Project description:Physical assistant robots improve the user's ability to walk. However, they also potentially affect recovery motion following tripping. The assist algorithm should not interfere with the recovery motion, and should enhance the ability of the user to recover after tripping. Thus, in this study, we investigated the recovery motion affected by the assist robot after tripping. We compared the recovery motion with different reaction algorithms. Principal component analysis revealed the effects of the reaction algorithm. Correspondingly, principal components were related to the recovery motion during two steps following tripping. Specifically, the effects of the reaction algorithm were related to a principal component that represented the motion of the second step after tripping and that increased the margin of stability. Furthermore, the margin of stability became significantly large when the assistive torque was applied during the recovery motion. The result of this study suggests that the assist robot can potentially enhances the recovery motion of its user following tripping.
Project description:Balance recovery after tripping often requires an active adaptation of foot placement. Thus far, few attempts have been made to actively assist forward foot placement for balance recovery employing wearable devices. This study aims to explore the possibilities of active forward foot placement through two paradigms of actuation: assistive moments exerted with the reaction moments either internal or external to the human body, namely 'joint' moments and 'free' moments, respectively. Both paradigms can be applied to manipulate the motion of segments of the body (e.g., the shank or thigh), but joint actuators also exert opposing reaction moments on neighbouring body segments, altering posture and potentially inhibiting tripping recovery. We therefore hypothesised that a free moment paradigm is more effective in assisting balance recovery following tripping. The simulation software SCONE was used to simulate gait and tripping over various ground-fixed obstacles during the early swing phase. To aid forward foot placement, joint moments and free moments were applied either on the thigh to augment hip flexion or on the shank to augment knee extension. Two realizations of joint moments on the hip were simulated, with the reaction moment applied to either the pelvis or the contralateral thigh. The simulation results show that assisting hip flexion with either actuation paradigm on the thigh can result in full recovery of gait with a margin of stability and leg kinematics closely matching the unperturbed case. However, when assisting knee extension with moments on the shank, free moment effectively assist balance but joint moments with the reaction moment on the thigh do not. For joint moments assisting hip flexion, placement of the reaction moment on the contralateral thigh was more effective in achieving the desired limb dynamics than placing the reaction on the pelvis. Poor choice of placement of reaction moments may therefore have detrimental consequences for balance recovery, and removing them entirely (i.e., free moment) could be a more effective and reliable alternative. These results challenge conventional assumptions and may inform the design and development of a new generation of minimalistic wearable devices to promote balance during gait.
Project description:Unlike other insects, a butterfly uses a small amplitude of the wing-pitch motion for flight. From an analysis of the dynamics of real flying butterflies, we show that the restrained amplitude of the wing-pitch motion enhances the wake-capture effect so as to enhance forward propulsion. A numerical simulation refined with experimental data shows that, for a small amplitude of the wing-pitch motion, the shed vortex generated in the downstroke induces air in the wake region to flow towards the wings. This condition enables a butterfly to capture an induced flow and to acquire an additional forward propulsion, which accounts for more than 47% of the thrust generation. When the amplitude of the wing-pitch motion exceeds 45°, the flow induced by the shed vortex drifts away from the wings; it attenuates the wake-capture effect and causes the butterfly to lose a part of its forward propulsion. Our results provide one essential aerodynamic feature for a butterfly to adopt a small amplitude of the wing-pitch motion to enhance the wake-capture effect and forward propulsion. This work clarifies the variation of the flow field correlated with the wing-pitch motion, which is useful in the design of wing kinematics of a micro-aerial vehicle.
Project description:BackgroundSpatial inputs from the auditory periphery can be changed with movements of the head or whole body relative to the sound source. Nevertheless, humans can perceive a stable auditory environment and appropriately react to a sound source. This suggests that the inputs are reinterpreted in the brain, while being integrated with information on the movements. Little is known, however, about how these movements modulate auditory perceptual processing. Here, we investigate the effect of the linear acceleration on auditory space representation.Methodology/principal findingsParticipants were passively transported forward/backward at constant accelerations using a robotic wheelchair. An array of loudspeakers was aligned parallel to the motion direction along a wall to the right of the listener. A short noise burst was presented during the self-motion from one of the loudspeakers when the listener's physical coronal plane reached the location of one of the speakers (null point). In Experiments 1 and 2, the participants indicated which direction the sound was presented, forward or backward relative to their subjective coronal plane. The results showed that the sound position aligned with the subjective coronal plane was displaced ahead of the null point only during forward self-motion and that the magnitude of the displacement increased with increasing the acceleration. Experiment 3 investigated the structure of the auditory space in the traveling direction during forward self-motion. The sounds were presented at various distances from the null point. The participants indicated the perceived sound location by pointing a rod. All the sounds that were actually located in the traveling direction were perceived as being biased towards the null point.Conclusions/significanceThese results suggest a distortion of the auditory space in the direction of movement during forward self-motion. The underlying mechanism might involve anticipatory spatial shifts in the auditory receptive field locations driven by afferent signals from vestibular system.
Project description:PurposeTo design a b value and first-order motion moment (M1 ) optimized data acquisition for repeatable intravoxel incoherent motion (IVIM) quantification in the liver.MethodsCramer-Rao lower bound optimization was performed to determine optimal monopolar and optimal 2D samplings of the b-M1 space based on noise performance. Monte Carlo simulations were used to evaluate the bias and variability in estimates obtained using the proposed optimal samplings and conventional monopolar sampling. Diffusion MRI of the liver was performed in 10 volunteers using 3 IVIM acquisitions: conventional monopolar, optimized monopolar, and b-M1 -optimized gradient waveforms (designed based on the optimal 2D sampling). IVIM parameter maps of diffusion coefficient, perfusion fraction, and blood velocity SD were obtained using nonlinear least squares fitting. Noise performance (SDs), stability (outlier percentage), and test-retest or scan-rescan repeatability (intraclass correlation coefficients) were evaluated and compared across acquisitions.ResultsCramer-Rao lower bound and Monte Carlo simulations demonstrated improved noise performance of the optimal 2D sampling in comparison to monopolar samplings. Evaluating the designed b-M1 -optimized waveforms in healthy volunteers, significant decreases (p < 0.05) in the SDs and outlier percentages were observed for measurements of diffusion coefficient, perfusion fraction, and blood velocity SD in comparison to measurements obtained using monopolar samplings. Good-to-excellent repeatability (intraclass correlation coefficients ≥ 0.77) was observed for all 3 parameters in both the right and left liver lobes using the b-M1 -optimized waveforms.Conclusions2D b-M1 -optimized data acquisition enables repeatable IVIM quantification with improved noise performance. 2D acquisitions may advance the establishment of IVIM quantitative biomarkers for liver diseases.
Project description:In this work, disordered-IrMn3/insulating-Y3Fe5O12 exchange-biased bilayers are studied. The behavior of the net magnetic moment ΔmAFM in the antiferromagnet is directly probed by anomalous and planar Hall effects, and anisotropic magnetoresistance. The ΔmAFM is proved to come from the interfacial uncompensated magnetic moment. We demonstrate that the exchange bias and rotational hysteresis loss are induced by partial rotation and irreversible switching of the ΔmAFM. In the athermal training effect, the state of the ΔmAFM cannot be recovered after one cycle of hysteresis loop. This work highlights the fundamental role of the ΔmAFM in the exchange bias and facilitates the manipulation of antiferromagnetic spintronic devices.
Project description:Motion Induced Blindness (MIB) is a well-established visual phenomenon whereby highly salient targets disappear when viewed against a moving background mask. No research has yet explored whether contracting and expanding optic flow can also trigger target disappearance. We explored MIB using mask speeds corresponding to driving at 35, 50, 65 and 80 km/h in simulated forward (expansion) and backward (contraction) motion as well as 2-D radial movement, random, and static mask motion types. Participants (n = 18) viewed MIB targets against masks with different movement types, speed, and target locations. To understand the relationship between saccades, pupil response and perceptual disappearance, we ran two additional eye-tracking experiments (n = 19). Target disappearance increased significantly with faster mask speeds and upper visual field target presentation. Simulated optic flow and 2-D radial movement caused comparable disappearance, and all moving masks caused significantly more disappearance than a static mask. Saccades could not entirely account for differences between conditions, suggesting that self-motion optic flow does cause MIB in an artificial setting. Pupil analyses implied that MIB disappearance induced by optic flow is not subjectively salient, potentially explaining why MIB is not noticed during driving. Potential implications of MIB for driving safety and Head-Up-Display (HUD) technologies are discussed.
Project description:Cortical motion analysis continuously encodes image velocity but might also be used to predict future patterns of sensory input along the motion path. We asked whether this predictive aspect of motion is exploited by the human visual system. Targets can be more easily detected at the leading as compared to the trailing edge of motion [1], but this effect has been attributed to a nonspecific boost in contrast gain at the leading edge, linked to motion-induced shifts in spatial position [1-4]. Here we show that the detectability of a local sinusoidal target presented at the ends of a region containing motion is phase dependent at the leading edge, but not at the trailing edge. These two observations rule out a simple gain control mechanism that modulates contrast energy and passive filtering explanations, respectively. By manipulating the relative orientation of the moving pattern and target, we demonstrate that the resulting spatial variation in detection threshold along the edge closely resembles the superposition of sensory input and an internally generated predicted signal. These findings show that motion induces a forward prediction of spatial pattern that combines with the cortical representation of the future stimulus.
Project description:Synthetic molecular machines hold tremendous potential to revolutionize chemical and materials sciences. Their autonomous motion controlled by external stimuli allows to develop smart materials whose properties can be adapted on command. For the realisation of more complex molecular machines, it is crucial to design building blocks whose properties can be controlled by multiple orthogonal stimuli. A major challenge is to reversibly switch from forward to backward and again forward light-driven rotary motion using external stimuli. Here we report a push-pull substituted photo-responsive overcrowded alkene whose function can be toggled between that of a unidirectional 2nd generation rotary motor and a molecular switch depending on its protonation and the polarity of its environment. With its simplicity in design, easy preparation, outstanding stability and orthogonal control of distinct forward and backward motions, we believe that the present concept paves the way for creating more advanced molecular machines.
Project description:RecBCD is a processive, DNA-based motor enzyme with both helicase and nuclease activities. We used high-resolution optical trapping to study individual RecBCD molecules moving against applied forces up to 8 pN. Fine-scale motion was smooth down to a detection limit of 2 nm, implying a unitary step size below six basepairs (bp). Episodes of constant-velocity motion over hundreds to thousands of basepairs were punctuated by abrupt switches to a different speed or by spontaneous pauses of mean length 3 s. RecBCD occasionally reversed direction, sliding backward along DNA. Backsliding could be halted by reducing the force, after which forward motion sometimes resumed, often after a delay. Elasticity measurements showed that the DNA substrate was partially denatured during backsliding events, but reannealed concomitant with the resumption of forward movement. Our observations show that RecBCD-DNA complexes can exist in multiple, functionally distinct states that persist for many catalytic turnovers: such states may help tune enzyme activity for various biological functions.