this particular value reliably discerned ground contact from noise during swing. Contact 2 ended when the GRF was less than On Ground. In fact, the transition into Swing always occurred when the GRF was less than On Ground. The controller transitioned to the Safe State when any of the force or angle sensory signals went beyond a specified normal operating range. In this embodiment, the range for each force sensor was about 1000 N, the maximum force that any one sensor should measure in walking for a 90 kg person. The acceptable range for the angle sensor was about ±45 degrees, the normal operating range for the human ankle.
During controlled plantar flexion (CP), normal ankle function can be modeled as a linear rotational spring where ankle moment is proportional to ankle position. Thus, during the CP phase of walking, a linear torsional spring control can be used for the orthotic ankle joint. As a criterion for selecting a desired stiffness of the orthotic torsional spring, the controller can be used to analyze the ground reaction force generated at the moment of forefoot impact after each walking step. The extent of foot slap can be deemed too extreme, and the CP stiffness too low, if a high frequency force spike occurs at the moment of forefoot collision.
To detect the dual peaks and the occurrence of foot slap, the AAFO controller can numerically differentiate the forefoot force and then filter that signal using a second order Butterworth filter with a cutoff frequency of about 0.6 Hz. If substantial foot slap occurs, the differential of the forefoot force is negative, and the stiffness of the orthotic torsional spring stiffness can be incremented. The CP stiffness can be started at zero and incremented by the rules shown in Table I, where the incremental stiffness (ΔΓ) was 5.7 Nm/rad (0.1 Nm/deg), approximately 2% of the anticipated final ankle stiffness.
Number of slaps
in last 5 steps (n)
(n − 1) ΔΓ
Gait speed is an important step-to-step gait variation for which the AAFO 10 can respond and adapt. In a particular embodiment, the time of foot contact, defined as the time that a foot remains in contact with the ground from heel strike to toe-off, can be used as a measure of forward speed. With an expectation that orthotic CP stiffness should change with gait speed, the full range of gait contact times can be divided into bins, denoting velocity ranges. During each swing phase, stance time can be estimated from the orthotic force transducers 16, and the participant's time of contact bin, or forward speed range, can be selected. Within each bin, the AAFO controller can optimize the orthotic CP stiffness. In one embodiment, only three bins are necessary to span the full speed range of the participants.
Drop foot participants typically do not experience any difficulties during powered plantar flexion. Hence, the control objective of Contact 2 is to minimize orthotic joint impedance so as not to impede the participants' power plantar flexion movements. During this state, the SEA's 12 target force can be set to zero.
During the swing phase, a second-order, under-damped mechanical model (spring-damper PD control), previously used to characterize normal ankle function, can be used to control the orthotic ankle joint. Using the AAFO 10, each drop foot participant can walk at slow, self-selected, and fast speeds, and the swing phase ankle angle can be collected on both the affected and unaffected sides. At each speed, orthotic joint stiffness can be increased manually until the early swing phase dorsiflexion velocity measured on the affected side matched the unaffected side. Orthotic joint damping can be increased from zero until unwanted joint oscillations are removed. The final values of stiffness and damping in this particular embodiment are listed in Table II below.
The stiffness and damping values for the drop foot users are not correlated with gait speed directly, but with ranges of stance time, in the same manner to the CP stiffness control described earlier.
A clinical evaluation of the AAFO 10 was conducted in the Gait Laboratory at Spaulding Rehabilitation Hospital, Boston, Mass. Drop foot participants having only a unilateral drop foot condition were selected, and on their affected side, participants did not suffer from a gait disability other than drop foot. Both participants had an absence of strongly manifesting spasms and contractures in lower extremity joints. Finally, each participant had used an AFO for at least two years and therefore was experienced at AFO ambulation. Subjects reached a stable neurological state after the incident that caused their disability. Thus, no recovery of function was expected or found. Three normal subjects were matched for gender, height, weight, and age to the drop foot participants. Subject sex, age, mass, height, and self-selected gait speed are listed in Table III.
Gait Speed (m/s)
Kinematic and kinetic data were measured on both the affected and unaffected sides using an eight-camera VICON 512 system and two AMTI force plates. The data were processed at 120 Hz with VICON Workstation using the standard model of the lower limbs included with the software. These data were then analyzed using MATLAB.
The subjects donned the AAFO in three different control conditions: zero, constant, and variable impedance. The zero impedance control setup was implemented by setting the target force on the SEA to zero, thereby minimizing the impedance contribution of the orthosis across the ankle joint. This setup was meant to approximate unassisted drop foot gait. For the constant impedance control setup, the AAFO controller commanded a constant joint stiffness, independent of walking phase and gait speed. This joint stiffness was the converged controlled plantar flexion (CP) stiffness from the variable impedance control that minimized the number of slap foot occurrences at the self-selected gait speed. This constant impedance control condition was designed to imitate conventional AFO technology employed in the treatment of drop foot gait.
For each controller, subjects walked at slow, self-selected, and fast gait speeds. The subjects first walked at their self-selected speed using the constant impedance control setup. The amount of time required to cover a specified distance was measured using a stopwatch. Subjects were then asked to reduce their time by 25% for the fast gait speed and increase their time by 25% for the slow gait speed. These times were then matched when testing the remaining two control conditions.
A stride cycle was defined as the period of time for two steps, and was measured from the initial heel contact of one foot to the next initial heel contact of the same foot. All data were time normalized to 100% of the stride cycle. The ankle angle data during a gait cycle were fitted with a cubic spline function and then resampled to 200 samples so that each point was 0.5% of the gait cycle.
In this study, it was assumed that normal gait was symmetrical and that deviations from a reference pattern were a sign of disability. To analyze spatial asymmetry, the step length on the affected side (Laffected) was subtracted from the step length on the unaffected side (Lunaffected) The difference in stride lengths (Lsym) should be zero for symmetric gait:
L sym =L affected −L unaffected (1)
To analyze temporal asymmetry, the step time on the affected side (Taffected) was subtracted from the step time on the unaffected side (Tunaffected). The difference in stride times (Tsym) should be zero for symmetric gait:
T sym =T affected −T unaffected (2)
A multiple comparison using a one-way analysis of variance (ANOVA) was used to determine which means were significantly different for the gait symmetry. P values less than 0.05 were considered significant for all tests.
The first evaluation of the drop foot controller was to test whether the system was capable of converging to a final CP stiffness that reduced or prevented slap foot. For each of the three gait speeds, the controller was able to converge to a final stiffness value within 32 steps (
As a measure of the slap foot complication, the average number of occurrences of slap foot per 5 steps (25 steps total) were calculated for each drop foot subject, control condition, and gait speed (n=5). The participants were unable to walk at the fast gait speed using the zero force condition because it was not deemed safe. The constant impedance condition eliminated the occurrences of slap foot at the slow and self-selected gait speeds (
To quantify the reduction of the second major complication of drop foot, or toe drag, the swing dorsiflexion angular range was used. The dorsiflexion angular range was defined as the maximum plantar flexion angle during the powered plantar flexion phase of stance minus the maximum dorsiflexion angle during swing. The variable impedance control was able to increase the amount of swing dorsiflexion as compared to the constant impedance condition by 200%, 37%, and 108% for slow, self-selected, and fast gait speeds, respectively (
A constant impedance ankle-foot orthosis hinders powered plantar flexion (PP) since a dorsiflexion moment will be exerted against the foot during late stance. As expected, the constant impedance condition reduced the PP angle as compared to the zero impedance condition and the normals (
To evaluate spatial and temporal gait symmetry, the differences in step lengths (Lsym) (m) and step times (Tsym) (s) from the affected to the unaffected side were compared for each of the three control conditions (n=20). The results are set forth in Table IV below.
0.08 ± 0.07
0.09 ± 0.09
0.09 ± 0.07
0.15 ± 0.16
0.04 ± 0.06
0.02 ± 0.08
0.07 ± 0.05
0.04 ± 0.12
0.02 ± 0.07
0.00 ± 0.07
0.02 ± 0.09
0.01 ± 0.16
Both Lsym and Tsym for the variable-impedance controller were significantly smaller than the zero impedance controller for both the self-selected and slow gait speeds (p<0.05). The zero and constant impedance conditions were significantly different for the slow gait speed (p<0.05). For the fast gait speed, a comparison was not possible because the step length for both sides could not be calculated for a single walking cycle.
An active ankle foot orthosis is provided in accordance with aspects of the present invention. Zero, constant, and variable-impedance control strategies were evaluated on two persons suffering from unilateral drop foot gait. It was found that actively adjusting joint impedance in response to walking phase and forward speed reduces the occurrence of slap foot, and provides for swing phase ankle kinematics more closely resembling normals as compared to the zero and constant impedance control schemes. Furthermore, it was found that a variable-impedance control allows for greater powered plantar flexion compared to a conventional constant stiffness approach where a dorsiflexion spring impedes powered plantar flexion movements during late stance.
Although the major complications of drop foot are reduced with a variable-impedance control, the findings do not support the hypothesis that changing orthotic joint impedance will result in a more symmetric gait between affected and unaffected legs in unilateral drop foot gait. To test the hypothesis, spatial and temporal gait symmetry was evaluated according to the difference in step lengths and times between affected and unaffected sides. When using the variable-impedance control, the difference in step time and step length was not significantly different from that measured with the constant impedance control condition. However, for both gait speeds analyzed, the variable-impedance controller did improve spatial and temporal gait symmetry compared to the zero impedance control condition, whereas the constant impedance control did not.
The CP stiffness was optimized within each gait speed range, or time of contact bin. After the variable-impedance controller adapted CP stiffness across gait speed, the final stiffness at the slow speed was 36% less, and at the fast speed, 57% greater than at the self-selected speed. Thus, from slow to fast speeds, stiffness increased more than two-fold. A constant stiffness spring tuned only to the self-selected speed allowed slap foot to occur at fast walking speeds (
The primary concern for both the drop foot participants in the study was catching their toe during swing and losing their balance. With constant swing phase impedance, both users caught their toe at the fast gait speed. This was not surprising given the fact that, for normal gait, the amount of time to lift the foot and achieve toe clearance was found to decrease by a factor of two from slow to fast speeds. To achieve this time decrease with the AAFO 10, a four-fold increase in swing joint stiffness was necessary (Table II). Thus, changing orthotic joint impedance with gait speed, in order to lift the toe during swing, appears to be a desired control feature of the variable-impedance AAFO 10.
Normal ankle function has been modeled as a linear spring during controlled plantar flexion, and as a non-linear, stiffening spring during controlled dorsiflexion. Throughout the swing phase, the ankle has been represented by a linear torsional spring and damper. Given these differences in ankle function within a single gait cycle, an assistive ankle device, acting in parallel with the human ankle-foot complex, should ideally change its impedance in response to walking phase. To this end, a state controller was used in the AAFO 10, and joint impedance was modulated in response to walking phase.
During the controlled plantar flexion phase of walking, or Contact 1, a linear torsional spring control was employed where the stiffness was adjusted to prevent slap foot. From mid-stance to pre-swing, or the Contact 2 state, a zero impedance control was implemented so as not to impede normal powered plantar flexion movements. Finally, during the Swing state, a spring-damper PD control was implemented to provide toe clearance. The primary difficulty with the constant impedance control was the reduction of powered plantar flexion movements (
The variable-impedance controller should have a similar maximum power plantarflexion angle as the zero impedance condition since both controllers were designed to not impede late stance power plantarflexion movements. However, this behavior was not observed (
In alternative embodiments, FES can be used to treat ankle foot gait pathologies, including drop foot gait. Instead of using a synthetic motor to vary ankle impedance, the muscles of the patient can be electrically stimulated to achieve desired ankle impedances as described herein. That is, a FES controller can be used to actively modulate ankle impedance to achieve a linear torsional spring during controlled plantar flexion to minimize forefoot collisions with the ground, minimize impedance during late stance, and achieve a spring-damper during a swing phase. Recent theoretical and experimental investigations have found that a positive force feedback FES control results in robust, spring-like muscle operations. Hence, for the stance phases of walking where a spring-like response is desired, a positive force feedback strategy can be employed. Here muscle or tendon force is the feedback sensory signal. The greater the force borne by the muscle-tendon unit, the greater is the muscle activation. This approach is not only robust to variations in muscle force-length and force-velocity curves, but is a control that rejects system energy disturbances as an emergent response.
While this invention has been particularly shown and described with references to various embodiments thereof including treatment of drop foot gait, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention encompassed by the appended claims. For example, the devices and methods can be used to treat a variety of ankle foot gait pathologies, including patients suffering from anterior and/or posterior muscle weakness(es).
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|US9060884||May 3, 2011||Jun 23, 2015||Victhom Human Bionics Inc.||Impedance simulating motion controller for orthotic and prosthetic applications|
|US9066817||Jun 1, 2012||Jun 30, 2015||Victhom Human Bionics Inc.||High torque active mechanism for orthotic and/or prosthetic devices|
|US9066819||Mar 18, 2013||Jun 30, 2015||össur hf||Combined active and passive leg prosthesis system and a method for performing a movement with such a system|
|US9078774||Aug 12, 2010||Jul 14, 2015||össur hf||Systems and methods for processing limb motion|
|US9149370||Aug 5, 2013||Oct 6, 2015||Massachusetts Institute Of Technology||Powered artificial knee with agonist-antagonist actuation|
|US9211201||Mar 15, 2013||Dec 15, 2015||Iwalk, Inc.||Hybrid terrain-adaptive lower-extremity systems|
|US9221177||Apr 18, 2013||Dec 29, 2015||Massachusetts Institute Of Technology||Neuromuscular model-based sensing and control paradigm for a robotic leg|
|US9259343||Mar 15, 2013||Feb 16, 2016||Newman Technologies LLC||Device for mitigating plantar fasciitis|
|US9271851||Feb 28, 2011||Mar 1, 2016||össur hf.||Systems and methods for actuating a prosthetic ankle|
|US9295576 *||Sep 28, 2011||Mar 29, 2016||Orthocare Innovations Llc||Computerized orthotic prescription system|
|US9333097||Jun 28, 2011||May 10, 2016||Massachusetts Institute Of Technology||Artificial human limbs and joints employing actuators, springs, and variable-damper elements|
|US9339397||May 21, 2014||May 17, 2016||Massachusetts Institute Of Technology||Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components|
|US9345591||Nov 15, 2013||May 24, 2016||össur hf||Control system and method for a prosthetic knee|
|US9351856||Sep 24, 2013||May 31, 2016||Iwalk, Inc.||Hybrid terrain-adaptive lower-extremity systems|
|US9351900||Sep 17, 2013||May 31, 2016||President And Fellows Of Harvard College||Soft exosuit for assistance with human motion|
|US9358137||Jun 14, 2010||Jun 7, 2016||Victhom Laboratory Inc.||Actuated prosthesis for amputees|
|US9492302||Aug 15, 2012||Nov 15, 2016||North Carolina State University||Apparatus and clutch for using controlled storage and release of mechanical energy to aid locomotion|
|US9526635||May 2, 2013||Dec 27, 2016||Victhom Laboratory Inc.||Actuated leg orthotics or prosthetics for amputees|
|US9526636||Aug 26, 2010||Dec 27, 2016||Victhom Laboratory Inc.||Instrumented prosthetic foot|
|US9539117||Oct 21, 2014||Jan 10, 2017||Massachusetts Institute Of Technology||Method for controlling a robotic limb joint|
|US9554922||Sep 1, 2009||Jan 31, 2017||Bionx Medical Technologies, Inc.||Hybrid terrain-adaptive lower-extremity systems|
|US9561118||Feb 24, 2014||Feb 7, 2017||össur hf||Prosthetic foot with enhanced stability and elastic energy return|
|US9693883||Dec 20, 2013||Jul 4, 2017||Bionx Medical Technologies, Inc.||Controlling power in a prosthesis or orthosis based on predicted walking speed or surrogate for same|
|US9707104||Mar 12, 2014||Jul 18, 2017||össur hf||Prosthetic ankle and method of controlling same based on adaptation to speed|
|US9717606||Jun 18, 2015||Aug 1, 2017||össur hf||Combined active and passive leg prosthesis system and a method for performing a movement with such a system|
|US9730824||May 22, 2015||Aug 15, 2017||Victhom Laboratory Inc.||High torque active mechanism for orthotic and/or prosthetic devices|
|US9737419||Nov 2, 2012||Aug 22, 2017||Bionx Medical Technologies, Inc.||Biomimetic transfemoral prosthesis|
|US20100280629 *||Nov 10, 2008||Nov 4, 2010||Advensys, Llc||Neuromorphic controlled powered orthotic and prosthetic system|
|US20120136459 *||Nov 18, 2011||May 31, 2012||Hugh Herr||Active ankle foot orthosis|
|US20120255160 *||Sep 28, 2011||Oct 11, 2012||Orthocare Innovations Llc||Computerized orthotic prescription system|
|International Classification||A61F2/66, A61F5/01, A61B5/103|
|Cooperative Classification||A61H2205/10, A61H2201/12, A61H2003/007, A61H3/00, A61F2/68, A61F5/0113, A61B5/4528, A61B5/4523, A61B5/4519, A61B5/1071, A61B5/1038, A61F5/0127, A61F2002/701|
|European Classification||A61F5/01D5, A61F5/01D1D2, A61B5/103P2|
|Mar 22, 2004||AS||Assignment|
Owner name: MASSACHUSETTS INSTITUTE OF TECHNOLOGY, MASSACHUSET
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HERR, HUGH;BLAYA, JOAQUIN;PRATT, GILL A.;REEL/FRAME:015112/0483;SIGNING DATES FROM 20040305 TO 20040309
Owner name: MASSACHUSETTS INSTITUTE OF TECHNOLOGY, MASSACHUSET
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HERR, HUGH;BLAYA, JOAQUIN;PRATT, GILL A.;SIGNING DATES FROM 20040305 TO 20040309;REEL/FRAME:015112/0483
|Jun 15, 2015||FPAY||Fee payment|
Year of fee payment: 4


Lords Reform 'not a priority' for British voters
Thursday 19 July 2012
There is broad support for reform of the House of Lords among British voters - including supporters of all three major parties - but very few think it should be a priority for the Government, according to a poll released today.
Overall, around eight in 10 (79%) of the people surveyed by pollsters Ipsos Mori support the idea of reforming the Upper House of Parliament. But just 7% said it should be a priority, with 72% saying there are other more important things the Government should concentrate on.
Differences over Lords reform have imposed massive strain on the coalition Government, with Nick Clegg urging David Cameron to bring Conservative rebels into line over a bill which has become the centrepiece of the Liberal Democrats' constitutional programme since the failure of the AV referendum.
But the poll found that even Lib Dem voters do not think the issue should be high on the Government's agenda - some 74% said Lords reform was not an immediate priority, compared with 74% of Labour voters and 70% of Conservatives.
Support for reform is highest among Liberal Democrats at 87% and lowest among Conservative supporters at 75%. About one in six people (16%) said they do not support reforming the House of Lords at all.
Gideon Skinner, head of political research at Ipsos Mori said: "Although a clear majority like the idea of Lords reform, we know that the economy is by some way the number one priority for the British public, while concern about unemployment is growing.
"What's remarkable is the consistency across all age groups, classes, and party support who say there are more important things for the Government to be concentrating on."
Tory rebels inflicted a possibly fatal blow on the House of Lords Reform Bill earlier this month when they forced Mr Cameron to drop a motion which would have limited debate on the legislation to 10 days. Without a timetable, the Bill is in grave danger of being "talked out" by opponents, and the Prime Minister has said he will have "one more try" to secure a limit in September.
:: Ipsos Mori interviewed 1,006 adults across Great Britain between July 14 and 16.
- 1 Notting Hill Carnival: Woman shares selfie after being ‘punched in face for telling man to stop groping her’
- 2 Joan Rivers: 'Palestinians deserve to be dead'
- 3 Daily Show's Jon Stewart destroys Fox News for its Ferguson coverage
- 4 Botched ice bucket challenge leaves man critically injured after plane drops hundreds of gallons of water
- 5 Friends reunion: Jennifer Anniston, Lisa Kudrow and Courteney Cox perform mini sketch on Jimmy Kimmel Live
Notting Hill Carnival: Woman shares selfie after being ‘punched in face for telling man to stop groping her’
YouTube video posted by Isis militants shows 'execution of 250 Syrian soldiers'
Joan Rivers: 'Palestinians deserve to be dead'
Daily Show's Jon Stewart destroys Fox News for its Ferguson coverage
Botched ice bucket challenge leaves man critically injured after plane drops hundreds of gallons of water
Exclusive: We share blame for creating 'jihad generation', says Muslim strategist
Robin Williams Emmys tribute led by Billy Crystal criticised for including 'racist' joke about Muslim woman
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Scottish independence TV debate: Pumped-up Alex Salmond bounces back in bruising second round against Alistair Darling
Do you realise just how foolish the UK looks?
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(NewsNation) — The Big Ten college football conference is poised to strike one of the biggest media deals ever for college sports, and now, players are banding together to get what they consider their share of the revenue.
“There is a massive, massive, massive media rights deal on the table that players will see none of, unless people do something about it,” Justin Falcinelli, a former Clemson football player, said Monday on “NewsNation Prime.”
Falcinelli is a member of the College Football Players Association, created last year to help players organize and fight for their rights. He and members of the organization had been meeting, secretly, with members of the Penn State football team, and came up with a list of demands for the Big Ten, including a share of the media revenue.
While the NCAA prohibits athletes from receiving salaries for playing sports at their school, players became eligible last year to start making money off their name, image and likeness. But this is different, with athletes seeking a slice of their schools’ share in the media deal, which could be worth up to $100 million per school.
“We have incredible buy-in from the team there and still do,” Falcinelli said of the organization’s efforts at Penn State. “We really believe the majority of the team believes in what we are doing and believes in an outside player-run organization to help with these negotiations.”
Jason Stahl, executive director of the organization, said he had spoken and negotiated with Kevin Warren of the Big Ten, which invited him to the Big Ten media days in Indianapolis. But that changed abruptly this past weekend, when Stahl said he was told by email that the Big Ten would “not be able to accommodate the CFBPA’s request (for) attendance in Indianapolis.”
Warren did not respond to requests for comment. But in a statement over the weekend, Warren said the conference is in the process of creating a student-athlete advisory committee “to seek input … about the changing landscape of college athletics.”
“This is about the players getting a seat at the table,” Stahl said. “We’re going to create a movement to do it one way or the other.”
Stahl says they are not a players union, but just might go that route.
“I’ve been at this for eight years,” Stahl said. “I’m not giving up.”


Marshals: Tiger lied about Garcia incident
Marshals say Tiger lied about talking to the course marshals before he pulled a club and distracted Sergio Garcia at the Players Championship. If Tiger Woods lied, it's the third incident involving his integrity in recent weeks.
(AP Photo/Gerald Herbert)
Ponte Vedra Beach, Fla.
Tiger Woods has faced more scrutiny that any other golfer from his generation. Maybe ever. Just not this variety.
Now it's his integrity on the golf course that's being questioned.
Tiger Woods won The Players Championship on Sunday for his fourth victory this year. Making it even more memorable, Woods ended his public spat with Sergio Garcia by posing with the crystal trophy. They were tied with two holes to play, and Garcia hit three shots in the water.
That all seems like B-material compared with the buzz over course marshals statements that contradict Wood's version of events with Garcia. Essentially, they say he lied. And then there's the drop Woods took on the 14th hole of the final round.
He hit what he called a "pop-up hook" with a 3-wood from the tee, and the ball landed in the water left of the fairway. Consulting with Casey Wittenberg, he dropped it some 255 yards short of the green. Woods then hit a remarkable shot short of the green, pitched on and missed a 6-foot putt to take double bogey.
The Internet has been alive with video showing the ball's flight on the 14th, along with analysis dissecting what was and was not said by a TV analyst, and seemingly endless theories how the ball could possibly have crossed land where Woods took his drop.
The chatter won't stop, even though there is nowhere to go with it. Consider this statement put out by Mark Russell, the tour's vice president of competition: "Without definitive evidence, the point where Woods' ball last crossed the lateral water hazard is determined through best judgment by Woods and his fellow competitor," the statement said.
Woods conferred with Wittenberg, his playing partner.
"I saw it perfectly off the tee," Wittenberg said. "I told him exactly where I thought it crossed, and we all agreed. So he's definitely great on that."
And if video suggests otherwise?
Decision 26-1/17 says a penalty would not be appropriate because it comes down to an honest judgment.


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domain: design


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I wrote this post a year ago but Makers at the Mill is on again now so am re-posting with details of this year's exhibition in the text.
Coming out of the tube at Bromley-by-Bow station in East London you are faced with a thundering dual carriageway and a mammoth supermarket looming over the road. However within yards of this scene you are in another world.
Cross the road by the underpass, walk towards the supermarket (you can't miss it and there is also a sign for Three Mills). Turn right into Three Mill Lane, walk past the supermarket car park and to the left you will see a road with a barrier across it. This is where you need to go. Full directions can be found here.
I had heard of Three Mills Lane and Three Mills Studios but had no idea that two of these three mills would still exist. House Mill was built in 1776 and although no longer working (it stopped producing flour in 1941) it is the largest existing tidal mill in the world. The other surviving mill is Clock Mill which isn't open to the public. They are both on the banks of the River Lea (and at the edge of the Olympics site).
I first visited House Mill in July 2012 as my friend, designer Jane Young (half of Darrieulat and Young) had invited me to the private view of Makers at the Mill.
This year's exhibition (showing work by designers and artists inspired by the Mill) is on again now and I popped along yesterday, 20th July. Having bought one painting already this week at a charity sale, I could very easily have bought another if my bank balance had allowed it. I particularly liked the paintings by Mary Swan - which were very atmospheric.
The exhibition is on until 28th July and opening times and location are shown on the picture below. Note: if you go along today (21st July) - there is no District Line service operating but there is a replacement bus which I took yesterday from Canning Town only 5 minutes' journey away. They are open until 4pm on Sundays.
Although I discovered this a year ago it is still a complete and welcome shock to come off the busy dual carriageway and emerge into another world.
The author of this blog (Joanna
Moncrieff) is a qualified City of Westminster Tour Guide who
specialises in food and drink themed walks in the West End.
Details of all her bookable private walks are listed here and upcoming public walks are here.
Labels: exhibitions, hidden London, River Lea, Three Mills

domain: geography


Lana Lane — Love Is An Illusion
(ThinkTank, 1995, CD)
by Peter Thelen, Published 1996-03-01Remember an album called Passionworks by Heart? With that given as a basic reference for most of the songs on vocalist Lana Lane's album, there are some slight diversions, mostly in the instrumentation and arrangements. The sound is essentially commercial hard rock with moody and mysterious vocal presence. She has her Ann Wilson moves down cold, and for the most part I like what I hear, but I wouldn't call it progressive rock in a minute. The tunes are original — despite the derivative style, and very memorable — almost anything here could easily be a hit with the right video. But that's not what we talk about here in Exposé‚ so I'll leave the call on this one up to the reader's tastes in mainstream rock. If you like that 80s Heart/Pat Benatar type sound, then by all means, go for it.
Related artist(s): Lana Lane
New Aristocrats Live Album on the Way – No foolin'! These supreme musicians toured Europe early in 2020, just before touring ceased to be a thing musicians could do, and there were some hot performances captured. On May 7, some of these will be releases as Freeze! Live in Europe 2020. » Read more
Jewlia Eisenberg RIP – The sad news has come out that Jewlia Eisenberg has died. As a founding member of Charming Hostess, Eisenberg changed the face of music, bringing together Balkan klezmer, American folk, and experimental rock in a distinctive blend that garnered much praise. » Read more
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You’re going to love these potato chips in the air fryer! Light and crispy, with tons of flavor, they’ll soon become one of your favorite snacks. And I’ll share how to turn them into truffle potato chips with the addition of a couple of ingredients.
We purchased a glorified air fryer over a year ago and we mainly use it for baking and toasting things. Don’t get me wrong, getting the Breville Smart Air Oven Air has completely changed our cooking game at home, but I definitely don’t use it for air frying as much as I thought I would.
But I wanted to change that in 2021! Since we continue to spend most of our time at home, and I am getting pitifully bored of everything in my normal cooking routine, I decided to try making homemade potato chips in the air fryer! We were NOT disappointed in how they came out.
Ingredients needed for homemade potato chips in the air fryer
- 2 medium sized Idaho or Russet potatoes, washed and thinly sliced. Peeling first is optional
- Cooking oil to toss, as well as spray for the basket or tray of your air fryer (I used Canola)
- Salt and pepper
- Optional shredded parmesan and truffle powder if you’d like to make truffle potato chips
How to make potato chips in the air fryer
Making homemade potato chips are a bit of work up front, mainly in the department of slicing and soaking. However, I promise the end result will be worth it! Especially if you eat them warmed, right out of the air fryer. Plus, you really won’t feel “guilty” eating them by the bag full.
Begin by slicing your potatoes very thin. Of course you can do this by hand, but I prefer using a mandolin on the thinnest blade setting. This makes it go super quick and efficiently. You can also use a food processor with the slicing attachment, however, your slices won’t be as thin.
Next is a crucial step. You will need to soak your potatoes in cool salted water to help wash off the starches. Soaking them in the salted water also helps to infuse more flavor, working just like a brine for chicken! Don’t be shy with the salt; for my batch of 2 medium sized potatoes, I used about 2 tablespoons of kosher salt for about ½ quart of standing water. Allow your potatoes to soak for 30 minutes to an hour if you have the time.
After soaking, drain the water and rinse the potatoes under running water a couple of times to ensure they’re well rinsed, then begin laying them out to dry.
You’ll want to thoroughly dry your potatoes as best you can before putting them to air fry. This will ensure a crunchier texture. You can toss them dry in a kitchen towel, or lay them out in a single layer of a paper towel lined baking sheet. Speed up the drying process by patting them dry with another paper towel.
Once dry, toss the potato slices in a bowl, along with about 1 tablespoon of oil and your seasonings. For 2 medium sized potatoes, I added a good pinch of Kosher salt, and a small pinch of pepper. I also added 1 teaspoon of Trader Joe’s Truffle Powder Seasoning. Being this was the first time I was using this seasoning, I wasn’t sure how pungent it was going to be, so I was conservative.
What I did find after making a couple of batches, was that it works wonderfully when sprinkled straight on the air fried chips! So to accommodate personal taste preferences, I advise adding 1 teaspoon to the batch before cooking. This will give you just a hint of truffle flavoring. If you’d like a more intense flavor, sprinkle additional seasoning on after air frying.
Cooking in the air fryer
I have the Breville Smart Oven Air Fryer. There is a big debate whether a basket air fryer cooks as well as an oven air fryer, but from what I’ve read, a lot depends on the brand. With that being said, my Breville air fryer holds heat really well and cooks quickly and efficiently. I experimented and found that cooking them at 335 degrees for about 15 minutes was the ticket. Make sure to check them half way between though, and toss the chips around a bit to ensure even cooking. Remove any smaller sized pieces that have already fried up well.
If this is the first time making potato chips in your air fryer, I suggest you stand close by and keep an eye on them. The first batch I made according to a popular online recipe, overcooked my chips. I then lowered the temperature for the second batch and cooked a few minutes less. All this to say, you may have to experiment to get the exact temp and time for the end result you prefer!
Tips for making homemade potato chips in the air fryer
Like I said, I did a lot of experimenting to get these potato chips just right! Here are a few tips that will help make your batch of air fryer chips come out great!
Why I suggest using Idaho or Russet potatoes
These type of potatoes have a higher starch to water content, so the potato chips will come out crispier. Waxier varieties, such as red and fingerling potatoes, have more water and are unlikely to produce crispy and crunchy results!
I have a basket air fryer. Any suggestions on what time and temperature to use?
From digging around the web, it appears that cooking in a basket air fryer at 350-360 for 15 minutes is a very popular time that produces good results.
Why do your homemade air fried potato chips look a little uneven in color?
Your end texture should be crispy and slightly golden brown. Don’t be alarmed if the chips become more browned on the edges than in the center. This is totally normal and to be expected. I’ve now made several batches, and I’ve never once had them cook to a perfectly even color.
I’m not sure I’ll like truffle potato chips! Any other seasoning suggestions?
I got the idea to make these because I absolutely LOVE the white truffle potato chips from Trader Joe’s. But I know truffle flavoring is not everyone’s jam! It’s super easy to swap out other seasonings to make a totally different flavor potato chip! Try garlic salt, lemon pepper, or a combo or dried herbs and sea salt. Rosemary and kosher salt would be amazing! Parmesan and garlic salt would also be a winning combination.
Are air fryer potato chips really healthier than deep fried?
Air fryer potato chips have 60 percent less fat than their store-bought counterparts. And according to some research, this cooking method might also cut down on some of the other harmful effects of oil frying. “The reaction that happens when you fry potatoes or other starchy foods makes the chemical acrylamide, which research links to greater chances of getting cancer. One study shows that air frying lowers the amount of acrylamide in fried potatoes by 90%.”
The most important tip for making homemade potato chips in the air fryer
The single most important tip I can tell you, is to keep an eye on your potato chips when you make your first couple of batches, checking on them 2-3 times throughout the cooking process. It seems every air fryer brand cooks a little bit differently, so to get your chips just right for your particular machine, will require monitoring at first.
Even if you set your oven just a bit too high at first, you can always cut down on cooking time if need be. Once you find your perfect cooking combo, make sure to write down the temp and time you found to work best.
The good news is, potatoes are relatively cheap, so even if you overcook one batch, the only thing you’ve really lost is a bit of time 🙂
Store any leftovers (haha, there likely won’t be any!) in a paper bag in a cool dry place.
Potato Chips in the Air Fryer
Potato Chips In the Air Fryer (optional truffle flavoring)
- Air Fryer
- 2 Idaho potatoes or Russet, thinly sliced, with or without peel
- 1 tablespoon Canola oil
- 2 tablespoon Kosher salt plus more for seasoning
- ½ quart Water
- Large pinch of kosher salt and small pinch of pepper
- 2 teaspoon Truffle powder optional
- 1 tablespoon Grated parmesan cheese optional
- Cooking spray
- Wash potatoes and peel if you wish. Thinly slice in a food processor or mandolin. Add to a medium bowl, and fill with water. Add 3 tablespoon of kosher salt and allow to soak for at least 30 minutes.
- Rinse potatoes thoroughly and thoroughly pat dry.
- Toss dry potato slices in a medium bowl with 1 tablespoon of oil, and a large pinch of kosher salt and small pinch of pepper. Add 1 teaspoon of the truffle powder if using.
- Lightly spray the basket or tray of your air fryer, and place potatoes in a single layer.
- Cook at 335 for approximately 15 minutes, making sure to check potatoes 2-3 times throughout the cooking process. Gently toss any slices that may be getting stuck together, and remove any pieces that are getting overcooked.
- When air frying is complete, toss with more truffle powder to your liking, and add parmesan cheese and more salt to taste. Serve immediately.

domain: food


Download the User Guide
The Ambisonics Plugin introduces ambisonic and binaural recording, playback, and monitoring capabilities to the MixPre-6 II and MixPre-10 II in 16 or 24-bit depths.
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text: This paper is Part 1 of a five-part series covering practical issues in the performance of decision analysis. The intended audience is individuals who are learning how to perform decision analyses, not just read them. The series assumes familiarity with the basic concepts of decision analysis. It imparts many of the recommendations the authors have learned in teaching a one-semester course in decision analysis to graduate students. Part 1 introduces the topic and covers questions such as choosing an appropriate question, determining the tradeoff between accuracy and simplicity, and deciding on a time frame.

domain: library


text:
The older we get, the more likely we experience a decline in our mental health. As our minds start to wander, we can become confused and forgetful. A simple home care plan might be unable to fix this. It takes special attention from trained team members who understand how to work with the needs of people with dementia and other cognitive issues.
That’s why it is crucial to consider getting some help with your memory to continue living at home safely and independently. But with so many different options, how do you know which is right for you? In this blog post, we’ll discuss what makes memory care in Collegeville, PA, better than home care in helping the elderly maintain their independence while preventing fall-related injuries or death.
A fall can happen in the blink of an eye, so being prepared is vital. The right equipment can help you maintain your safety and independence. Even if you’re not recovering from a recent fall, it’s never too early to start preparing for the future.
The following types of equipment are most common in memory care:
- Walkers: A walker helps prevent people with balance issues from falling over while walking around their home or other locations outside their residence. Suppose you’ve been diagnosed with Parkinson’s disease or another condition affecting your mobility. Your doctor may recommend a walker as part of your treatment plan. A walker is easy to use and allows older adults who cannot rely on their legs for support to remain upright during daily activities.
- Cane: A cane provides extra stability for people who have trouble maintaining their balance independently after being diagnosed with conditions like Parkinson’s disease.
- Wheelchairs: Some older individuals need wheelchairs because they can’t move around without assistance due to limited mobility caused by conditions such as degenerative joint diseases (arthritis), multiple sclerosis (MS), spinal cord injury, or stroke.
These pieces of equipment can help elderly adults maintain independence while providing the support they need to stay upright.
Individualized Care Plans
A care plan is a customized document that outlines each resident’s specific needs and preferences. Healthcare professionals develop care plans with residents, their family members, and the team members who provide care. They review this plan regularly to ensure it remains relevant, up-to-date, and modified based on the resident’s changing needs.
Memory Care Communities Have Staff Dedicated to Keep Residents Safe
Memory care is different than regular home care in many ways. Senior-friendly independent living communities have specialized equipment, designed living spaces, and professionals. They also offer specialized care plans, programs, and outings designed for residents with memory loss.
What does this mean for you? Say your loved one needs support with daily activities like bathing and dressing or if they experience sudden changes in mood or behavior due to memory issues. A change of scenery might offer a fresh breath of air!
The right community can provide more personalized health care and keep your loved one safe from harm. That way, they can enjoy the later years of their life comfortably and safely.
If you’re looking for the best way to take care of your loved ones, Memory Care is the answer. If you need a memory care provider, we’d be happy to help! Don’t hesitate to contact us today.

domain: medical


Are your energy bills too high? Donâ€™t you know why you pay so much for your energy?
Polyteck Building Servicesâ€™ professional energy survey will save you a lot of energy and money.
Polyteckâ€™s experienced engineers have designed a professional energy survey for the most efficient energy usage in your buildings and property.
In an average household the biggest energy consumers are:
- Space Heating (31%)
- Space Cooling (12%)
- Water Heating (12%)
- Lighting (11%)
- Computers and Electronics (9%)
- Appliances (9%)
- Refrigeration (8%)
- Others (8%)
At first our engineers record data of your energy consumption and your habits over a certain period of time. With the power (wattage) and the duration (time) of how long the appliances are running, our experts can calculate how many energy you use: kW x hrs = kWhrs.
This consumption-survey includes all your appliances.
With this survey you can immediately see where you can switch off appliances which donâ€™t need to run all the time.
Next our engineers will have a closer look at each appliance. Some of your energy consumers might be quite old and it can make sense to exchange them with a new one that is more energy efficient and less energy-consuming. Our energy system designers give you also recommendations of the most energy efficient appliances on the market.
Besides the appliances we will also have a closer look at the architectural design, e.g. it might make sense to insulate your walls for keeping the heat in the building in the winter.
Our experts also consult you in all kind of questions of energy generating for example you may think of installing solar panels on your roof.
What are you waiting for? Polyteck Building Services offers first class energy survey for you.


text:
|05-03-2003, 11:12 AM||#1|
Join Date: May 2002
Project A, currently at the final stages of Beta, is open for players. If you wanna try a different kind of MUD, keep reading.
The game is a modern/futuristic PK MUD, where players build their own militairy base from (Currently) 48 different types of structures and 3 different technology trees (You can only have one), in a giant 900X900 map (810,000 Rooms overall!), and set out to destroy other players and their bases using a variety of weapons, vehicles and technology.
The game features:
* 48 Different Types of Buildings to build, including Warps, Jammers, Radars, Nuke and SCUD Launchers, air fields, medical centers and Bio Labs. Each building can be upgraded using scavenged parts from enemy buildings you have destroyed for better efficiency. By popular demand, players can now even build a Cookie Factory!... Yeah, you get a nice Cookie Launcher and exposive cookies with it :P
* MCP, MSP and MXP for improved gameplay (For clients which support those protocols - You could place your mouse pointer over a building on the map, and it would give you its coordinates, owner and type, for example, hear clicks when you try to fire with an empty clip, and buildings explode when you destroy them)
* A completely new combat system - Not the regular round-based fighting, but ranged combat, focusing on speeds depending on the types of weapons you use.
* Automated quests allow players to gather special building upgrades, blueprints, armor and other great stuff.
* Roam the land inside a Jeep, Tank, BBQ Tank, Raptor, B52 or Chinook which you build and customize! Each vehicle has its own statistics, speeds, weapons...
* Use Grenades, C4, guns (From Pistols to Magnums), Lasers, Bazookas, Acid sprayers... *takes a deep breath*... SCUDs, Nukes, Siege cannons, teleporter suits, grenades, flash grenades, sniper rifles and anything else you can come up with (they'll probably be added) in order to take out your opponents. Each weapon has its own range and can be customized to your own needs.
* Actual armor - Not the regular MUD Armor that one piece can protect you from all the types of damage you take. Here, a bulletproof vest will protect you from bullets who hit you in the body, but won't help you against a person wearing a bomb with a deadman switch (That explodes as soon as he dies).
* Weekly (At least) missions, where the players get a chance to compete for prizes by blowing up a specially generated base.
* An Arena Pit where players can battle it out freely without having to spend time searching for eachother.
* A High-Scores table - When you die, you enter the high scores, and can show off to your friends later :P
* No levels give even the newest player a chance at killing the strongest. No super-powered players.
* 8 Classes, each with a unique advantage.
* Once you log out, you are safe. Unlike similar games where you can log off, and log on the next day only to see your entire empire burned, you are safe from harm once you log off - Your objects save through reboots and everything...
If you like games that require you to stay on your toes, this is the MUD for you. If you like games where you have to plan your strategy instead of mindlessly go out and PK, this is the MUD for you.
If you'd like to RP your way into fear and respect... I'm surprised you're still reading this post :P
So log in to fredrik.homelinux.org 3003, and create a character. The thrill is just around the corner.
|Time for some firepower! - Similar Threads|
|Thread||Thread Starter||Forum||Replies||Last Post|
|Mud time||makila||Tavern of the Blue Hand||8||04-13-2012 05:52 PM|
|Time and You||Ilkidarios||Tavern of the Blue Hand||43||10-13-2005 10:51 AM|
|The Perfect Time||Lazerous||Advertising for Staff||0||07-16-2005 07:38 AM|
|Next reset time||Cogline||Bugs and Suggestions||1||10-02-2002 12:57 PM|
|How much time do you keep on the 'net?||Ruobhe||Tavern of the Blue Hand||8||09-26-2002 03:07 AM|

domain: hobby


Saskatoon police are investigating after two women reported being sexually assaulted after having their drinks tampered with.
One of the women says she was at an establishment on the 1300 block of 8th Street East with the other woman saying she had been at an establishment on the 10 block of 24th Street East. It is not known if the alleged assaults happened there or at another location.
Saskatoon police say the two incidents are not believed to be related and that while they don’t want to scare anyone, they do want to let people know what is happening and to be safe when going out.
Police are reminding those who go out to not accept drinks from strangers or leave their drinks unattended.


text:
He was a versatile and very sophisticated artist who drew inspiration from his home environment, in particular the lives and hardships of domestic folk. He acknowledged the importance of art and how it influenced the identity of the Kočevska region leaving his indelible mark through his works. It could be said that the town of Kočevje became his forma viva, as his artworks, the most recognizable of which is The Girl with a Whistle, have been accompanying the throbbing town on a day-to-day basis for decades.
Stanislav (Stane) Jarm was born in a carver’s family in 1931 in Osilnica. The grandfather on his father’s side, the father and brother were fine artists, and the grandfather on his mother’s side was a church painter, and that is why Jarm became fascinated with carving already as a child. Having finished the studies in sculpture at the Academy of Fine Arts in Ljubljana and sculpture specialization in 1956 his path brought him back to Kočevje, where he taught art class at the elementary school, and for several years also art history at the Kočevje Grammar School. He was one of the initiators who established Kočevje Art Salon where he exhibited his works on several occasions. In particular he was active in the fields of sculpture, graphics and drawing. He has received numerous awards and honorary titles for his work.
After returning to Kočevje, Stane Jarm first devoted himself to producing clay statues and he soon dedicated himself wholeheartedly to wood. He first worked it with a chisel and he moved on to using an axe and later a chainsaw that was to become his main tool of trade. It was the very use of carpenter’s tools that marked his expressionistic and recognisable style. In a 2002 interview, Stane Jarm said: “The chosen tool influences the character of the produced artwork. I am keen on using the chainsaw because it is fast and efficient. With it, I can quickly follow my own ideas and flashes of imagination, sensations. I wasted a lot of time in work, but then I wanted to do what the “free” could do slowly and peacefully. I am always in a hurry, so I had to adapt the tool of choice. I had the strength from the time I spent at home. I liked to cut grass with a scythe. I like to work with the chainsaw because it leaves raw, rough strokes on the wood, the same way suffering and hardships leave traces on people.” (Jarm in Gregorčič, 2002).
Suffering as a motif and source of inspiration
He found the motifs that pervaded his work in his native Kolpa valley, in the forests, life and hardships of the local inhabitants – particularly mothers, widows, children and people taken hostage during the 2nd World War. He was also very upset by post-war atrocities. “My motifs can be traced back to experiences from my childhood environment. The motifs I use include war, cruelty of violence, suffering of people, death as well as youth and song. This is something I went through myself or sensed it in people in my close surroundings and felt it as part of the human destiny. I respect human suffering, sorrow and delight. I would like to help to make the world a place that isn’t filled with so much woe. However, I cannot do it otherwise than by talking through my wooden figures.“ (Jarm in Gregorčič, 2002).
Mr Jarm’s view on suffering is captured in his sculptures depicting the suffering Christ: “»For me, Christ is not just the character as portrayed in Christianity, but is rather a semblance of a suffering human being … Observing Christ’s suffering I thought that the suffering people go through is similar.” (Jarm in Ognjišče, 2011). Jarm’s works are not only suffused by the aesthetic value, but also carry with them a deep message. He expressed the pain he felt in connection with the post-war events in his work Suffering of Slovenians depicted through the Way of the Cross which stands on the path towards the graves under Kren in Kočevski Rog, and at the same time he wanted to appeal to forgiveness of injustice and atrocities that occurred with the mass post-war massacres in Kočevski Rog. It is right in the appeals for reconciliation where the greatness of Stane Jarm, not only as an artist but also as a human being, can be felt.
As an homage to Jarm’s creativity, the Municipality of Kočevje in 2011, the year in which he was to celebrate his 80th birthday, proclaimed Jarm’s Year. Unfortunately the artist passed away before reaching his jubilee. From 2012, the Municipality of Kočevje awards the Girl with a Whistle award to the people that achieve top-notch results with a national or international renown and essentially contribute to the artistic, scientific and cultural development of Kočevska region. The award got its name after Jarm’s sculpture Girl with a Whistle that stands besides the Parish Church of St. Fabian and St Sebastian and St Bartholomew Church in Kočevje. The first Girl with a Whistle award posthumously went to Stanislav Jarm.
The statue of a girl with a whistle
Jarm sculpted Girl with a Whistle in 1959 at the request of Janez Rigler, the then Kočevje Mayor. However, the Mayor did not obtain the approval from all political notables before he ordered the statue, thereby the girl statue had to wait to be put on display for four years. In 1963, they incorporated it in the fount with a shallow basin to which water has flown from her whistle in arches. It stood in front of the “single’s home” for more than 30 years, but then it had to be removed because of the damage it suffered through vandalism. It was returned to its place when the architect Beno Urh created a special base for it to finally save her from the clutches of hooligans. In addition, The girl with a whistle has a twin sister that has been standing in front of the Prešeren Theater in Boljunec near Trieste. A copy of the statue has been donated to the Municipality of Dolina by the twin Municipality of Kočevje in 1988.
Stane Jarm Trail
At the proclamation of Jarm’s year (2011), the Municipality of Kočevje or the Kočevje Provincial Museum also designed a project for the arrangement of the Stane Jarm Trail. They prepared a leaflet with a trail map and descriptions of twelve public Jarm’s statues. Nine of them are situated in the town of Kočevje and the rest can be found in three locations outside the town. The more curious can venture a little further off to see Jarm’s works in Kočevska Reka and Osilnica. The show covering the Stane Jarm Trail was prepared by TV Kočevje.
– Blatnik, S. Stane Jarm: Akademski kipar. Diplomska naloga. Ljubljana: Univerza Edvarda Kardelja v Ljubljani, Pedagoška akademija v Ljubljani, 1983.
– Gregorčič, I., V lesu lahko zašepeta in zašumi ves gozd: Pogovor z akademskim kiparjem Stanetom Jarmom. Rast, št. 1(79), feb. 2002.
– Jarm, S. in Urh, B. Mestni vodnjak Kočevje. Kočevje: Občina Kočevje, 1996.
– Kovačič, N. Spomeniki Staneta Jarma na Kočevskem. V: Stane Jarm – kipar, 2012, str. 78–109. – Kovačič, N. Pot Staneta Jarma: The Stane Jarm path. Kočevje: Občina Kočevje, 2014.
– Kozina, G., Mignacca, A. in Benčič Serio, F. Projekt Deklica s piščalko: šolsko leto 2013-2014 = Progetto La ragazza con il flauto: anno scolastico [2013-2014]. Boljunec; Boršt; Pesek: Celodnevna osnovna šola s slovenskim učnim jezikom “Fran Venturini”, 2014.
– K.R. Umrl je Stane Jarm: Umrl je akademski kipar Stane Jarm (r. 1931), častni občan Kočevja in ribniške občine. Delo(online). Ljubljana, 3.10.2011 (citirano 10.10.2017) Dostopno na: http://www.delo.si/kultura/dediscina/umrl-je-stane- jarm.html.
– Ognjišče. Kipar Stane Jarm. Ognjišče (online). 11.2011 (citirano 10.10.2017) Dostopno na: http://revija.ognjisce.si/revija-ognjisce/67-pricevanje/2354- kipar-stane-jarm.
– Uredništvo. Slovo Stanislava Jarma. E-Utrip (online). Kočevje, 3. 10. 2011 (citirano 10.10.2017) Dostopno na: https://www.e-utrip.si/slovo-stanislava- jarma/.
– Pinter, Tihomir (2000). Stane Jarm. URN:NBN:SI:IMG-46S0CU93 from http://www.dlib.si.
Do you want to learn more about the wider Kočevska (Gottschee) area? Read also: A bow to Nature: The Krokar Primeval Forest.

domain: artistic


How cool that a 45 released on Shad O’Shea‘s Counterpart label – “Get Down People” by 400 Years of What – sold on Ebay for over $500. However, if it weren’t for Buckeye Beat’s comprehensive listing of 45s released on Cincinnati’s Counterpart Records, I might have missed out altogether on this classic mid-70s disco-funk party jam:
“Get Down People” 400 Years of What 1975
Given the year of release (1975), I have to assume this song was recorded at O’Shea’s Counterpart Creative Studio in Cincinnati’s Cheviot neighborhood — the 45 label says these recordings were produced by 400 Years of What. According to the informative blurb that accompanies the above YouTube video/audio clip:
“400 Years of What became *the* party band in the Cincinnati area after The House Guests [featuring ‘Bootsy’ & ‘Catfish’ Collins] dissolved around 1972. Led by bassist Gordon Hickland, draftees from the House Guests included saxophonist Ralph ‘Randy‘ Wallace and trumpeter Ronnie Greenway. With the addition of [future Zapp] keyboardist Greg ‘Tuffy‘ Jackson, guitar slingers Big Jimmy Callery and Clarence Miller, and drummer Little Jimmy Roberts, the core of the crew was established. For the band’s mid-’70s airing on Shad O’Shea’s Counterpart label, the traps were manned by Frank ‘Kash‘ Waddy, destined to be a key player in the triumph of the Parliament sprawl and especially Bootsy’s solo works. An early incarnation of this outfit backed Gloria Taylor on the singer’s rare single for the House Guests label [inaugural release, in fact], with her ‘Brother Less than a Man‘ being a primitive, rough version of the band’s later release as ‘Do What You Like.'”
Carfagna, Dante. “The Cincinnati Connection: The Local Roots of Bootsy Collins and Kash Waddy.” Waxpoetics Aug./Sept. 2006: 93-94. Print.
“Dopebrother is back with the first of two, super-rare sides of deepest dance floor funk from Cincinnati. 400 Years Of What dropped this often talked about but seldom seen single on Counterpart Records back in the heyday of Black Power, but in spite of the right-on vibe and intense musicianship, the record barely made it out of Ohio. With original copies nearly impossible to uncover, it has only been through deep-pocketed collectors and DJ’s that anyone has gotten to hear the amazing A-side, a burning instrumental with extended drum breaks and an irresistable groove. The B-side is just as strong, a Funkadelic-esque stoned headnodder with chanted vocals. Dopebrother’s fully licensed and clean transfer from the Counterpart masters is an essential pick up for any funky DJs and afficionados of deep grooves.”
Original 1975 single 2006 reissue single
More recently in 2013, Party Platter would launch their up-and-coming record label with this very same 45 – the first in a series of archival releases to showcase Cincinnati artists.
Photo courtesy of Party Platter
Left to Right: Louis McQueen, Gordie Hickland, Clarence ‘BigJon’ Miller, Jimmy Callery, Randy Wallace, Frank “Kash” Waddy., and [man in yellow hat].


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