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This paper juxtaposes simple yet sufficiently general robotic mechanisms for ankle function evaluation, measurement and physiotherapy. For the choice, design and operation of the mechanism, a kinematics model of foot is adopted from biomechanics, based on the hypothesis that foot kinematics are similar to a 2R serial robot. We undertake experiments, using a 3D scanner and an inertial sensor in order to fully specify the design framework by studying a larger sample of healthy subjects. Our experimental analysis confirms and enhances the 2R foot model, and leads us to the choice of the specific mechanism. We compute the required workspace and thus address the issues required for a complete and efficient design. The robot must be capable to perform several multi-axis motions and sustain a significant range of forces and torques. We compare mechanisms based on serial and parallel robots, and choose a parallel tripod with an extra rotation axis for its simplicity, accuracy and generality.

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Background : Depression is a disease with high prevalence worldwide and a great number of patients enjoy homeopathic treatment for this problem. Purpose : To collect data and make statistical analysis of depression cases from homeopathic practitioners globally. Methods : Vithoulkas Compass (VC) online homeopathic software was used as a platform to collect homeopathic cases from homeopaths-users. From 5,406 cases with different pathologies, 156 depression cases were selected after applying certain restrictions. The prescribed remedies and reported treatment effect were analysed in relation to gender, age and geographical distribution. The treatment effect was recorded according to the homeopath's evaluation during the follow-up session, using the categories ?Large improvement?, ?Moderate improvement?, ?Small improvement? and ?No effect?. Results : From 5,046 cases 3,482 came from Europe (2,325 women and 1,157 men). In general 4% of female and 1.6% of male patients had depression as their main complaint. The highest percentages came from Latin America where 5.4% of the female patients had depression. Worldwide, the highest percentage in male patients (3.6%) came from North America. Russian speaking countries and India-Pakistan- Bangladesh regions appear to have the lowest percentage (1.1%). Out of 156 cases with depression, 26 patients were male and 130 female. The age distribution showed 3 peaks for female patients (~35, 50 and 60 yrs). For male patients, peak ranges were between 45 and 50 yrs. Women reported a better response to homeopathy: 32% showed large improvement compared with only 13% in men. 30% of both men and women had moderate improvement. The first three most commonly prescribed remedies were Natrum muriaticum (22%), Ignatia amara (15%) and Pulsatilla (13%). However, better results were reported with less commonly prescribed remedies like Sepia and Staphysagria. Conclusions : Depression is a major issue in developed countries. An internet-based platform for homeopathic practitioners can offer the possibility for collection of valuable scientific evidence-based data concerning depression as well as other pathologies treated with classical homeopathy.

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