Pairs Of Muscles Research Articles

Altered Muscle Networks in Post-Stroke Survivors.

Muscle networks represent a series of interactions among muscles in the central nervous system's effort to reduce the redundancy of the musculoskeletal system in motor-control. How this occurs has only been investigated recently in healthy subjects with a novel technique exploring the functional connectivity between muscles through intermuscular coherence (IMC), yet the potential value of this method in characterizing the alteration of muscular networks after stroke remains unknown. In this study, muscle networks were assessed in post-stroke survivors and healthy controls to identify possible alterations in the neural oscillatory drive to muscles after stroke. Surface electromyography (sEMG) was collected from eight key upper extremity muscles to non-invasively determine the common neural input to the spinal motor neurons innervating muscle fibers. Coherence was computed between all possible muscle pairs and further decomposed by non-negative matrix factorization (NMF) to identify the common spectral patterns of coherence underlying the muscle networks. Results suggested that the number of identified muscle networks during dynamic force generation decreased after stroke. The findings in this study could provide a new prospective for understanding the motor control recovery during post-stroke rehabilitation.

Exploring Stiffness Modulation in Prosthetic Hands and Its Perceived Function in Manipulation and Social Interaction.

To physically interact with a rich variety of environments and to match situation-dependent requirements, humans adapt both the force and stiffness of their limbs. Reflecting this behavior in prostheses may promote a more natural and intuitive control and, consequently, improve prostheses acceptance in everyday life. This pilot study proposes a method to control a prosthetic robot hand and its impedance, and explores the utility of variable stiffness when performing activities of daily living and physical social interactions. The proposed method is capable of a simultaneous and proportional decoding of position and stiffness intentions from two surface electro-myographic sensors placed over a pair of antagonistic muscles. The feasibility of our approach is validated and compared to existing control modalities in a preliminary study involving one prosthesis user. The algorithm is implemented in a soft under-actuated prosthetic hand (SoftHand Pro). Then, we evaluate the usability of the proposed approach while executing a variety of tasks. Among these tasks, the user interacts with other 12 able-bodied subjects, whose experiences were also assessed. Several statistically significant aspects from the System Usability Scale indicate user's preference of variable stiffness control over low or high constant stiffness due to its reactivity and adaptability. Feedback reported by able-bodied subjects reveal a general tendency to favor soft interaction, i.e., low stiffness, which is perceived more human-like and comfortable. These combined results suggest the use of variable stiffness as a viable compromise between firm control and safe interaction which is worth investigating further.

First description of male genital sclerites and associated musculature for two members of Coniopterygidae (Insecta: Neuropterida: Neuroptera) based on X-ray microCT imaging

Coniopterygidae are the dwarfs among the Neuroptera. Despite their miniaturisation, the males are equipped with genital sclerites that are excessively heterogeneous. They function in copulation and sperm transfer and have been widely utilized for species identification, as well being considered of high phylogenetic relevance. The present study is the first to describe the musculature associated with the genital sclerites of two species of Coniopterygidae, Helicoconis lutea (Wallengren, 1871) (Aleuropteryginae), and Coniopteryx pygmaea (Enderlein, 1906) (Coniopteryginae) based on X-ray microCT imaging. We found six pairs of muscles associated with the genital sclerites in H. lutea and seven in C. pygmaea. The images depict other internal organs of the posterior abdominal segments, such as gonads and alimentary canal. In both investigated species, the internal sclerites support the ductus ejaculatorius, which – surprisingly – turned out to be a landmark for the identification of closely adjacent internal sclerites and associated musculature. The interpretation of these sclerites as gonocoxites and gonapophyses of the tenth segment (traditionally denoted as parameres and penis) could be corroborated. Thus it is no longer tenable to assert that possession of a “penis” is exclusive to Coniopterygidae, since this sclerite is part of the ground pattern in Neuroptera. Interactions of genital sclerites and corresponding musculature during copulation are discussed.

The effects of aging on the distribution and strength of correlated neural inputs to postural muscles during unperturbed bipedal stance.

The present study investigated the effects of aging on the distribution of common descending neural drives to main postural muscles acting on the ankle, knee, hip, and lower trunk. The presence, distribution, and strength of these drives were assessed using intermuscular coherence estimations at a low-frequency band (0-55Hz). Ten healthy older adults (68.7 ± 3.5years) with no recent history of falls and ten healthy younger adults (26.8 ± 2.7years) performed bipedal stances with eyes either opened or closed. Electromyographic (EMG) signals of six postural muscles were recorded. Estimations of intermuscular coherence were obtained from fifteen muscle pairs and four muscle groups. In general, single-pair and pooled coherence analyzes revealed significant levels of signal synchronization within 1-10Hz. Significant common drives to anterior, posterior, and antagonist muscle groups were observed for both cohorts of participants. However, older participants showed significantly stronger EMG-EMG synchronization in the frequency domain compared to younger participants. It seems that age-related sarcopenia, visual-vestibular-proprioceptive decline, cortical activation increase, presynaptic inhibition modulation decrease, and co-contraction increase had a major impact on strengthening the common drives to the aforementioned muscle groups. Differently from young adults, the absence of visual inputs did not reduce the magnitude of signal synchronization in older adults. These results suggest that the aging central nervous system seems to organize similar arrangements of common drives to postural antagonist muscles at different joints, and to postural muscles pushing the body either forward or backward when visual information is not available.

Altered Corticomuscular Coherence (CMCoh) Pattern in the Upper Limb During Finger Movements After Stroke.

Background: Proximal compensation to the distal movements is commonly observed in the affected upper extremity (UE) of patients with chronic stroke. However, the cortical origin of this compensation has not been well-understood. In this study, corticomuscular coherence (CMCoh) and electromyography (EMG) analysis were adopted to investigate the corticomuscular coordinating pattern of proximal UE compensatory activities when conducting distal UE movements in chronic stroke.Method: Fourteen chronic stroke subjects and 10 age-matched unimpaired controls conducted isometric finger extensions and flexions at 20 and 40% of maximal voluntary contractions. Electroencephalogram (EEG) data were recorded from the sensorimotor area and EMG signals were captured from extensor digitorum (ED), flexor digitorum (FD), triceps brachii (TRI), and biceps brachii (BIC) to investigate the CMCoh peak values in the Beta band. EMG parameters, i.e., the EMG activation level and co-contraction index (CI), were analyzed to evaluate the compensatory muscular patterns in the upper limb.Result: The peak CMCoh with statistical significance (P < 0.05) was found shifted from the ipsilesional side to the contralesional side in the proximal UE muscles, while to the central regions in the distal UE muscle in chronic strokes. Significant differences (P < 0.05) were observed in both peak ED and FD CMCohs during finger extensions between the two groups. The unimpaired controls exhibited significant intragroup differences between 20 and 40% levels in extensions for peak ED and FD CMCohs (P < 0.05). The stroke subjects showed significant differences in peak TRI and BIC CMCohs (P < 0.01). No significant inter- or intra-group difference was observed in peak CMCoh during finger flexions. EMG parameters showed higher EMG activation levels in TRI and BIC muscles (P < 0.05), and higher CI values in the muscle pairs involving TRI and BIC during all the extension and flexion tasks in the stroke group than those in the control group (P < 0.05).Conclusion: The post-stroke proximal muscular compensations from the elbow to the finger movements were cortically originated, with the center mainly located in the contralesional hemisphere.

Older adults show elevated intermuscular coherence in eyes-open standing but only young adults increase coherence in response to closing the eyes.

What is the central question of this study? Can a 14-week strength-training programme modify intermuscular coherence levels during bipedal standing tasks with eyes open and eyes closed and reduce age-related differences? What is the main finding and its importance? Older adults had more prominent common input over 4-14Hz with eyes open, but during the eyes-closed task the young adults were able to further enhance their common input at 6-36Hz. This indicates that young adults are better at modulating common input in different motor tasks. Understanding neural control of standing balance is important to identify age-related degeneration and design interventions to maintain function. Here, intermuscular coherence between antagonist muscle pairs around the ankle-joint during standing balance tasks was investigated before and after strength training. Ten young (18-31 years; YOUNG) and nine older adults (66-73 years; OLDER) stood on a force plate for 120s with eyes open followed by 120s with eyes closed before and after 14weeks of strength training. Postural sway was quantified from centre-of-pressure displacement based on 3-D force moments. Electromyography (EMG) was recorded from the gastrocnemius medialis (GM), soleus (SOL) and tibilais anterior (TA) muscles of the right leg. Coherence between rectified EMG pairs (GM-TA, SOL-TA) was calculated for each 120s epoch separately. Postural sway was lower in YOUNG compared to OLDER in eyes-open (6.8±1.3vs. 10.3±4.7mms-1 , P=0.028) and eyes-closed (10.9±3.1vs. 24.4±18.3mms-1 , P=0.032) tasks. For both muscle pairs, OLDER had more prominent common input over 4-14Hz with eyes open, but when the proprioceptive demand was enhanced in the eyes-closed task the YOUNG were able to further enhance their common input at 6-36Hz (P<0.05). Strength training reduced the instability from closing the eyes in OLDER but did not alter coherence. This may highlight a greater functional reserve in YOUNG than in OLDER and possible emerging proprioceptive degeneration in OLDER. However, the findings question the functional role of coherence for balance.

Scalogram-energy based segmentation of surface electromyography signals from swallowing related muscles

Background and Objective: The swallowing is a complex process mediated by the central nervous system, that implies voluntary and involuntary components, including 26 pairs of muscles. Non-invasive strategies, including the surface electromyography (sEMG), have been proposed to evaluate the swallowing. However, such analyses have been mostly descriptive, and the detection of neuromuscular activity has been limited to the visual inspection (VIS). Nonetheless, the VIS lacks reliability since the swallowing related muscles have small size, they are not completely shallow, suffer from cross-talk and have low signal-to-noise ratio (SNR). In this way, we propose a wavelet based method to automatically detect activations in sEMG signals acquired during praxis and swallowing tasks.Methods: The proposed strategy, namely Scalogram-Energy based Segmentation method, was applied on sEMG signals recorded in masseteric, orbicular, supra- and infrahyoid muscles. The method was trained in a database of 35 healthy subjects by the use of multi-objective genetic algorithms and tested via cross-validation, aiming to maximize the F1 score and minimize the timing error between the automatic and VIS related marks. Furthermore, the proposed method was tested in a database of semi-synthetic signals with variable SNR built from signals collected from 10 individuals. Additionally, the method was compared with a double threshold based algorithm as well as with other based on energy and morphological operators.Results: The algorithm achieved a F1 score of 0.82 and almost 13 ms of error in the estimation of onset and offset. Afterwards, we applied the optimized algorithm to a set with semi-synthetic signals with variable SNR, that achieved F1 score of 0.85 for SNR=6 dB and 0.97 for SNR=8 and 10 dB. The mean of the timing error was smaller than 9 ms for SNR=6,8 and 10 dB. The method was also compared with a double threshold based algorithm as well as with other based on energy and morphological operators.Conclusions: The proposed method shown to be useful to automatically analyze the electrophysiological activity associated to praxis and swallowing process. Nonetheless, the obtained results could be extended to other sEMG related applications.

Neuroanatomical and neurophysiological mechanisms of acoustic and weakly electric signaling in synodontid catfish.

To what extent do modifications in the nervous system and peripheral effectors contribute to novel behaviors? Using a combination of morphometric analysis, neuroanatomical tract‐tracing, and intracellular neuronal recording, we address this question in a sound‐producing and a weakly electric species of synodontid catfish, Synodontis grandiops, and Synodontis nigriventris, respectively. The same peripheral mechanism, a bilateral pair of protractor muscles associated with vertebral processes (elastic spring mechanism), is involved in both signaling systems. Although there were dramatic species differences in several morphometric measures, electromyograms provided strong evidence that simultaneous activation of paired protractor muscles accounts for an individual sound and electric discharge pulse. While the general architecture of the neural network and the intrinsic properties of the motoneuron population driving each target was largely similar, differences could contribute to species‐specific patterns in electromyograms and the associated pulse repetition rate of sounds and electric discharges. Together, the results suggest that adaptive changes in both peripheral and central characters underlie the transition from an ancestral sound to a derived electric discharge producing system, and thus the evolution of a novel communication channel among synodontid catfish. Similarities with characters in other sonic and weakly electric teleost fish provide a striking example of convergent evolution in functional adaptations underlying the evolution of the two signaling systems among distantly related taxa.

Surface Electromyography Normalization Affects the Interpretation of Muscle Activity and Coactivation in Children With Cerebral Palsy During Walking.

Investigating muscle activity and coactivation with surface electromyography (sEMG) gives insight into pathological muscle function during activities like walking in people with neuromuscular impairments, such as children with cerebral palsy (CP). There is large variation in the amount of coactivation reported during walking in children with CP, possibly due to the inconsistent handling of sEMG and in calculating the coactivation index. The aim of this study was to evaluate how different approaches of handling sEMG may affect the interpretation of muscle activity and coactivation, by looking at both absolute and normalized sEMG. Twenty-three ambulatory children with CP and 11 typically developing (TD) children participated. We conducted a three-dimensional gait analysis (3DGA) with concurrent sEMG measurements of tibialis anterior, soleus, gastrocnemius medialis, rectus femoris, and hamstring medialis. They walked barefoot at a self-selected, comfortable speed back and forth a 7-m walkway. The gait cycle extracted from the 3DGA was divided into six phases, and for each phase, root mean square sEMG amplitude was calculated (sEMG-RMS-abs), and also normalized to peak amplitude of the linear envelope (50-ms running RMS window) during the gait cycle (sEMG-RMS-norm). The coactivation index was calculated using sEMG-RMS-abs and sEMG-RMS-norm values and by using two different indices. Differences between TD children's legs and the affected legs of children with CP were tested with a mixed model. The between-subject muscle activity variability was more evenly distributed using sEMG-RMS-norm; however, potential physiological variability was eliminated as a result of normalization. Differences between groups in one gait phase using sEMG-RMS-abs showed opposite differences in another phase using sEMG-RMS-norm for three of the five muscles investigated. The CP group showed an increased coactivation index in two out of three muscle pairs using sEMG-RMS-abs and in all three muscle pairs using sEMG-RMS-norm. These results were independent of index calculation method. Moreover, the increased coactivation indices could be explained by either reduced agonist activity or increased antagonist activity. Thus, differences in muscle activity and coactivation index between the groups change after normalization. However, because we do not know the truth, we cannot conclude whether to normalize and recommend incorporating both.

Swallow Motor Pattern Is Modulated by Fixed or Stochastic Alterations in Afferent Feedback.

Afferent feedback can appreciably alter the pharyngeal phase of swallow. In order to measure the stability of the swallow motor pattern during several types of alterations in afferent feedback, we assessed swallow during a conventional water challenge in four anesthetized cats, and compared that to swallows induced by fixed (20 Hz) and stochastic (1-20Hz) electrical stimulation applied to the superior laryngeal nerve. The swallow motor patterns were evaluated by electromyographic activity (EMG) of eight muscles, based on their functional significance: laryngeal elevators (mylohyoid, geniohyoid, and thyrohyoid); laryngeal adductor (thyroarytenoid); inferior pharyngeal constrictor (thyropharyngeus); upper esophageal sphincter (cricopharyngeus); and inspiratory activity (parasternal and costal diaphragm). Both the fixed and stochastic electrical stimulation paradigms increased activity of the laryngeal elevators, produced short-term facilitation evidenced by increasing swallow durations over the stimulus period, and conversely inhibited swallow-related diaphragm activity. Both the fixed and stochastic stimulus conditions also increased specific EMG amplitudes, which never occurred with the water challenges. Stochastic stimulation increased swallow excitability, as measured by an increase in the number of swallows produced. Consistent with our previous results, changes in the swallow motor pattern for pairs of muscles were only sometimes correlated with each other. We conclude that alterations in afferent feedback produced particular variations of the swallow motor pattern. We hypothesize that specific SLN feedback might modulate the swallow central pattern generator during aberrant feeding conditions (food/liquid entering the airway), which may protect the airway and serve as potentially important clinical diagnostic indicators.

Symmetry in the front crawl stroke of different skill level of able-bodied and disabled swimmers.

Although swimming is recognized as a symmetrical sport, equivalence between each body side cannot be insured. Swimmers with physical and motor impairment may present asymmetries that are even more pronounced. Therefore, the objective of this study was to assess the symmetry of temporal coordination in the front crawl stroke phases and their dimensional characteristics among swimmers of different levels of skill and disabled swimmers. Forty-one swimmers (28 men and 13 women, 18,8 ± 3,3 years, divided 21 of them into groups of high and low level of skill and 20 in disabled swimmers group) performed a 50m maximum of front-crawl test while they were recorded by six synchronized cameras (four underwater and two above water) for analysis of the stroke phases, stroke dimensions (anteroposterior, mediolateral and vertical amplitude), index of coordination and hand speed. The symmetry index was calculated by the difference between the right and the left strokes. Comparisons were made using the Kruskal-Wallis test and multivariate comparisons were made using the Mann-Whitney test, with p <0.05. Asymmetry was noted in anteroposterior and mediolateral amplitudes of the stroke, index of coordination, duration of the recovery phase, each of the underwater phases and in the hand speed during the downseep phase, regardless of the level of skill or impairment. The disabled swimmers also showed asymmetry in the vertical amplitude of the stroke as well as in the insweep and upsweep speed. The reasons for these asymmetries may be the preference for unilateral breathing, force imbalance between pairs of homologous muscles and motor control deficit. The training with stereotypic movements may explain the similarity of asymmetries among the different groups of swimmers.

Investigating the Muscular and Kinematic Responses to Sudden Wrist Perturbations During a Dynamic Tracking Task

Sudden disturbances (perturbations) to the hand and wrist are commonplace in daily activities and workplaces when interacting with tools and the environment. It is important to understand how perturbations influence forearm musculature and task performance when identifying injury mechanisms. The purpose of this work was to evaluate changes in forearm muscle activity and co-contraction caused by wrist perturbations during a dynamic wrist tracking task. Surface electromyography was recorded from eight muscles of the upper-limb. Participants performed trials consisting of 17 repetitions of ±40° of wrist flexion/extension using a robotic device. During trials, participants received radial or ulnar perturbations that were delivered during flexion or extension, and with known or unknown timing. Co-contraction ratios for all muscle pairs showed significantly greater extensor activity across all experimental conditions. Of all antagonistic muscle pairs, the flexor carpi radialis (FCR)-extensor carpi radialis (ECR) muscle pair had the greatest change in co-contraction, producing 1602% greater co-contraction during flexion trials than during extensions trials. Expected perturbations produced greater anticipatory (immediately prior to the perturbation) muscle activity than unexpected, resulting in a 30% decrease in wrist displacement. While improving performance, this increase in anticipatory muscle activity may leave muscles susceptible to early-onset fatigue, which could lead to chronic overuse injuries in the workplace.

Adaptive multichannel FES neuroprosthesis with learning control and automatic gait assessment

BackgroundFES (Functional Electrical Stimulation) neuroprostheses have long been a permanent feature in the rehabilitation and gait support of people who had a stroke or have a Spinal Cord Injury (SCI). Over time the well-known foot switch triggered drop foot neuroprosthesis, was extended to a multichannel full-leg support neuroprosthesis enabling improved support and rehabilitation. However, these neuroprostheses had to be manually tuned and could not adapt to the persons’ individual needs. In recent research, a learning controller was added to the drop foot neuroprosthesis, so that the full stimulation pattern during the swing phase could be adapted by measuring the joint angles of previous steps.MethodsThe aim of this research is to begin developing a learning full-leg supporting neuroprosthesis, which controls the antagonistic muscle pairs for knee flexion and extension, as well as for ankle joint dorsi- and plantarflexion during all gait phases. A method was established that allows a continuous assessment of knee and foot joint angles with every step. This method can warp the physiological joint angles of healthy subjects to match the individual pathological gait of the subject and thus allows a direct comparison of the two. A new kind of Iterative Learning Controller (ILC) is proposed which works independent of the step duration of the individual and uses physiological joint angle reference bands.ResultsIn a first test with four people with an incomplete SCI, the results showed that the proposed neuroprosthesis was able to generate individually fitted stimulation patterns for three of the participants. The other participant was more severely affected and had to be excluded due to the resulting false triggering of the gait phase detection. For two of the three remaining participants, a slight improvement in the average foot angles could be observed, for one participant slight improvements in the averaged knee angles. These improvements where in the range of 4circat the times of peak dorsiflexion, peak plantarflexion, or peak knee flexion.ConclusionsDirect adaptation to the current gait of the participants could be achieved with the proposed method. The preliminary first test with people with a SCI showed that the neuroprosthesis can generate individual stimulation patterns. The sensitivity to the knee angle reset, timing problems in participants with significant gait fluctuations, and the automatic ILC gain tuning are remaining issues that need be addressed. Subsequently, future studies should compare the improved, long-term rehabilitation effects of the here presented neuroprosthesis, with conventional multichannel FES neuroprostheses.

Optical Sensor-Embedded Pneumatic Artificial Muscle for Position and Force Estimation.

This study presents the design of a pneumatic artificial muscle with integrated soft optical sensing for estimation of muscle contraction length and contraction force. Each optical sensor uses an light emitting diode (LED)-photodiode pair to measure the light reflected by a silicone diaphragm embedded in the muscle. One diaphragm is designed to respond primarily to changes in muscle pressure, whereas the other is designed to respond to changes in muscle length. Muscle sensors were calibrated by measuring muscle contraction force versus length for a range of fixed muscle pressures and then mapping optical sensor data to the corresponding length and force data. To evaluate sensorized muscle performance in a robotic system, two antagonistic muscle pairs were used to actuate a planar two-degree-of-freedom arm. In various static and dynamic tests, arm positions and forces were estimated from optical sensor measurements. Optical sensor estimates of static and dynamic end-effector position estimation yielded average errors of 1.3 and 1.1 cm, respectively. Optical sensor estimates of static and dynamic end-effector force yielded average total force errors of 0.16 and 0.12 N for maximum end-effector forces of 2.0 and 2.4 N, respectively.

The vocal organ of hummingbirds shows convergence with songbirds

How sound is generated in the hummingbird syrinx is largely unknown despite their complex vocal behavior. To fill this gap, syrinx anatomy of four North American hummingbird species were investigated by histological dissection and contrast-enhanced microCT imaging, as well as measurement of vocalizations in a heliox atmosphere. The placement of the hummingbird syrinx is uniquely located in the neck rather than inside the thorax as in other birds, while the internal structure is bipartite with songbird-like anatomical features, including multiple pairs of intrinsic muscles, a robust tympanum and several accessory cartilages. Lateral labia and medial tympaniform membranes consist of an extracellular matrix containing hyaluronic acid, collagen fibers, but few elastic fibers. Their upper vocal tract, including the trachea, is shorter than predicted for their body size. There are between-species differences in syrinx measurements, despite similar overall morphology. In heliox, fundamental frequency is unchanged while upper-harmonic spectral content decrease in amplitude, indicating that syringeal sounds are produced by airflow-induced labia and membrane vibration. Our findings predict that hummingbirds have fine control of labia and membrane position in the syrinx; adaptations that set them apart from closely related swifts, yet shows convergence in their vocal organs with those of oscines.

Changes in Muscle Activity Patterns and Joint Kinematics During Gait in Hemophilic Arthropathy.

Hemophilic arthropathy is the result of repetitive intra-articular bleeding and synovial inflammation. In people with hemophilic arthropathy (PWHA), very little is known about the neural control of individual muscles during movement. The aim of the present study was to assess if the neural control of individual muscles and coordination between antagonistic muscle pairs and joint kinematics during gait are affected in PWHA. Thirteen control subjects (CG) walked overground at their preferred and slow velocity (1 m/s), and 14 PWHA walked overground at the preferred velocity (1 m/s). Joint kinematics and temporal gait parameters were assessed using four inertial sensors. Surface electromyography (EMG) was collected from gluteus maximus (GMAX), gluteus medius (GMED), vastus medialis (VM), vastus lateralis (VL), rectus femoris (RF), medial gastrocnemius (MG), lateral gastrocnemius (LG), soleus (SOL), tibialis anterior (TA), semitendinosus (ST), and biceps femoris (BF). Waveforms were compared using the time-series analysis through statistical parametric mapping. In PWHA compared to CG, EMG amplitude during the stance phase was higher for LG (for both velocities of the CG), BF (slow velocity only), and ST (preferred velocity only) (p < 0.05). Co-contraction during the stance phase was higher for MG-TA, LG-TA, VL-BF, VM-ST, LG-VL, and MG-VM (both velocities) (p < 0.05). MG and LG were excited earlier (preferred velocity only) (p < 0.05). A later offset during the stance phase was found for VL, BF, and ST (both velocities), and BF and GMAX (preferred velocity only) (p < 0.05). In addition, the range of motion in knee and ankle joints was lower in PWHA (both velocities) and hip joint (preferred velocity only) (p < 0.05). In conclusion, the neural control of individual muscles and coordination between antagonistic muscles during gait in PWHA differs substantially from control subjects.

Selecting the appropriate input variables in a regression approach to estimate actively generated muscle moments around L5/S1 for exoskeleton control

Back support exoskeletons are designed to prevent work-related low-back pain by reducing mechanical loading. For actuated exoskeletons, support based on moments actively produced by the trunk muscles appears a viable approach. The moment can be estimated by a biomechanical model. However, one of the main challenges here is the feasibility of recording the required input variables (kinematics, EMG data, ground reaction forces) to run the model. The aim of this study was to evaluate how accurate different selections of input variables can estimate actively generated moments around L5/S1. Different multivariate regression analyses were performed using a dataset consisting of spinal load, body kinematics and trunk muscle activation levels during different lifting conditions with and without an exoskeleton. The accuracy of the resulting models depended on the number and type of input variables and the regression model order. The current study suggests that third-order polynomial regression of EMG signals of one or two bilateral back muscle pairs together with exoskeleton trunk and hip angle suffices to accurately estimate the actively generated muscle moment around L5/S1, and thereby design a proper control system for back support exoskeletons.

Equilibrium point-based control of muscle-driven anthropomorphic legs reveals modularity of human motor control during pedalling

ABSTRACTThis study aims at shedding new light on the human motor control during forward and backward pedalling motions from a viewpoint of the mechanical impedance, determined by the coordinated activations of multiple pairs of agonist-antagonist muscles, called equilibrium point (EP)-based synergy. First, human movements and electromyograms as muscle activations during forward and backward pedalling motions were measured, and using our working model proposed earlier, they were analysed to obtain EP-based synergies, i.e. a set of synergy vectors and the corresponding time-courses of synergy activation coefficients associated with a virtual trajectory, for each pedalling direction. We showed the similarity in the EP-based synergies between forward and backward motions. We performed a robot experiment, where we used the EP-based synergies for the forward pedalling with their time-reversed synergy activation coefficients and a phase-shift in a coefficient for a specific synergy vector to actuate a robot of muscle-driven anthropomorphic legs for achieving a backward pedalling. Comparisons between the backward motion in the robot and that in human confirmed that they were mostly the same. Our results support our working model that the human motor control shares the common EP-based synergy and the associated mechanical impedance for controlling the forward and backward pedalling motions.

Development of an active and passive finger rehabilitation robot using pneumatic muscle and magnetorheological damper

This paper presents the development of a finger rehabilitation robot (FRR) for active and passive training to fulfill the requirements of different rehabilitation stages. In the design, an antagonistic pair of pneumatic muscles (PMs) are utilized to exert a bidirectional force for passive training, and a controllable magnetorheological (MR) damper is used to provide a damping force for active training. In this paper, first, a detailed illustration of the mechanical design of the FRR, including the driving, transmission and actuating mechanisms, and the damping device, is presented. Subsequently, the kinematic analysis and simulation are described, followed by the static and dynamic analysis of the designed FRR. This paper details the static force transfer of the transmission mechanism, and the establishment of dynamic equations for the passive training system. Finally, an experimental set-up is established, and several passive and active training experiments are conducted for the performance evaluation of the FRR prototype. The results validate the feasibility and stability of the developed FRR.

A new species of Macrocypraea (Gastropoda, Cypraeidae) from Trindade Island, Brazil, including phenotypic differentiation from remaining congeneric species.

Macrocypraea mammoth is a new species from Trindade, a remote oceanic island located 1160 km off Espírito Santo, Brazil. This isolated species is described in a detailed morphological scenario that includes all Recent congeneric species. The detailed anatomy of two Recent species, M. zebra and M. cervinetta, were described in a previous paper. The remaining one, M. cervus, is included herein. Brief taxonomical comments on all these species is also included. The new species can be distinguished from other Western Atlantic species by its larger size, proportionally heavier and more solid shell, more rounded and wider outline, longer posterior tapered ending and slightly inflated base; anatomically it has some exclusivities, such as the mantle papillae mostly bearing 3-5 distal aligned projections, osphradium with a shorter branch, modifications in some odontophore muscles, penis with a clear glandular region, and a sac-like bursa copulatrix with a long duct. Based on the comparative analysis, the genus Macrocypraea can be defined by the wide distance between the osphradium and gill; a twofold buccal muscle (mc); a radular ventral tensor muscle (pair m11) surrounding radular sac; and a bursa copulatrix located at middle level of the pallial oviduct. Register ZooBank: urn:lsid:zoobank.org:pub:C8E6E515-508F-47DE-9753-4EA619C1DDFD.