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A critical examination of the effectiveness of Te Tiriti o Waitangi and Treaty of Waitangi training programmes in health services
(The University of Waikato, 2026) Edmonds, Moengaroa; Waitoki, Waikaremoana; Tan, Kyle K. H.
The overall aim of this study was to critically examine the effectiveness of te Tiriti o Waitangi and Treaty of Waitangi based training in the publicly funded health system in Aotearoa as a tool for addressing health inequities, and to contribute to the broader Kaupapa of improving Māori health through systems that honour te Tiriti partnership. The research was conducted during a period of significant restructuring of the health system, a result of reforms that were framed as opportunities to strengthen Māori voices in health decision-making and to uphold te Tiriti o Waitangi obligations. However, the reforms and subsequent amendments have also been marked by contestation over the place of tino rangatiratanga and the privileging of Treaty principles over the text of te Tiriti. This study set out to examine the role of Tiriti o Waitangi training within the publicly funded health system, exploring how training currently, or could, more effectively respond to legislative change, address inequities, and position health professionals and organisations in relation to their Tiriti responsibilities. Three training programmes were examined; an online e-Learning module, a kanohi-ki-te-kanohi cultural awareness workshop that included Tiriti o Waitangi and Treaty of Waitangi learning, and a Critical Tiriti Analysis workshop delivered as part of a wider scaffolded training programme by a Public Health and Rautaki team at Te Whatu Ora, Waikato. A mixed-method approach was selected to capture learning across groups. The research framework for this study integrated Kaupapa Māori philosophy, te Tiriti o Waitangi and Critical Tiriti Analysis to guide the research. In Chapter 4, post training surveys of the e-Learning module were analysed covering two separate periods – between July 2021 and August 2023. This is followed by an analysis of post training surveys over four different periods between May 2021 to March 2023. Interviews were conducted with 15 participants made up of staff in training at Te Whatu Ora and training providers of the two kanohi-ki-te-kanohi programmes. The use of multiple data sources enabled methodological triangulation and strengthened the credibility of findings. The study makes a significant contribution to scholarship on Tiriti training, Kaupapa Māori research, and evaluation in public health. It demonstrates that while training is a necessary process in addressing inequities, it is insufficient for transformation to occur. Enduring progress toward health equity for Māori requires systems that honour te Tiriti, not only in learning spaces, but in governance, policy, and everyday institutional practice.
Passive compliant mechanism based knee exoskeleton to alleviate knee joint moment of workers during blueberry harvesting
(ACRA, 2025) Hofer-Nigg, Leanne; McGuinness, Benjamin; Venter, Christoff; Prinz, Eva; Le, Hung Phan; Duke, Mike; Singh, Ajit Pal
The blueberry industry is a key contributor to the New Zealand economy but is currently facing labour shortages that threaten yield security. Blueberry harvesting is physically demanding, limiting the available workforce. Fully autonomous solutions are financially unfeasible and compromise the berry marketability. As an intermediate solution, this paper develops a passive robotic knee exoskeleton designed to reduce the knee moment experienced by workers while harvesting. The device utilises compliant mechanisms to store elastic energy and assist users in rising from a deep squat. Presented in this paper is the optimisation of a linear compliant mechanism to deliver 117.85 N, based on the knee moment of a 43.46 kg human during squatting. FEA was used to optimise the mechanism shape and dimensions to achieve a uniform stress distribution across the material. Simulation with nylon-6-PLA achieved 100% of the target force with a stress safety factor of 1.56. A CNC-machined prototype was compression tested, revealing that 67% of the knee moment could be alleviated. Despite the deviation from FEA, results suggest compliant mechanisms can be effectively integrated into a passive knee exoskeleton to reduce the knee moment of blueberry harvesters.
Iterative design process of a robotic compliant gripper for kiwifruit harvesting using topology optimization
(ACRA, 2025) Le, Hung Phan; McGuinness, Benjamin; Venter, Christoff; Prinz, Eva; Duke, Mike; Lim, Shen Hin; Singh, Ajit Pal
Compliant mechanisms offer distinct advantages for agricultural robotics by reducing weight, eliminating joints, and simplifying fabrication. This study presents a parameter-driven, iterative design approach for developing a two-finger compliant gripper for kiwifruit harvesting, utilising two-dimensional topology optimization in Altair OptiStruct (HyperWorks). Key design parameters including geometry, boundary conditions, compliance constraints, material volume fractions, and density thresholds, were systematically varied and evaluated using finite element analysis (FEA), rapid prototyping, and Digital Image Correlation (DIC) experiments for validation. Early iterations focused on displacement and stress behaviour, while later designs incorporated gripping force requirements identified from harvesting studies. The final prototype (G8) satisfied displacement, stiffness, and structural performance under load criteria, overcoming the limitations observed in earlier designs (G1–G7). These conclusions are based on simulation results, with experimental validation currently in progress. Overall, the work delivers the first parameter-performance map for compliant grippers in kiwifruit harvesting and offers practical design guidelines for future agricultural robotics, including alternative materials, advanced additive manufacturing, and field-based testing.
Design of a novel mechatronic fatigue testing system to test the functional lifespan of a compliant mechanism kiwifruit gripper-end effector device
(ACRA, 2025) Baldo, Paulo; McGuinness, Benjamin; Venter, Christoff; Prinz, Eva; Le, Hung Phan; Duke, Mike; Singh, Ajit Pal
There is limited research into the fatigue life of compliant mechanisms, and a lack of standardized equipment to fatigue test such structures. This paper presented PneuGrip 2, a novel mechatronic fatigue testing system designed to fatigue test compliant mechanism robotic kiwifruit grippers. The design of its interacting mechanical, electronic, and control systems arc outlined. A compliant gripper is fatigue tested for one million cycles, replicating the forces experienced in a typical harvesting motion. The compliant mechanism showed no degradation in performance after the test. While the study demonstrated a promising lifetime for the gripper, further testing is required to establish statistical significance and fully quantify its service life.
Pharmacodynamics of therapeutic dose selenium compounds: A determination study for dose/compound efficacy potential
(The University of Waikato, 2026) Goodall, Renëe Jo-Leigh; Peters, Linda
This research is a key part of a Phase 1(b) clinical trial that was designed to investigate a potential therapeutic dose of selenium (Se) in an oncology setting to aid in protection against toxicities caused by cancer therapies. The trial's primary objectives were to identify the most effective combination of Se dosage (1600 or 6400 μg/day) and compound using three forms of Se (Selenomethionine (SLM), methyl-selenocysteine (MSC), and Sodium selenite (SS). To achieve this, western blot methodologies were used to investigate the effect of the Se compounds on the protein expression. Three antibodies, HIF-1α, EGLN1 and EGLN3 were used to identify changes in the hypoxic pathway, CASPASE-8 was used for the apoptosis pathway and a singular GAPDH loading control was used to estimate regulation change. In addition, LORD-Q PCR was implemented to evaluate both the mitochondrial and nuclear DNA damage. Nine patients who provided informed consent were recruited for the trial. The trial protocol involved seven visits in which blood and plasma samples, adverse events (AE) reporting, and other safety procedures were collected. Two baseline (at the pre-check visit and on day 1) samples were taken one to two weeks apart before dosing to assess intrapatient variability. Two samples for 1600 μg and 6400 μg and a singular post-trial sample over the course of the 12 week trial. Patients kept a diary to self-record any AEs experienced over the trial period. No AEs higher than grade 2 were reported during the trial, with the most common AE being gastrointestinal-related. Western blot analysis showed minimal increase in expression for HIF-1α for four out of five patients with data, when compared to the baseline samples and showed an overall decreased protein expression when normalised against GAPDH. Except patient 29 who showed a distinct increase during the trial, peaking at 25 times the level of GAPDH. Themeasurement of the apoptotic pathway using CASPASE-8 was used however, insufficient data was gained. LORD-Q PCR data showed that damage sustained to mtDNA and ntDNA was not consistent between patients of a singular compound. Data from this trial demonstrate a potential protective effect on DNA damage at the nuclear and mitochondrial level at both 1600 μg/day and 6400 μg/day in all Se compounds. MSC and SS showed to be the least volatile compounds, indicating increased protective effects against DNA damage, which is supported by the western blots for hypoxia. SLM was volatile, showing higher mitochondrial damage and a slight upregulation in the minimal apoptosis data obtained. The difference in in protective effects and pathway regulation was minimal; further investigation into the hypothesis that they are at the same level in the U-shaped tolerance that Se has in humans is advised. Future studies should further investigate the clinical significance and potential of Se as an adjuvant therapy alongside chemotherapy and radiotherapy in cancer patients.