Single Motor Research Articles

A Semi-Markov Approach to Study a Group of Kinesin Motors.

We propose a general mathematical and computational approach to study cellular transport driven by a group of kinesin motors. It is a framework for multi-scale modeling that integrates kinetic models of single kinesin motors, including detachment and reattachment events, to study group behaviors of several motors. By formulating the problem as a semi-Markov process and applying a central limit theorem, asymptotic velocity and diffusivity can be readily calculated, which offers considerable computational advantage over Monte Carlo simulations in tasks such as parameter sensitivity analysis and model selection. We demonstrate the method with some examples. The importance of incorporating the intrinsic microscopic-level dynamics of individual motors is illustrated by showing how changes at the microscopic level propagate to the motor-cargo complex at a mesoscopic level. Particularly, we showcase an example in which changes in the second moment of single-motor characteristics gives rise to different first moment characteristics of the motor group.

A Lightweight Dynamic Hand Orthosis With Sequential Joint Flexion Movement for Postoperative Rehabilitation of Flexor Tendon Repair Surgery.

During the postoperative hand rehabilitation period, it is recommended that the repaired flexor tendons be continuously glided with sufficient tendon excursion and carefully managed protection to prevent adhesion with adjacent tissues. Thus, finger joints should be passively mobilized through a wide range of motion (ROM) with physiotherapy. During passive mobilization, sequential flexion of the metacarpophalangeal (MCP) joint followed by the proximal interphalangeal (PIP) joint is recommended for maximizing tendon excursion. This paper presents a lightweight device for postoperative flexor tendon rehabilitation that uses a single motor to achieve sequential joint flexion movement. The device consists of an orthosis, a cable, and a single motor. The degree of spatial stiffness and cable path of the orthosis were designed to apply a flexion moment to the MCP joint prior to the PIP joint. The device was tested on both healthy individuals and a patient who had undergone flexor tendon repair surgery, and both flexion and extension movement could be achieved with a wide ROM and sequential joint flexion movement using a single motor.

Theoretical analysis of cargo transport by catch bonded motors in optical trapping assays.

Dynein motors exhibit catch bonding, where the unbinding rate of the motors from microtubule filaments decreases with increasing opposing load. The implications of this catch bond on the transport properties of dynein-driven cargo are yet to be fully understood. In this context, optical trapping assays constitute an important means of accurately measuring the forces generated by molecular motor proteins. We investigate, using theory and stochastic simulations, the transport properties of cargo transported by catch bonded dynein molecular motors - both singly and in teams - in a harmonic potential, which mimics the variable force experienced by cargo in an optical trap. We estimate the biologically relevant measures of first passage time - the time during which the cargo remains bound to the microtubule and detachment force - the force at which the cargo unbinds from the microtubule, using both two-dimensional and one-dimensional force balance frameworks. Our results suggest that even for cargo transported by a single motor, catch bonding may play a role depending on the force scale which marks the onset of the catch bond. By comparing with experimental measurements on single dynein-driven transport, we estimate realistic bounds of this catch bond force scale. Generically, catch bonding results in increased persistent motion, and can also generate non-monotonic behaviour of first passage times. For cargo transported by multiple motors, emergent collective effects due to catch bonding can result in non-trivial re-entrant phenomena wherein average first passage times and detachment forces exhibit non-monotonic behaviour as a function of the stall force and the motor velocity.

Enzymatic micro/nanomotors in biomedicine: from single motors to swarms.

Micro/nanomotors (MNMs) have evolved from single self-propelled entities to versatile systems capable of performing one or multiple biomedical tasks. When single MNMs self-assemble into coordinated swarms, either under external control or triggered by chemical reactions, they offer advantages that individual MNMs cannot achieve. These benefits include intelligent multitasking and adaptability to changes in the surrounding environment. Here, we provide our perspective on the evolution of MNMs, beginning with the development of enzymatic MNMs since the first theoretical model was proposed in 2005. These enzymatic MNMs hold immense promise in biomedicine due to their advantages in biocompatibility and fuel availability. Subsequently, we introduce the design and application of single motors in biomedicine, followed by the control of MNM swarms and their biomedical applications. In the end, we propose viable solutions for advancing the development of MNM swarms and anticipate valuable insights into the creation of more intelligent and controllable MNM swarms for biomedical applications.

Konceptualni dizajn bespilotne letelice tipa leteće krilo i letna ispitivanja

The main aim of this paper is to present a method for the conceptual design of a flying wing unmanned aerial vehicle using open-source software for rapid airfoil comparison and design and parametric geometry design and analysis. After adopting the final geometry the aerodynamic characteristics have been estimated including control derivatives. The obtained results have been compared to the results for similar flying wing projects to confirm that the presented method can give satisfying results. As the calculated results indicated that UAVs possess adequate flying qualities the prototype UAV was assembled using simple construction methods consisting of a hot wire cut styrofoam structure reinforced with plywood sticks, powered by a single pusher-propelled electrical BLDC motor. Calculated flight polar was then compared with data obtained from flight tests, verifying estimated stability and control characteristics of UAV design. The flight test results show that UAVs are controllable without a stability augmentation system, validating the use of methods described in this paper.

Experimental research on energy recovery efficiency and dynamic characteristics of heavy electric forklift

The heavy electric forklift adopts a high-voltage system with fast charging speed and a large amount of recoverable potential energy. Energy recovery can prolong the operation time and improve the overall efficiency of the machine significantly. The energy recovery system has a large flow range, and the system of a single hydraulic motor-permanent magnet synchronous motor cannot meet the actual working needs of the heavy electric forklift. This paper proposes a new energy recovery system with dual hydraulic motors and permanent magnet synchronous motors. The system has two work modes, single and dual modes. The system operates in the single mode for a low flow rate and the dual mode for a high flow rate. Experimental research on energy recovery efficiency and dynamic characteristics is carried out. The experimental results show that power generation efficiency is above 50% within a certain speed range.

A model of microtubule depolymerization by kinesin-8 motor proteins.

The dimeric kinesin-8 motors have the biological function of depolymerizing microtubules (MTs) from the plus end. However, the molecular mechanism of the depolymerization promoted by the kinesin-8 motors is still undetermined. Here, a model is proposed for the MT depolymerization by the kinesin-8 motors. Based on the model, the dynamics of depolymerization in the presence of the single motor at the MT plus end under no load and under load on the motor is studied theoretically. The dynamics of depolymerization in the presence of multiple motors at the MT plus end is also analyzed. The theoretical results explain well the available experimental data. The studies can also be applicable to other families of kinesin motors such as kinesin-13 mitotic centromere-associated kinesin motors that have the ability to depolymerize MTs.

Design and Test of an Intraoral Electrode Grid for Tongue High-Density Electromyography.

Tongue motor function is crucial in a wide range of basic activities and its impairment affects quality of life. The electrophysiological assessment of the tongue relies primarily on needle electromyography, which is limited by its invasiveness and inability to capture the concurrent activity of the different tongue muscles. This work aimed at developing an intraoral grid for high-density surface electromyography (HDsEMG) to non-invasively map the electrical excitation of tongue muscles. We developed a grid of 4×8 electrodes deposited over an adhesive 8- μ m thick polyurethane membrane. The testing protocol was conducted on 7 healthy participants and included functional tasks (vowels articulation and tongue movements) aimed at activating different regions of the tongue. The electrical stability of contact was assessed by measuring electrode-tongue impedances before and after the tasks. The spatial amplitude distribution of global EMG and single motor unit action potentials (MUAPs) was characterized. Electrode-tongue impedance magnitude showed no significant changes in the pre-post comparison ( 58±46 k Ω vs. 67±58 k Ω at 50Hz). Contact stability was confirmed by the quality of the signals that allowed to quantify spatiotemporal characteristics of muscle activation during the different tasks. The analysis of the spatial distribution of individual MUAPs amplitude showed that they were confined to relatively small areas on the tongue surface (range: 0.5cm2 -3.9cm [Formula: see text]. A variety of different spatiotemporal MUAP patterns, likely due to the presence of different muscle compartments with different fiber orientations, were observed. Our results demonstrate that the developed electrode grid enables HDsEMG acquisition from the tongue during functional tasks, thus opening new possibilities in tongue muscle assessment both at global and single motor unit level.

Drosophila larval motor patterning relies on regulated alternative splicing of Dscam2.

Recent studies capitalizing on the newly complete nanometer-resolution Drosophila larval connectome have made significant advances in identifying the structural basis of motor patterning. However, the molecular mechanisms utilized by neurons to wire these circuits remain poorly understood. In this study we explore how cell-specific expression of two Dscam2 isoforms, which mediate isoform-specific homophilic binding, contributes to motor patterning and output of Drosophila larvae. Ablating Dscam2 isoform diversity resulted in impaired locomotion. Electrophysiological assessment at the neuromuscular junction during fictive locomotion indicated that this behavioral defect was largely caused by weaker bouts of motor neuron activity. Morphological analyses of single motor neurons using MultiColour FlpOut revealed severe errors in dendrite arborization and assessment of cholinergic and GABAergic projections to the motor domain revealed altered morphology of interneuron processes. Loss of Dscam2 did not affect locomotor output, motor neuron activation or dendrite targeting. Our findings thus suggest that locomotor circuit phenotypes arise specifically from inappropriate Dscam2 interactions between premotor interneurons and motor neurons when they express the same isoform. Indeed, we report here that first-order premotor interneurons express Dscam2A. Since motor neurons express Dscam2B, our results provide evidence that Dscam2 isoform expression alternates between synaptic partners in the nerve cord. Our study demonstrates the importance of cell-specific alternative splicing in establishing the circuitry that underlies neuromotor patterning without inducing unwanted intercellular interactions.

Trouble doing two differently timed actions at once: What is the problem?

It is nearly impossible to concurrently initiate and execute two motor actions with independent timing. For example, it is difficult to tap one rhythm with the right hand while tapping a different rhythm with the left hand, even after these rhythms have been practiced individually. However, if this task is restructured so that it is represented internally as one action done by two hands rather than as two actions, one with each hand, these same rhythms can be produced easily. These findings, which indicate that motor action is limited to a single time base, are in marked contrast with the fact that it is easy to mechanically generate two independent rhythms simply by using mechanisms that are not linked to each other. After an in-depth review of the extensive research on this topic we propose a new theoretical interpretation. This attributes the difficulty to a fundamental constraint that prevents initiation of any motor action until after completion of programming the internal code that controls timing. The timing code is volatile in the sense that it must be generated immediately prior to the action to be controlled and then it must be implemented without delay. This constraint, which has been studied as it applies to single motor actions, can be extended to concurrent motor actions where it can account for the difficulty in doing two differently timed actions at once. Additional phenomena which may be attributed to this constraint are described in a concluding section. (PsycInfo Database Record (c) 2024 APA, all rights reserved).

Neuromyotonia.

Neuromyotonia is continuous peripheral nerve hyper-excitability manifesting in muscle twitching at rest (myokymia), inducible cramps and impaired muscle relaxation, and characterized by EMG findings of spontaneous single motor unit discharges (with doublet, triplet, or multiplet morphology). The disorder may be genetic, acquired, and often in the acquired cases autoimmune. This chapter focuses on autoimmune acquired causes. Autoimmune associations include mainly contactin-associated protein-like 2 (CASPR2) antibody-associated disease (previously termed as VGKC or voltage-gated potassium channel antibody-associated neuromyotonia) (van Sonderen et al., 2016, p. 2), leucine-rich glioma-inactivated 1 (LGI1) antibody disease, the Guillain-Barré syndrome, NMDAR encephalitis (Varley et al., 2019), and IgLON5 (Gaig et al., 2021) disease. Nonimmune associations include radiation-induced plexopathy. An association with myasthenia gravis and other autoimmune disorders, response to plasma exchange (Newsom-Davis and Mills, 1993) and physiologically induced changes in mice injected with patient-derived immunoglobulins led to the discovery of autoantibodies to juxtaparanodal proteins complexed with potassium channels (Shillito et al., 1995). The target of the antibodies is most commonly the CASPR2 protein. The disorder may be paraneoplastic, and a search for and treatment of an underlying tumor is a necessary step. In cases in which there is evidence for an immune cause, then immune suppression, with an emerging role for B cell-depleting therapies, is associated with a good clinical outcome. In parallel, sodium channel blocking drugs remain effective symptomatic therapies.

Mini-review: Biological Movements as Objects of Natural Science

BACKGROUND: Two approaches to biological movement have dominated the field, the computational approach (internal models) and the approach based on laws of nature pioneered by several researchers including Michael Turvey. AIM AND METHOD: We review a body of literature exploring and expanding the approach based on laws of nature. We show, in particular, how this approach fits the philosophical traditions of Merleau-Ponty, the theory of control with spatial referent coordinates, the principle of abundance, and the concept of performance-stabilizing synergies using the uncontrolled manifold hypothesis. RESULTS: Currently, this scheme of motor control has been applied successfully in studies of a variety of effectors, from single motor units to the whole body, a variety of tasks, and various populations. It led to the discovery of new phenomena and new interpretations of known phenomena. It has been productive in studies of neurological patients offering new understanding of some of the common pathologies (e.g., spasticity) and new tools for early diagnosis of various subcortical disorders and monitoring treatment effects. CONCLUSION: Currently, this field faces a number of challenges including the following: Mapping steps in the hierarchical control scheme on neurophysiological structures and circuits, understanding the relative role of intra-muscle (spinal) and multi-effector (supraspinal) synergies, expanding studies of movements in intact animals and animal preparation, and moving beyond the current scheme to fields traditionally associated with psychology. Just like the current scheme represents moving “outside the box” of classical mechanics, a step outside the current thinking is needed.

Laser-Powered Vibrotactile Rendering

We investigate the feasibility of a vibrotactile device that is both battery-free and electronic-free. Our approach leverages lasers as a wireless power transfer and haptic control mechanism, which can drive small actuators commonly used in AR/VR and mobile applications with DC or AC signals. To validate the feasibility of our method, we developed a proof-of-concept prototype that includes low-cost eccentric rotating mass (ERM) motors and linear resonant actuators (LRAs) connected to photovoltaic (PV) cells. This prototype enabled us to capture laser energy from any distance across a room and analyze the impact of critical parameters on the effectiveness of our approach. Through a user study, testing 16 different vibration patterns rendered using either a single motor or two motors, we demonstrate the effectiveness of our approach in generating vibration patterns of comparable quality to a baseline, which rendered the patterns using a signal generator.

Myomatrix arrays for high-definition muscle recording

Neurons coordinate their activity to produce an astonishing variety of motor behaviors. Our present understanding of motor control has grown rapidly thanks to new methods for recording and analyzing populations of many individual neurons over time. In contrast, current methods for recording the nervous system’s actual motor output – the activation of muscle fibers by motor neurons – typically cannot detect the individual electrical events produced by muscle fibers during natural behaviors and scale poorly across species and muscle groups. Here we present a novel class of electrode devices (‘Myomatrix arrays’) that record muscle activity at unprecedented resolution across muscles and behaviors. High-density, flexible electrode arrays allow for stable recordings from the muscle fibers activated by a single motor neuron, called a ‘motor unit,’ during natural behaviors in many species, including mice, rats, primates, songbirds, frogs, and insects. This technology therefore allows the nervous system’s motor output to be monitored in unprecedented detail during complex behaviors across species and muscle morphologies. We anticipate that this technology will allow rapid advances in understanding the neural control of behavior and identifying pathologies of the motor system.

Myomatrix arrays for high-definition muscle recording.

Neurons coordinate their activity to produce an astonishing variety of motor behaviors. Our present understanding of motor control has grown rapidly thanks to new methods for recording and analyzing populations of many individual neurons over time. In contrast, current methods for recording the nervous system's actual motor output - the activation of muscle fibers by motor neurons - typically cannot detect the individual electrical events produced by muscle fibers during natural behaviors and scale poorly across species and muscle groups. Here we present a novel class of electrode devices ('Myomatrix arrays') that record muscle activity at unprecedented resolution across muscles and behaviors. High-density, flexible electrode arrays allow for stable recordings from the muscle fibers activated by a single motor neuron, called a 'motor unit,' during natural behaviors in many species, including mice, rats, primates, songbirds, frogs, and insects. This technology therefore allows the nervous system's motor output to be monitored in unprecedented detail during complex behaviors across species and muscle morphologies. We anticipate that this technology will allow rapid advances in understanding the neural control of behavior and identifying pathologies of the motor system.

Analysis of genetic variant in a child with Pitt-Hopkins syndrome

To explore the genetic basis for a child featuring facial dysmorphism, single palmar crease, motor and language delay, and hypoplasia of corpus callosum. A child who had visited the Affiliated Hospital of Binzhou Medical College on March 16, 2021 was selected as the study subject. Peripheral blood samples of the child and his parents were collected, and the genomic DNA was extracted for whole exome sequencing (WES). Candidate variant was verified by Sanger sequencing and bioinformatic analysis. WES revealed that the child has harbored a heterozygous c.607delT (p.S203Pfs*31) variant in exon 9 of the TCF4 gene, for which both of his parents were of the wild-type. Based on guidelines from the American College of Medical Genetics and Genomics, the variant was classified as pathogenic (PVS1+PM2_Supporting+PM6). The heterozygous c.607delT (p.S203Pfs*31) variant of the TCF4 gene probably underlay the Pitt-Hopkins syndrome in this child. Genetic testing has enabled the definite diagnosis.

Motor System-Dependent Effects of Amygdala and Ventral Striatum Lesions on Explore-Exploit Behaviors.

Deciding whether to forego immediate rewards or explore new opportunities is a key component of flexible behavior and is critical for the survival of the species. Although previous studies have shown that different cortical and subcortical areas, including the amygdala and ventral striatum (VS), are implicated in representing the immediate (exploitative) and future (explorative) value of choices, the effect of the motor system used to make choices has not been examined. Here, we tested male rhesus macaques with amygdala or VS lesions on two versions of a three-arm bandit task where choices were registered with either a saccade or an arm movement. In both tasks we presented the monkeys with explore-exploit tradeoffs by periodically replacing familiar options with novel options that had unknown reward probabilities. We found that monkeys explored more with saccades but showed better learning with arm movements. VS lesions caused the monkeys to be more explorative with arm movements and less explorative with saccades, although this may have been due to an overall decrease in performance. VS lesions affected the monkeys' ability to learn novel stimulus-reward associations in both tasks, while after amygdala lesions this effect was stronger when choices were made with saccades. Further, on average, VS and amygdala lesions reduced the monkeys' ability to choose better options only when choices were made with a saccade. These results show that learning reward value associations to manage explore-exploit behaviors is motor system dependent and they further define the contributions of amygdala and VS to reinforcement learning.

Non-specific cargo-filament interactions slow down motor-driven transport.

Active, motor-based cargo transport is important for many cellular functions and cellular development. However, the cell interior is complex and crowded and could have many weak, non-specific interactions with the cargo being transported. To understand how cargo-environment interactions will affect single motor cargo transport and multi-motor cargo transport, we use an artificial quantum dot cargo bound with few (~ 1) to many (~ 5-10) motors allowed to move in a dense microtubule network. We find that kinesin-driven quantum dot cargo is slower than single kinesin-1 motors. Excitingly, there is some recovery of the speed when multiple motors are attached to the cargo. To determine the possible mechanisms of both the slow down and recovery of speed, we have developed a computational model that explicitly incorporates multi-motor cargos interacting non-specifically with nearby microtubules, including, and predominantly with the microtubule on which the cargo is being transported. Our model has recovered the experimentally measured average cargo speed distribution for cargo-motor configurations with few and many motors, implying that numerous, weak, non-specific interactions can slow down cargo transport and multiple motors can reduce these interactions thereby increasing velocity.

Simulated Surface Electromyographic (SEMG) Signal Generation and Detection Model

Abstract For didactic purposes, the aim of this work was to improve a simulation model of surface electromyographic (sEMG) signal by taking into consideration the shortcomings of previously developed models. This model started with the simulation of the single fibre action potential (SFAP), then the model of the single motor unit action potential (MUAP), afterwards the imitation of the train of MUAP and finally the modellig of the resultant sEMG signal which is the sum of the MUAPs trains. SFAP simulation was based on: i) the description of the volume conductor model which is composed of four layers (bone, muscle, fat and skin), ii) the description of the electrodes shapes and sizes as well as spatial filters, iii) and the transmebrane current. The proposed model shows its effectiveness in the possibility of carrying out practical work by simulation on the modelling of SFAP, MUAP, MUAPT and the sEMG signal. The most important result of this model is that signal processing tools can be applied to analyze and interpret real-world phenomena such as the effects of physiological, non physiological and sensing system parameters on the shape of the simulated sEMG signal.

Tutorial: Analysis of central and peripheral motor unit properties from decomposed High-Density surface EMG signals with openhdemg

High-Density surface Electromyography (HD-sEMG) is the most established technique for the non-invasive analysis of single motor unit (MU) activity in humans. It provides the possibility to study the central properties (e.g., discharge rate) of large populations of MUs by analysis of their firing pattern. Additionally, by spike-triggered averaging, peripheral properties such as MUs conduction velocity can be estimated over adjacent regions of the muscles and single MUs can be tracked across different recording sessions. In this tutorial, we guide the reader through the investigation of MUs properties from decomposed HD-sEMG recordings by providing both the theoretical knowledge and practical tools necessary to perform the analyses. The practical application of this tutorial is based on openhdemg, a free and open-source community-based framework for the automated analysis of MUs properties built on Python 3 and composed of different modules for HD-sEMG data handling, visualisation, editing, and analysis. openhdemg is interfaceable with most of the available recording software, equipment or decomposition techniques, and all the built-in functions are easily adaptable to different experimental needs. The framework also includes a graphical user interface which enables users with limited coding skills to perform a robust and reliable analysis of MUs properties without coding.