Functional significance of stiffness in adaptation of multijoint arm movements to stable and unstable dynamics.

This study compared the mechanisms of adaptation to stable and unstable dynamics from the perspective of changes in joint mechanics. Subjects were instructed to make point to point movements in force fields generated by a robotic manipulandum which interacted with the arm in either a stable or an unstable manner. After subjects adjusted to the initial disturbing effects of the force fields they were able to produce normal straight movements to the target. In the case of the stable interaction, subjects modified the joint torques in order to appropriately compensate for the force field. No change in joint torque or endpoint force was required or observed in the case of the unstable interaction. After adaptation, the endpoint stiffness of the arm was measured by applying displacements to the hand in eight different directions midway through the movements. This was compared to the stiffness measured similarly during movements in a null force field. After adaptation, the endpoint stiffness under both the stable and unstable dynamics was modified relative to the null field. Adaptation to unstable dynamics was achieved by selective modification of endpoint stiffness in the direction of the instability. To investigate whether the change in endpoint stiffness could be accounted for by change in joint torque or endpoint force, we estimated the change in stiffness on each trial based on the change in joint torque relative to the null field. For stable dynamics the change in endpoint stiffness was accurately predicted. However, for unstable dynamics the change in endpoint stiffness could not be reproduced. In fact, the predicted endpoint stiffness was similar to that in the null force field. Thus, the change in endpoint stiffness seen after adaptation to stable dynamics was directly related to changes in net joint torque necessary to compensate for the dynamics in contrast to adaptation to unstable dynamics, where a selective change in endpoint stiffness occurred without any modification of net joint torque.

Reflex contributions to the directional tuning of arm stiffness

It has been shown that during arm movement, humans selectively change the endpoint stiffness of their arm to compensate for the instability in an unstable environment. When the direction of the instability is rotated with respect to the direction of movement, it was found that humans modify the antisymmetric component of their endpoint stiffness. The antisymmetric component of stiffness arises due to reflex responses suggesting that the subjects may have tuned their reflex responses as part of the feedforward adaptive control. The goal of this study was to examine whether the CNS modulates the gain of the reflex response for selective tuning of endpoint impedance. Subjects performed reaching movements in three unstable force fields produced by a robotic manipulandum, each field differing only in the rotational component. After subjects had learned to compensate for the field, allowing them to make unperturbed movements to the target, the endpoint stiffness of the arm was estimated in the middle of the movements. At the same time electromyographic activity (EMG) of six arm muscles was recorded. Analysis of the EMG revealed differences across force fields in the reflex gain of these muscles consistent with stiffness changes. This study suggests that the CNS modulates the reflex gain as part of the adaptive feedforward command in which the endpoint impedance is selectively tuned to overcome environmental instability. © 2008 Springer-Verlag Berlin Heidelberg.

The mobile arm support project as a test-bed for design research at the Cambridge EDC

A host of methods and tools to support designing are being developed in Cambridge EDC. These range from tools for design management to those for the generation and selection of design ideas, layouts, materials and production processes. A project, to develop a device to improve arm mobility of muscular dystrophy sufferers, is undertaken as a test-bed to evaluate and improve these methods and tools as well as to observe and modify its design and management processes. This paper presents the difficulties and advantages of using design methods and tools within this rehabilitation design context, with special focus on the evolution of the designs, tools, and management processes.

Measuring stiffness during arm movements in various dynamic environments

The technique presented in this paper enables a simple, accurate and unbiased measurement of hand stiffness during human arm movements. Using a computer-controlled mechanical interface, the hand is shifted relative to a prediction of the undisturbed trajectory. Stiffness is then computed as the restoring force divided by the position amplitude of the perturbation. A precise prediction algorithm insures the measurement quality. We used this technique to measure stiffness in free movements and after adaptation to a linear velocity dependent force field. The subjects compensated for the external force by co-contracting muscles selectively. The stiffness geometry changed with learning and stiffness tended to increase in the direction of the external force.

基于ARM和DSP的CSR主环电源控制系统

介绍了基于ARM和DSP的CSR主环磁场电源控制系统的设计和开发。系统以以太网作为连接各个单元的传输介质,以ARM板卡作为以太网中的一个通信节点,由DSP板卡完成实际的电源控制。实验表明控制效果良好,超过了预期的设计目标。

基于ARM、CPLD和MCU的冷却储存环真空控制系统设计

以ARM(S3C4510B)、CPLD(XC95288XL)和微控制器(MSP430F149)为核心进行实时多路数据采集和控制的冷却储存环(CSR)真空控制系统设计。着重分析了控制系统组成、工作原理、功能实现、硬件电路和软件开发。该控制系统具有适应性与灵活性强、响应速度快、精度高、稳定性好、可靠性高、性价比优越、自我连锁保护等优点,现已成功应用于CSR真空控制系统中。

基于ARM Linux的门禁系统的设计与实现

门禁系统主要负责对出入通道进行管制，是社区楼宇安全监控系统的一部分。传统的门禁系统通常采用密码识别、卡片识别的方式进行验证，由于密码、卡片容易被盗用、丢失，系统安全性不高。在通信方式上传统门禁系统通常采用RS485或者RS232连接，传输距离、速度和连接终端数均受限制。本文提出的人像识别门禁系统解决方案采用ARM-Linux系统平台，依靠社区宽带综合业务网的传输和存储能力，结合密码、RFID和人像识别三种识别方式，利用网络技术和生物识别技术达到识别率高、响应速度快、扩展能力强的要求，并能够与驻地网的其它业务集成，提供业务级的联动服务。此外，该门禁系统还支持用户使用电话开门，由服务器完成对用户来电的识别和防伪验证。本文工作的主要贡献是：参与了ARM-Linux系统的裁剪、移植和声卡驱动的修改；建立了ARM-Linux交叉编译环境；完成了门禁前端软件系统的整体设计和实现；完成了服务器软件电话呼叫响应子系统的设计。

Synthesis and self-assembly of a novel Y-shaped copolymer with a helical polypeptide arm

novel biodegradable Y-shaped copolymer, poly(L-lactide)(2)-b-poly(gamma-benzyl-L-glutamic acid) (PLLA(2)-b-PBLG), was synthesized by the ring-opening polymerization (ROP) of N-carboxyanhydride of gamma-benzyl-L-glutamate (BLG-NCA) with centrally amino-functionalized poly(L-lactide), PLLA(2)-NH2, as a macroinitiator in a convenient way. The Y-shaped copolymer and its precursors were characterized by H-1 NMR, FT-IR, GPC, WAXD and DSC measurements. The self-assembly of the PLLA(2)-b-PBLG copolymer in toluene and benzyl alcohol was examined. It was found that the self-assembly of the copolymer was dependent on solvent and on relative length of the PBLG block. For a copolymer with PLLA blocks of 26 in total degree of polymerization (DP), if the PBLG block was long enough (e.g., DP = 54 or more), the copolymer/toluene solution became a transparent gel at room temperature. In benzyl alcohol Solution, only PLLA(2)-b-PBLG containing ca. 190 BLG residues could form a gel: those with shorter PBLG blocks (e.g., DP = 54) became nano-scale fibrous aggregates and these aggregates were dispersed in benzyl alcohol homogeneously.

Synthesis of Arm-6 polystyrene by atom transfer radical polymerization

A new initiator for atom transfer radical polymerization (ATRP), (Cl-2 HCCOO)(3) -C-6 H-3, (TrDCAP),has been designed and successfully synthesized. ATRP of styrene was carried out by using TrDCAP as hexafunctional initiator and the CuCl/bpy catalyst at 130 degrees C in 30% THF via core-first strategy. The Arm-6 PS-AAP was synthesized by etherealization of Arm-6 PS and 4-(4'-methoxyphenylazomethine) phenol (AAP). The initiator and the architectures of the Arm-6 PS were confirmed by H-1-NMR, FT-IR, UV-Vis and GPC.

Synthesis of eight-arm polystyrene by atom transfer radical polymerization

A new initiator for atom transfer radical polymerization (ATRP), (Cl2HCCOOCH2)(4)C(TDCAP) was designed and successfully synthesized. The initiator was,used to initiate,the polymerization of styrene via ATRP to method yield an eight-arm polystyrene with functional end-group chlorides. The different polymers could be prepared via ATRP of different monomers at 130 degrees C using TDCAP/CuCl/bPy as the initiating system. The initiator and eight-armed polymer were characterized by means of H-1 NMR, FTIR and GPC.