Locomotion Cycle Research Articles

Effects of Rider Experience Level on Horse Kinematics and Behavior

There is little information on behavioral and physical effects of lesson horses being used multiple times a day or ridden by riders of varying levels of skill, leaving lesson program managers with limited information to support horse management and welfare decisions. This study used video analysis to evaluate whether horses exhibited different limb kinematics or patterns of behavior under riders with differing levels of experience, factors that could impact physical effort by the horse. Riders (n = 8) were sorted by skill level (four beginner and four advanced), and horses (n = 8) were sorted by sensitivity level (four reactive and four nonreactive). Then pairs of horses (one reactive and one nonreactive in each pair) and pairs of riders (one beginner and advanced in each pair) were created. The pairs were then used in a repeated 2 × 2 Latin square design. Data were collected at the posting trot, using an English saddle, during the stance phase of single fore and hind footfalls. Multivariate analysis of variance of the kinematic variables revealed no overall trends across the kinematic variables, with only a small number of joints showing near-significant effects. Behaviors were quantified based on a study-specific ethogram and willingness scale, but no differences related to rider skill level or horse sensitivity were identified. Although our data suggest no differences in horse kinematics or behavior between beginner and advanced rider groups of horses ridden at the trot, further trials would be required to test for effects during other portions of the stride cycle, other gaits, or longer durations of locomotion.

Kinematic Locomotion Modes of Particle-Based Linear Chain Mechanisms

Researchers often use mechanisms that consist of massless rods and concentrated masses in order to capture the dynamics of robotic locomotors. A kinematic prototyping tool that captures all possible locomotion modes of a given kinematic mechanism can be very useful in conceiving and designing such systems. Previously, we proposed a family of mechanisms that consist of two types of primitive building units: a single mass with a built-in revolute joint and a massless connection rod. This family starts from a single bouncing mass and progressively evolves into more complex generations. In this paper, we present a prototyping tool that generates all possible locomotion cycles of particle-based linear chain mechanisms. A new skip impact concept is introduced to describe the relative motion of the moving masses and the masses on the ground. Also, the paper represents a graphical user interface (GUI) that facilitates data input and the visualization of the locomotion modes.

Energy Consumption of Bio-Inspired Legged Walking Robot

Terrestrial vertebrates can walk more elegant than any other man-made legged mechanical models, which yield unstable locomotion with low speed. They continuously have modified their body structure and living patterns for the survival. They still continue their development. Legs are basically a serial linkage of rigid bodies connected by joints and exactly correspond to the manipulator in robot. Structure of living creatures are copied and modeled with 12 links, 12 joints and body, from the mechanical engineering viewpoint. Iterative Newton-Euler method is applied to compute torques acting all joints, which are required to calculate the total consumed energy to complete one locomotion cycle. Mechanical energy efficiency of different variables or systems are evaluated and compared by specific resistance. Parameters, specifying structure and locomotion, are applied to the simulation and the optimal values which minimize energy expenditure in locomotion are derived.

Re-evaluation of Chelichnus tazelwürmi, a non mammalian therapsid-grade track from the Upper Permian Arenaria di Val Gardena

In this paper, a revision of tracks referred to as Chelichnus tazelwürmi is reported. The performed analysis, consisting of a holistic approach by means of a mainly morphological analysis, and a secondarily functional one, led to the proposal of a new ichnogenus, named as Contiichnus tazelwurmi. The three dimensional morphology of the tracks allows for the inference of a complex cycle of locomotion by the trackmakers. The tracks were formed in the main phases (i.e. touch-down, weight-bearing and kick-off) by different axes of body load and transference, indicating that the whole fore autopod was involved in the cycle of locomotion and actively contacted the substrate, while for the hind autopod the functional prevalence was markedly centro-medial. Some track features suggest a therapsid-grade synapsid as potential trackmaker. However, the reconstructed autopodial structure does not correlate with known autopods from the Late Permian body fossil record. These observations stress the importance of tetrapod ichnology studies in improving knowledge in the field of vertebrate palaeontology. http://www.zoobank.org/urn:lsid:zoobank.org:pub:B4EB4D42-1A3B-48EC-B83F-6942F741AF30http://www.zoobank.org/urn:lsid:zoobank.org:pub:B4EB4D42-1A3B-48EC-B83F-6942F741AF30

Euglenoid-Inspired Giant Shape Change for Highly Deformable Soft Robots

Nature has exploited softness and compliance in many different forms, from large cephalopods to microbial bacteria and algae. In all these cases, large body deformations are used for both object manipulation and locomotion. The great potential of soft robotics is to capture and replicate these capabilities in controllable robotic form. This letter presents the design of a bioinspired actuator capable of achieving a large volumetric change. Inspired by the changes in body shape seen in the euglena Eutreptiella spirogyra during its characteristic locomotion, a novel soft pneumatic actuator has been designed that exploits the hyperelastic properties of elastomers. We call this the hyperelastic bellows (HEB) actuator. The result is a structure that works under both positive and negative pressure to achieve euglenoid-like multimodal actuation. Axial expansion of 450% and a radial expansion of 80% have been observed, along with a volumetric change of 300 times. Furthermore, the design of a segmented robot with multiple chambers is presented, which demonstrates several of the characteristic shapes adopted by the euglenoid in its locomotion cycle. This letter shows the potential of this new soft actuation mechanism to realise biomimetic soft robotics with giant shape changes.

Energy-efficiency hexapod walking robot for humanitarian demining

PurposeThe aim of this paper is to introduce a hexapod walking robot specifically designed for applications in humanitarian demining, intended to operate autonomously for several hours. To this end, the paper presents an experimental study for the evaluation of its energy efficiency.Design/methodology/approachFirst, the interest of using a walking robot for detection and localization of anti-personnel landmines is described, followed by the description of the mechanical system and the control architecture of the hexapod robot. Second, the energy efficiency of the hexapod robot is assessed to demonstrate its autonomy for performing humanitarian demining tasks. To achieve this, the power consumed by the robot is measured and logged, with a number of different payloads placed on-board (always including the scanning manipulator arm assembled on the robot front end), during the execution of a discontinuous gait on flat terrain.FindingsThe hexapod walking robot has demonstrated low energy consumption when it is carrying out several locomotion cycles with different loads on it, which is fundamental to have a desired autonomy. It should be considered that the robot has a mass of about 250 kg and that it has been loaded with additional masses of up to 170 kg during the experiments, with a consumption of mean power of 72 W, approximately.Originality/valueThis work provides insight on the use of a walking robot for humanitarian demining tasks, which has high stability and an autonomy of about 3 hours for a robot with high mass and high payload. In addition, the robot can be supervised and controlled remotely, which is an added value when it is working in the field.

Estimation of excitatory and inhibitory synaptic conductance variations in motoneurons during locomotor-like rhythmic activity

The rhythmic activity of motoneurons (MNs) that underlies locomotion in mammals is generated by synaptic inputs from the locomotor network in the spinal cord. Thus, the quantitative estimation of excitatory and inhibitory synaptic conductances is essential to understand the mechanism by which the network generates the functional motor output. Conductance estimation is obtained from the voltage–current relationship measured by voltage-clamp- or current-clamp-recording with knowledge of the leak parameters of the recorded neuron. However, it is often difficult to obtain sufficient data to estimate synaptic conductances due to technical difficulties in electrophysiological experiments using in vivo or in vitro preparations. To address this problem, we estimated the average variations in excitatory and inhibitory synaptic conductance during a locomotion cycle from a single voltage trace without measuring the leak parameters. We found that the conductance variations can be accurately reconstructed from a voltage trace of 10 cycles by analyzing synthetic data generated from a computational model. Next, the conductance variations were estimated from mouse spinal MNs in vitro during drug-induced-locomotor-like activity. We found that the peak of excitatory conductance occurred during the depolarizing phase of the locomotor cycle, whereas the peak of inhibitory conductance occurred during the hyperpolarizing phase. These results suggest that the locomotor-like activity is generated by push–pull modulation via excitatory and inhibitory synaptic inputs.

BIOMECHANICAL PRINCIPLES PHYSICAL REHABILITATION OF CHILDREN WITH CEREBRAL PALSY

Aim. We studied the basic biomechanical principles of physical rehabilitation of children with cerebral palsy. Materials and methods. Methods of Motion Tracking and electromyography investigated the biomechanical characteristics of gait in children with cerebral palsy. It is shown that the main differences between dynamic stereotype walk pediatric patients is to delay moving forward center of gravity and the disorganization of the lower limb movements (especially knee) in the vertical plane. Prevailing flexion - leading position of the lower extremities during locomotion cycle associated with limitation of motion in the hip joint, offset by an increase swinging body, weakening activity in the rear shock phase and its sharp increase in the fourth phase. Changes in the structure of the movement of the shoulder girdle and upper extremities can be considered as compensatory. Characteristically excessive involvement in the locomotion of the calf muscles and the rectus muscles of the back, with the central mechanisms gipersinhronizatsii activity of motor units are the primary mechanism for adaptation in a group of children that are capable of self-locomotion. Results. As a result of the research it shows that in motor rehabilitation of children with cerebral palsy should include the following elements: exercise to maintain the body balance when performing arm movements, exercises for coordination of hand movements, including motor brushes, exercises to increase mobility in the hip joints and in the back, exercises designed to exercise the calf muscles, the front thigh muscles and the rectus muscles of the back, massage to relieve hyper calf muscles.

Bioinspired Segment Robot with Earthworm-like Plane Locomotion

In this paper, a miniaturized segment robot using solenoids is developed to mimic the plane locomotion of earthworms. The bioinspired robot is composed of five segmented bodies, and one segment has two solenoid actuators. This robot can move linearly and it can also turn due to the pair of solenoid actuators that facilitate the earthworm-like peristaltic locomotion. We have designed a miniaturized solenoid with a permanent magnet plunger in order to increase the total electromagnetic force. A theoretical analysis is performed to predict the linear and turning motions of each segment, and the optimal profiles of input signals are obtained for fast locomotion. Experiments are then conducted to determine the linear and turning motions of the segment robot. It takes about 0.5 s for the five segments to complete one cycle of the peristaltic locomotion. In experiments, the segment robot is shown to have the linear and angular velocities of 27.2 mm·s−1 (0.13 body-length per second) and 2 degrees per second, respectively.

Functional morphology of suction discs and attachment performance of the Mediterranean medicinal leech (Hirudo verbana Carena).

Medicinal leeches use their suction discs for locomotion, adhesion to the host and, in the case of the anterior disc, also for blood ingestion. The biomechanics of their suction-based adhesion systems has been little understood until now. We investigated the functional morphology of the anterior and posterior suckers ofH irudo verbena by using light and scanning electron microscopy. Furthermore, we analysed the adhesion qualitatively and quantitatively by conducting behavioural and mechanical experiments. Our high-speed video analyses provide new insights into the attachment and detachment processes and we present a detailed description of the leech locomotion cycle. Pull-off force measurements of the anterior and posterior suction organs on seven different substrates under both aerial and water-submersed conditions reveal a significant influence of the surrounding medium, the substrate surface roughness and the tested organ on attachment forces and tenacities.

Performance Testing of a Locomotive Engine Aftertreatment Pre-prototype in a Passenger Cars Chassis Dynamometer Laboratory

The aim of this work is the definition of a pilot test procedure to carry on the system testing and validation tests with a locomotive engine aftertreatment pre-prototype called ENSPIRIT system, developed in the framework of the FP7 European Project Eliminating NOx, SOx& Particulate in Rail Transportation. Here it is described the study, processing and definition of the test procedure. A study has been conducted investigating the legislation (both European and US EPA) dealing with emission standards and tests for locomotives, gathering the fundamental information to create a driving cycle, suitable for tests with passenger cars, taking into account the main features of the locomotive test cycle. The first version of the ENSPIRIT Driving Cycle (EDC) has been tested in laboratory with two 2.0 l diesel experimental vehicles in order to refine it to better reproduce the locomotive test procedure, in particular with respect to notches duration, speed and rpm increase. The refined and definitive version of the EDC has been tested as well and the obtained results are here reported. The developed EDC was then inserted in a pilot testing protocol whose aim is to determine, through the EDC laboratory execution, the ENSPIRIT pre-prototype effectiveness in reducing the emission of NOx > 75% and the emission of PM2.5 > 98%. This can be done comparing the emissions of the two experimental vehicles, deprived of all the emission abatement systems (DPF, EGR, Oxy cat), with and without the use of the ENSPIRIT pre-prototype.

Corroborating trackmaker identification through footprint functional analysis: the case study of Ichniotherium and Dimetropus

A study carried out on some excellently preserved footprints has revealed the vital importance of functionality analysis, together with morphological analyses, in settling systematics and attribution issues in ichnological studies. To test the alleged reliability of functionality studies in tetrapod ichnology, a careful analysis of numerous specimens (both trackways and isolated footprints) of the Gotha collection, referred to the Permian ichnotaxa Ichniotherium and Dimetropus, has been carried out. The method, in addition to the classical ichnological protocol, includes a careful and basic analysis of the differential depth of the impression to evaluate biomechanics and functional potentiality of the putative trackmaker in the light of osteological structures. The analysis has led to the recognition of two well-separated particular functionalities (over a complete locomotion cycle), sharply distinguishable in Ichniotherium and Dimetropus. The Ichniotherium trackmaker presents a functional axis in the fore and hind limbs moved always along the medial side during the stroke progression; in Dimetropus trackmaker there are at least two functional axes, the first moved laterally in the initial stroke phase and the second moved medially during the maximum load phase. Those different functionalities are intimately linked to the particular osteological characters present in diadectids and non-therapsid synapsids. Thus, functionality analysis in the ichnological practice is a valuable tool strongly recommended for use whenever possible.

An Adjustable Compliant Joint for Lower-Limb Exoskeletons

The field of exoskeletons and wearable devices for walking assistance and rehabilitation has advanced considerably over the past few years. Currently, commercial devices contain joints with stiff actuators that cannot adapt to unpredictable environments. These actuators consume more energy and may not be appropriate for human-machine interactions. Thus, adjustable compliant actuators are being cautiously incorporated into new exoskeletons and active orthoses. Some simulation-based studies have evaluated the benefits of incorporating compliant joints into such devices. Another reason that compliant actuators are desirable is that spasticity and spasmodic movements are common among patients with motor deficiencies; compliant actuators could efficiently absorb these perturbations and improve joint control. In this paper, we provide an overview of the requirements that must be fulfilled by these actuators while evaluating the behavior of leg joints in the locomotion cycle. A brief review of existing compliant actuators is conducted, and our proposed variable stiffness actuator prototype is presented and evaluated. The actuator prototype is implemented in an exoskeleton knee joint operated by a state machine that exploits the dynamics of the leg, resulting in a reduction in actuation energy demand and better adaptability to disturbances.

Temporal Transfer of Locomotion Style

Timing plays a key role in expressing the qualitative aspects of a character's motion; that is, conveying emotional state, personality, and character role, all potentially without changing spatial positions. Temporal editing of locomotion style is particularly difficult for a novice animator since observers are not well attuned to the sense of weight and energy displayed through motion timing; and the interface for adjusting timing is far less intuitive to use than that for adjusting pose. In this paper, we propose an editing system that effectively captures the timing variations in an example locomotion set and utilizes them for style transfer from one motion to another via both global and upper-body timing transfers. The global timing transfer focuses on matching the input motion to the body speed of the selected example motion, while the upper-body timing transfer propagates the sense of movement flow — succession — through the torso and arms. Our transfer process is based on key times detected from the example set and transferring the relative changes of angle rotation in the upper body joints from a timing source to an input target motion. We demonstrate that our approach is practical in an interactive application such that a set of short locomotion cycles can be applied to generate a longer sequence with continuously varied timings.

ARES, a variable stiffness actuator with embedded force sensor for the ATLAS exoskeleton

Purpose – The purpose of this study is to present a variable stiffness actuator, one of whose main features is that the compliant elements simultaneously allow measuring of the torque exerted by the joint. Conceived as a force-controlled actuator, this actuator with Adjustable Rigidity and Embedded Sensor (ARES) is intended to be implemented in the knee of the ATLAS exoskeleton for children to allow the exploitation of the intrinsic dynamic during the locomotion cycle. Design/methodology/approach – A set of simulations were performed to evaluate the behavior of the actuator mechanism and a prototype of the variable impedance actuator was incorporated into the exoskeleton’s knee and evaluations of the torque measurements capabilities along with the rigidity adjustments were made. Findings – Mass and inertia of the actuator are minimized by the compact design and the utilization of the different component for more than one utility. By a proper match of the compliance of the joint and the performed task, good torque measurements can be achieved and no bandwidth saturation is expected. Originality/value – In the actuator, the compliant elements simultaneously allow measuring of the torque exerted by the join. By a proper match of the compliance of the joint and the performed task, good torque measurements can be achieved and no bandwidth saturation is expected.

Homology modeling and ligand docking of Mitogen-activated protein kinase-activated protein kinase 5 (MK5)

BackgroundMitogen-activated protein kinase-activated protein kinase 5 (MK5) is involved in one of the major signaling pathways in cells, the mitogen-activated protein kinase pathway. MK5 was discovered in 1998 by the groups of Houng Ni and Ligou New, and was found to be highly conserved throughout the vertebrates. Studies, both in vivo and in vitro, have shown that it is implicated in tumor suppression as well as tumor promotion, embryogenesis, anxiety, locomotion, cell motility and cell cycle regulation.MethodsIn order to obtain a molecular model of MK5 that can be used as a working tool for development of chemical probes, three MK5 models were constructed and refined based on three different known crystal structures of the closely related MKs; MK2 [PDB: 2OZA and PDB: 3M2W] and MK3 [PDB: 3FHR]. The main purpose of the present MK5 molecular modeling study was to identify the best suited template for making a MK5 model. The ability of the generated models to effectively discriminate between known inhibitors and decoys was analyzed using receiver operating characteristic (ROC) curves.ResultsAccording to the ROC curve analyzes, the refined model based on 3FHR was most effective in discrimination between known inhibitors and decoys.ConclusionsThe 3FHR-based MK5 model may serve as a working tool for development of chemical probes using computer aided drug design. The biological function of MK5 still remains elusive, but its role as a possible drug target may be elucidated in the near future.

Collective motion of oscillatory walkers

We study a system of interacting self-propelled particles whose walking velocity depends on the stage of the locomotion cycle. The model introduces a phase equation in the optimal velocity model for vehicular traffic. We find that the system exhibits novel types of flow: synchronized free flow, phase-anchoring free flow, orderly jam flow, and disordered jam flow. The first two flows are characterized by synchronization of the phase, while the others do not have the global synchronization. Among these, the disordered jam flow is very complex, although the underlying model is simple. This phenomenon implies that the crowd behavior of moving particles can be destabilized by coupling their velocity to the phase of their motion. We also focus on "phase-anchoring" phenomena. They strongly affect particle flow in the system, especially when the density of particles is high.

Exploiting joint synergy for actuation in a lower‐limb active orthosis

PurposeLower‐limb exoskeletons and powered orthoses are external devices that assist patients with locomotive disorders to achieve correct limb movements. Current batteries cannot meet the long‐term power requirements for these devices, which operate for long periods of time. This issue has become a major challenge in the development of these portable robots. Conversely, legged locomotion in animals and humans is efficient; to emulate this behaviour, biomimetic actuation has been designed attempting to incorporate elements that resemble biological elements, such as tendons and muscles, in the mechanical systems. The purpose of this paper is to present a mechanism that resembles a human tendon to achieve and utilise the synergic actuation of the leg joints.Design/methodology/approachIn this paper, we present a mechanism that resembles a human tendon to move the ankle joint and utilise the synergic actuation of hip and knee joints. Implementation of the proposed transmission system in the ATLAS active orthosis prototype allowed for a better ankle gait fit, which resulted in a more natural stride and, as expected, optimised energy consumption in the locomotion cycle and actuation energy requirements.FindingsThe fitted passive ankle motion provides toe‐off impulse, increases support force, and helps provide ground clearance.Originality/valueA synergetic underactuated movement in the ankle joint, implemented by two cables in each leg, improves the functionality of the device without increasing the leg weight and while maintaining a reduced size. To achieve a correct and efficient motion in the ankle of an active orthosis, two steel cables were attached in the ATLAS orthosis. These cables act as a synergic biarticular linkage and transfer motion from the hip and knee joints. Synergic ankle motion provides impulse in the toe‐off, increases support force, and provides ground clearance. These goals are achieved with low energy expenditure because of synergical actuation, and high inertia is prevented in the more distal limb.

Expression of emotion in the kinematics of locomotion

Here, we examine how different emotions-happiness, fear, sadness and anger-affect the kinematics of locomotion. We focus on a compact representation of locomotion properties using the intersegmental law of coordination (Borghese etal. in J Physiol 494(3):863-879, 1996), which states that, during the gait cycle of human locomotion, the elevation angles of the thigh, shank and foot do not evolve independently of each other but form a planar pattern of co-variation. This phenomenon is highly robust and has been extensively studied. The orientation of the plane has been correlated with changes in the speed of locomotion and with reduction in energy expenditure as speed increases. An analytical model explaining the conditions underlying the emergence of this plane and predicting its orientation reveals that it suffices to examine the amplitudes of the elevation angles of the different segments along with the phase shifts between them (Barliya etal. in Exp Brain Res 193:371-385, 2009). We thus investigated the influence of different emotions on the parameters directly determining the orientation of the intersegmental plane and on the angular rotation profiles of the leg segments, examining both the effect of changes in walking speed and effects independent of speed. Subjects were professional actors and naïve subjects with no training in acting. As expected, emotions were found to strongly affect the kinematics of locomotion, particularly walking speed. The intersegmental coordination patterns revealed that emotional expression caused additional modifications to the locomotion patterns that could not be explained solely by a change in speed. For all emotions except sadness, the amplitude of thigh elevation angles changed from those in neutral locomotion. The intersegmental plane was also differently oriented, especially during anger. We suggest that, while speed is the dominant variable allowing discrimination between different emotional gaits, emotion can be reliably recognized in locomotion only when speed is considered together with these kinematic changes.

Variability in kinematic coupling assessed by vector coding and continuous relative phase

Variability in the spatio-temporal coordination of human movement kinematics is often assessed by vector coding and continuous relative phase (CRP). To facilitate appropriate comparisons between the findings of studies that have used different techniques to assess variability, the purposes of this study were: (1) to determine if both vector coding and CRP behave according to dynamical systems theories on variability and state space transitions; and (2) to determine if trends in coordination variability during movement are consistent when using either vector coding or CRP. We present both a theoretical case (the Lorenz Attractor) and two experimental cases (rearfoot–forefoot coupling during overground walking for 22 subjects; the effect of treadmill speed on thigh-leg coupling for five subjects). In the theoretical case, variability quantified by CRP agreed with dynamical systems theory on state space transitions more so than variability quantified by vector coding. In experimental cases, this distinction was less clear, although CRP appeared to be a more conservative metric for variability. The magnitudes (all p<0.001) and timings (all p<0.04) of peaks in variability during the stance phase of overground walking depended on whether vector coding or CRP was used for two couplings. Similar distinctions were observed for peaks during the stride cycle of treadmill locomotion (all effect sizes >2.8). However, changes in the average variability during the stride cycle as speed increased were consistent for both methods (all effect sizes <0.2). The results suggest that comparisons between the findings of studies that have quantified variability using CRP and those that have used vector coding should be made with caution.