Arm Coordination Research Articles

Evaluating Local Primary Dendrite Arm Spacing Characterization Techniques Using Synthetic Directionally Solidified Dendritic Microstructures

Microstructure characterization continues to play an important bridge to understanding why particular processing routes or parameters affect the properties of materials. This statement certainly holds true in the case of directionally solidified dendritic microstructures, where characterizing the primary dendrite arm spacing is vital to developing the process–structure–property relationships that can lead to the design and optimization of processing routes for defined properties. In this work, four series of simulations were used to examine the capability of a few Voronoi-based techniques to capture local microstructure statistics (primary dendrite arm spacing and coordination number) in controlled (synthetically generated) microstructures. These simulations used both cubic and hexagonal microstructures with varying degrees of disorder (noise) to study the effects of length scale, base microstructure, microstructure variability, and technique parameters on the local PDAS distribution, local coordination number distribution, bulk PDAS, and bulk coordination number. The Voronoi tesselation technique with a polygon-side-length criterion correctly characterized the known synthetic microstructures. By systematically studying the different techniques for quantifying local primary dendrite arm spacings, we have evaluated their capability to capture this important microstructure feature in different dendritic microstructures, which can be an important step for experimentally correlating with both processing and properties in single crystal nickel-based superalloys.

Octopus-inspired multi-arm robotic swimming

The outstanding locomotor and manipulation characteristics of the octopus have recently inspired the development, by our group, of multi-functional robotic swimmers, featuring both manipulation and locomotion capabilities, which could be of significant engineering interest in underwater applications. During its little-studied arm-swimming behavior, as opposed to the better known jetting via the siphon, the animal appears to generate considerable propulsive thrust and rapid acceleration, predominantly employing movements of its arms. In this work, we capture the fundamental characteristics of the corresponding complex pattern of arm motion by a sculling profile, involving a fast power stroke and a slow recovery stroke. We investigate the propulsive capabilities of a multi-arm robotic system under various swimming gaits, namely patterns of arm coordination, which achieve the generation of forward, as well as backward, propulsion and turning. A lumped-element model of the robotic swimmer, which considers arm compliance and the interaction with the aquatic environment, was used to study the characteristics of these gaits, the effect of various kinematic parameters on propulsion, and the generation of complex trajectories. This investigation focuses on relatively high-stiffness arms. Experiments employing a compliant-body robotic prototype swimmer with eight compliant arms, all made of polyurethane, inside a water tank, successfully demonstrated this novel mode of underwater propulsion. Speeds of up to 0.26 body lengths per second (approximately 100 mm s−1), and propulsive forces of up to 3.5 N were achieved, with a non-dimensional cost of transport of 1.42 with all eight arms and of 0.9 with only two active arms. The experiments confirmed the computational results and verified the multi-arm maneuverability and simultaneous object grasping capability of such systems.

Arm Coordination in Octopus Crawling Involves Unique Motor Control Strategies

To cope with the exceptional computational complexity that is involved in the control of its hyper-redundant arms [1], the octopus has adopted unique motor control strategies in which the central brain activates rather autonomous motor programs in the elaborated peripheral nervous system of the arms [2, 3]. How octopuses coordinate their eight long and flexible arms in locomotion is still unknown. Here, we present the first detailed kinematic analysis of octopus arm coordination in crawling. The results are surprising in several respects: (1) despite its bilaterally symmetrical body, the octopus can crawl in any direction relative to its body orientation; (2) body and crawling orientation are monotonically and independently controlled; and (3) contrasting known animal locomotion, octopus crawling lacks any apparent rhythmical patterns in limb coordination, suggesting a unique non-rhythmical output of the octopus central controller. We show that this uncommon maneuverability is derived from the radial symmetry of the arms around the body and the simple pushing-by-elongation mechanism by which the arms create the crawling thrust. These two together enable a mechanism whereby the central controller chooses in a moment-to-moment fashion which arms to recruit for pushing the body in an instantaneous direction. Our findings suggest that the soft molluscan body has affected in an embodied way [4, 5] the emergence of the adaptive motor behavior of the octopus.

Coordination of a Triphosphine–Silane to Gold: Formation of a Trigonal Pyramidal Complex Featuring Au+→Si Interaction

Coordination of the triphosphine–fluorosilane [o-(iPr2P)C6H4]3SiF to AuCl results in the formation of a trigonal pyramidal cationic complex. Though cationic, the gold center acts as a Lewis base and is engaged in significant Au→Si interaction, as substantiated by X-ray diffraction and NMR spectroscopy. In solution, the P,P,P,Si tetracoordinate cationic complex coexists with a neutral P,P,Cl tricoordinate form, with a pendant phosphine buttress and without Au→Si interaction. The bonding situation in the two isomeric forms has been assessed by DFT calculations. Coordination of the third phosphine arm is shown to induce cationization and to play a key role in the presence of the Au→Si interaction.

손과 팔의 협업에 의한 로봇 펙인홀 작업

손과 팔의 협업에 의한 로봇 펙인홀 작업

Preservation of common rhythmic locomotor control despite weakened supraspinal regulation after stroke.

The basic pattern of arm and leg movement during rhythmic locomotor tasks is supported by common central neural control from spinal and supraspinal centers in neurologically intact participants. The purpose of this study was to test the hypothesis that following a cerebrovascular accident, shared systems from interlimb cutaneous networks facilitating arm and leg coordination persist across locomotor tasks. Twelve stroke participants (>6 months post CVA) performed arm and leg (A&L) cycling using a stationary ergometer and walking on a motorized treadmill. In both tasks cutaneous reflexes were evoked via surface stimulation of the nerves innervating the dorsum of the hand (superficial radial; SR) and foot (superficial peroneal; SP) of the less affected limbs. Electromyographic (EMG) activity from the tibialis anterior, soleus, flexor carpi radialis, and posterior deltoid were recorded bilaterally with surface electrodes. Full-wave rectified and filtered EMG data were separated into eight equal parts or phases and aligned to begin with maximum knee extension for both walking and A&L cycling. At each phase of movement, background EMG data were quantified as the peak normalized response for each participant and cutaneous reflexes were quantified as the average cumulative reflex over 150 ms following stimulation. In general, background EMG was similar between walking and A&L cycling, seen especially in the distal leg muscles. Cutaneous reflexes were evident and modified in the less and more affected limbs during walking and A&L cycling and similar modulation patterns were observed suggesting activity in related control networks between tasks. After a stroke common neural patterning from conserved subcortical regulation is seen supporting the notion of a common core in locomotor tasks involving arm and leg movement. This has translational implications for rehabilitation where A&L cycling could be usefully applied to improve walking function.

Intracyclic velocity variation and arm coordination for different skilled swimmers in the front crawl.

The aim of this study was to examine whether the intracyclic velocity variation (IVV) was lower in elite swimmers than in beginner swimmers at various velocities, and whether differences may be related to arm coordination. Seven elite and nine beginner male swimmers swam front crawl at four different swimming velocities (maximal velocity, 75%, 85%, and 95% of maximal swimming velocity). The index of arm coordination (IDC) was calculated as the lag time between the propulsive phases of each arm. IVV was determined from the coefficient of variation of horizontal velocity within one stroke cycle. IVV for elite swimmers was significantly lower (26%) than that for beginner swimmers at all swimming velocities (p<0.01, 7.28 1.25% vs. 9.80 1.70%, respectively). In contrast, the IDC was similar between elite and beginner swimmers. These data suggest that IVV is a strong predictor of the skill level for front crawl, and that elite swimmers have techniques to decrease IVV. However, the IDC does not contribute to IVV differences between elite and beginner swimmers.

Developmental Changes in Coordination of Infant Arm and Leg Movements and the Emergence of Function

We conducted a longitudinal kinematic study of spontaneous arm and leg motions in 4 supine infants at 3, 4½, and 6 months of age. The study addressed two questions: (a) whether there was a longitudinal change in the synchronization of joint rotations at the hips, knees, shoulders, and elbows, indicating that the arms and legs were moving more independently of each other; and (b) whether, during this period, the spatial location of the hands relative to the shoulders was different from that of the feet relative to the hips, indicating that the infants were beginning to use their upper limbs differently than their lower limbs. We found that, in general, the arms and legs were moving more independently of each other by 6 months of age. At the same time, the infants were more likely to hold their hands away from the body in preparation for making contact with an object in the midline, but they brought their feet close to the body to maximize propulsive kicks. Thus, a reorganization of the relative timing of joint rotations appears to be related to the emergence of different arm and leg functions.

Syntheses, Solid-state Structures and Catalytic Activity of Zinc Carboxylate Complexes in Lactide Polymerization

Abstract Three dinuclear zinc carboxylate complexes [L1-3Zn(μ,η2-O2CPh)]2 (1, 2, 4) containing either the bidentate N,N′-chelating β-diketiminate ligand RNC(Me)C(H)C(Me)NR (R = 2,6-iPr2-C6H3, L1, complex 1), the tridentate O,N,N-chelating ligand OC(Me)C(H)C(Me)NCH2CH2NMe2 (L2, complex 2) or the bis-N,N′-chelating bis-β-diketiminate ligand RNC(Me)C(H)C(Me)NNC(Me)- C(H)C(Me)NR (R = 2,6-iPr2-C6H3, L3, complex 4) were synthesized and characterized including single-crystal X-ray diffraction. Reaction of the neutral bis-β-diketimine (L3(H)2) with two equivalents of ZnMe2 leads to the expected heteroleptic dinuclear zinc complex L3(ZnMe)2 3 in 93% yield. Further reaction with benzoic acid PhCO2H leads to complex 4. Complex 2 forms a rather strong carboxylate-bridged dimer, whereas the carboxylate groups in complexes 1 and 4 act as asymmetrical bridges between both Zn atoms, pointing to the formation of a weakly bonded dimer. The zinc atoms in 1 and 4 are tetrahedrally coordinated, whereas in 2 the coordination number is increased to five due to the coordination of the pendant donor arm. The ring opening polymerization (ROP) of rac-lactide was investigated with the zinc complexes 1-4 and diazabicycloundec-7-ene (DBU) as a co-catalyst. Complexes 2 and 3 are active polymerization catalysts, which in the presence of DBU converted 200 equiv. of rac-lactide into polylactide within 10 min at ambient temperature. The analysis of the crude polymer showed that the lactide polymerization with catalyst 2 occurs via a slightly modified activated-monomer mechanism.

Robotic exoskeletons: a perspective for the rehabilitation of arm coordination in stroke patients.

Upper-limb impairment after stroke is caused by weakness, loss of individual joint control, spasticity, and abnormal synergies. Upper-limb movement frequently involves abnormal, stereotyped, and fixed synergies, likely related to the increased use of sub-cortical networks following the stroke. The flexible coordination of the shoulder and elbow joints is also disrupted. New methods for motor learning, based on the stimulation of activity-dependent neural plasticity have been developed. These include robots that can adaptively assist active movements and generate many movement repetitions. However, most of these robots only control the movement of the hand in space. The aim of the present text is to analyze the potential of robotic exoskeletons to specifically rehabilitate joint motion and particularly inter-joint coordination. First, a review of studies on upper-limb coordination in stroke patients is presented and the potential for recovery of coordination is examined. Second, issues relating to the mechanical design of exoskeletons and the transmission of constraints between the robotic and human limbs are discussed. The third section considers the development of different methods to control exoskeletons: existing rehabilitation devices and approaches to the control and rehabilitation of joint coordinations are then reviewed, along with preliminary clinical results available. Finally, perspectives and future strategies for the design of control mechanisms for rehabilitation exoskeletons are discussed.

Robot-assisted therapy and botulinum toxin for upper limb ataxia: A case report

BACKGROUND: Upper limb ataxia is one of the most common motor disorders associated with cerebellar damage and it might lead to motor impairment and disability. OBJECTIVE: In this study, a subject with disabling upper limb ataxia and intention tremor underwent a six weeks intervention of robot-assisted training combined with Botulinum Toxin Type A (BTX-A). METHODS: Robot-assisted therapy which includes repetitive, goal-directed reaching movements was administered after upperlimb BTX-A injections. Improvements in arm coordination and motor performance were assessed throughout a kinematic analysis and an activity daily living – based questionnaire. RESULTS: After this six weeks training program all spatio-temporal parameters were improved with no additional functional gains. CONCLUSIONS: The positive effects on motor coordination in our subject might help to design clinical trials that combine BTX-A injections and robot-assisted therapy in order to improve upper-limb coordination in subjects with ataxia. Furthermore, if exercises focused on ADLs will be included, they might help to regain a functional use of the arm.

Scaling and coordination deficits during dynamic object manipulation in Parkinson's disease

The ability to reach for and dynamically manipulate objects in a dexterous fashion requires scaling and coordination of arm, hand, and fingertip forces during reach and grasp components of this behavior. The neural substrates underlying dynamic object manipulation are not well understood. Insight into the role of basal ganglia-thalamocortical circuits in object manipulation can come from the study of patients with Parkinson's disease (PD). We hypothesized that scaling and coordination aspects of motor control are differentially affected by this disorder. We asked 20 PD patients and 23 age-matched control subjects to reach for, grasp, and lift virtual objects along prescribed paths. The movements were subdivided into two types, intensive (scaling) and coordinative, by detecting their underlying self-similarity. PD patients off medication were significantly impaired relative to control subjects for both aspects of movement. Intensive deficits, reduced peak speed and aperture, were seen during the reach. Coordinative deficits were observed during the reach, namely, the relative position along the trajectory at which peak speed and aperture were achieved, and during the lift, when objects tilted with respect to the gravitational axis. These results suggest that basal ganglia-thalamocortical circuits may play an important role in fine motor coordination. Dopaminergic therapy significantly improved intensive but not coordinative aspects of movements. These findings are consistent with a framework in which tonic levels of dopamine in the dorsal striatum encode the energetic cost of a movement, thereby improving intensive or scaling aspects of movement. However, repletion of brain dopamine levels does not restore finely coordinated movement.

Inter-Limb Coordinative Structure in a 200 m Front Crawl Event

The Index of Coordination has been currently used as a tool that measures the inter-arm lag time between propulsive phases in front crawl swimming. The aim of the present study was to assess the inter-arm coordinative structure during a 200m front crawl maximal effort, as well as to understand its interplay with the stroking parameters. One complete arm stroke cycle, without breathing, was digitized and analysed the relative duration of the different phases and identified the model of arm coordination by using the Index of Coordination in each length of 50m of the 200m front crawl. A one way repeated measures ANOVA, with Tukey post-hoc test was used to compare all the variables, and Pearson correlation coefficients were computed between Index of Coordination and the biomechanical (velocity, stroke rate, stroke length) and coordinative parameters (p<0.05). Results showed an increase in the relative duration of the propulsive phases, which induced an increase in the Index of Coordination as fatigue developed in relation to a decrease in velocity, stroke rate and stroke length. Additionally, Index of Coordination was inversely related with entry/catch (r=-0.78) and the non-propulsive phases (r=-0.97), and positive related with the pull (r=0.54), push (0.78) and propulsive phases (r=0.97). The results highlighted that, in fatigue stages, swimmers tend to increase their propulsive continuity, corresponding to a reduction of the non-propulsive lag time between the two arms' propulsive actions.

Photochemical Route to Actinide-Transition Metal Bonds: Synthesis, Characterization and Reactivity of a Series of Thorium and Uranium Heterobimetallic Complexes

A series of actinide-transition metal heterobimetallics has been prepared, featuring thorium, uranium, and cobalt. Complexes incorporating the binucleating ligand N[ο-(NHCH2P(i)Pr2)C6H4]3 with either Th(IV) (4) or U(IV) (5) and a carbonyl bridged [Co(CO)4](-) unit were synthesized from the corresponding actinide chlorides (Th: 2; U: 3) and Na[Co(CO)4]. Irradiation of the resulting isocarbonyls with ultraviolet light resulted in the formation of new species containing actinide-metal bonds in good yields (Th: 6; U: 7); this photolysis method provides a new approach to a relatively unusual class of complexes. Characterization by single-crystal X-ray diffraction revealed that elimination of the bridging carbonyl and formation of the metal-metal bond is accompanied by coordination of a phosphine arm from the N4P3 ligand to the cobalt center. Additionally, actinide-cobalt bonds of 3.0771(5) Å and 3.0319(7) Å for the thorium and uranium complexes, respectively, were observed. The solution-state behavior of the thorium complexes was evaluated using (1)H, (1)H-(1)H COSY, (31)P, and variable-temperature NMR spectroscopy. IR, UV-vis/NIR, and variable-temperature magnetic susceptibility measurements are also reported.

The FDA initiatives for personalized medicine

The FDA continues to be the Leader on the scientific front to build the regulatory infrastructure necessary to support the development of personalized targeted therapies. To this end the FDA has drafted guidance documents for industry to follow for both diagnostic and therapeutic research trials. For example, there has been an increase in companion diagnostics, the tests being used to determine whether or not a particular therapy may work for a patient. To address these issues, the FDA has published a draft guidance: In Vitro Companion Diagnostic Devices in July 2011, to communicate to Industry how the FDA defines these devices and what the regulatory requirements are for them. These guidelines should help to facilitate the process but will also help determine that the right patient received the right treatment for them. In addition, the FDA is reaching out to drug developers, academic investigators, patient groups, statistical and methodological experts and ethicists through a series of meetings to achieve a mutual understanding of the necessary steps to be taken when an investigational drug being studied for a serious disease with no alternative treatment option shows “exceptional” promise. Through the coordination of both arms of the FDA’s regulatory centers, CDRH (diagnostic approvals) and CBER and CDER (drugs, biologics and cell-based therapies), a more expedited pathway for approval will be possible. Draft guidances on any of these issues from the outcome of the above meetings as well as the FDA’s strategic plans to enhance their statistical and computational models will be issued by CDER. The most recent developments on any of the above will be addressed.

Difficulty leading interpersonal coordination: towards an embodied signature of social anxiety disorder

Defined by a persistent fear of embarrassment or negative evaluation while engaged in social interaction or public performance, social anxiety disorder (SAD) is one of the most common psychiatric syndromes. Previous research has made a considerable effort to better understand and assess this mental disorder. However, little attention has been paid to social motor behavior of patients with SAD despite its crucial importance in daily social interactions. Previous research has shown that the coordination of arm, head or postural movements of interacting people can reflect their mental states or feelings such as social connectedness and social motives, suggesting that interpersonal movement coordination may be impaired in patients suffering from SAD. The current study was specifically aimed at determining whether SAD affects the dynamics of social motor coordination. We compared the unintentional and intentional rhythmic coordination of a SAD group (19 patients paired with control participants) with the rhythmic coordination of a control group (19 control pairs) in an interpersonal pendulum coordination task. The results demonstrated that unintentional social motor coordination was preserved with SAD while intentional coordination was impaired. More specifically, intentional coordination became impaired when patients with SAD had to lead the coordination as indicated by poorer (i.e., more variable) coordination. These differences between intentional and unintentional coordination as well as between follower and leader roles reveal an impaired coordination dynamics that is specific to SAD, and thus, opens promising research directions to better understand, assess and treat this mental disorder.

Articulated coordination of the right arm underlies control of bow parameters and quick bow reversals in skilled cello bowing

Stringed instrument bowing is a complex coordinative motor skill acquired though years of intense practice. We apply a novel “freezing” analysis to investigate how movement at different joints contributes to bow transport (movement amplitude), stabilization of bow parameters (angle, velocity) during bow movements, and quick reversals of bow direction (acceleration amplitude). Participants were ten advanced or professional cellists (19–32 years, at least 10 years of practice) and ten age-matched novice players. Arm and bow movements were recorded using 3D motion capture. To assess how performance depends on articulated use of the right arm, actual data were compared to surrogate data, generated by artificially removing movement at (“freezing”) individual joints in measured arm movements. This analysis showed that both elbow and shoulder significantly contribute to bow transport in experts, while only the shoulder contributed to bow transport in novices. Moreover, experts showed more strongly increased variability of bow parameters and reduced acceleration amplitudes at bow reversals for surrogate compared to actual movement data. This indicates that movement across joints was organized to reduce bow variability and achieve quick bow reversals. Corresponding effects were less pronounced or absent in the novices, in particular for the wrist and elbow. Our results demonstrate the importance of articulated use of the right arm and clarify the contribution of different joints in experts’ bowing performance. Moreover, they support theories of motor control and learning that propose exploitation of biomechanical degrees of freedom, in particular of distal joints, as a critical component in skilled motor performance.

Distributed Control Architecture for Automated Surgical Task Execution with Coordinated Robot Arms

The paper describes a robot control and coordination framework for the automation of surgical tasks. In the proposed framework, surgeons are supported by autonomous robotic assistants and do not teleoperate robots, unless in case of exceptions in the tasks of the robots. Such robots perform basic surgical actions by combining sensing, dexterity and cognitive capabilities. The goal is achieved thanks to rigorous assessment of surgical requirements, formal specification of robotic system behavior, including multiple arm coordination and human/system interaction, and control software development with state-of-the-art component-based technologies. The paper presents an experimental setup composed of two robots operating on a US-compatible phantom, demonstrating the feasibility of the approach.

“Cinderella” elements: Strategies to increase the stability of group 1 complexes by tailoring crown macrocycles

The synthesis and structural characterization of six sodium complexes with bibracchial lariat ethers containing aniline or benzimidazole side arms, and derived from 1,7-diaza-12-crown-4, 1,10-diaza-15-crown-5 or 4,13-diaza-18-crown-6, are reported. The X-ray structures of four of these compounds have been obtained. Additionally, the X-ray structures of a sodium macrobicyclic complex derived from 1,10-diaza-15-crown-5, and a potassium complex with a bibracchial lariat ether containing aniline side arms are also reported. Bonding distances as well as the stability constants in acetonitrile solution confirm that the coordination of the pendant arms provides an important contribution to the overall stability of the complexes, particularly when benzimidazole pendants are present rending more stable complexes, even more than cryptand complexes of the same size. Compared with the parent crown ethers, the stability increases when the side arms contain benzimidazole moieties but remains about the same order when aniline side arms are present.

Arm–Trunk Coordination for Beyond-the-Reach Movements in Adults With Stroke

Background. By involving additional degrees of freedom, the nervous system may preserve hand trajectories when making pointing movements with or without trunk displacement. Previous studies indicate that the potential contribution of trunk movement to hand displacement for movements made within arm reach is neutralized by appropriate compensatory shoulder and elbow rotations. For beyond-the-reach movements, compensatory coordination is attenuated after the hand peak velocity, allowing trunk movement to contribute to hand displacement. Objective. To investigate if the timing and spatial coordination of arm and trunk movements during beyond-the-reach movements is preserved in stroke. Methods. Eleven healthy control subjects and 11 individuals with mild-to-moderate chronic unilateral hemiparesis participated. Arm and trunk kinematics during 60 target reaches to an ipsilaterally placed target were recorded. In 30% of randomly chosen trials, trunk movement was unexpectedly prevented (blocked-trunk trials) by an electromagnetic device, resulting in divergence of the hand trajectory from that in free-trunk trials. Hand trajectories and elbow–shoulder interjoint coordination were compared between trials. Results. In stroke participants, hand trajectory divergence occurred at a shorter movement extent and interjoint coordination patterns diverged at a relatively greater distance compared to controls. Thus, arm movements in stroke participants only partially compensated trunk displacement resulting in the trunk movement contributing to arm movement earlier and to a larger extent during reaching. Conclusion. Individuals with mild-to-moderate stroke have deficits in timing and spatial coordination of arm and trunk movements during different parts of a reaching movement. This deficit may be targeted in therapy to improve upper limb function.