Climbing skill and complexity of climbing wall design: Assessment of jerk as a novel indicator of performance fluency

This study investigated a new performance indicator to assess climbing fluency (smoothness of the hip trajectory and orientation of a climber using normalized jerk coefficients) to explore effects of practice and hold design on performance. Eight experienced climbers completed four repetitions of two, 10-m high routes with similar difficulty levels, but varying in hold graspability (holds with one edge vs holds with two edges). An inertial measurement unit was attached to the hips of each climber to collect 3D acceleration and 3D orientation data to compute jerk coefficients. Results showed high correlations (r = .99, P < .05) between the normalized jerk coefficient of hip trajectory and orientation. Results showed higher normalized jerk coefficients for the route with two graspable edges, perhaps due to more complex route finding and action regulation behaviors. This effect decreased with practice. Jerk coefficient of hip trajectory and orientation could be a useful indicator of climbing fluency for coaches as its computation takes into account both spatial and temporal parameters (ie, changes in both climbing trajectory and time to travel this trajectory)

Minimum jerk trajectory control for rehabilitation and haptic applications

Smooth trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. This paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. These motions are intended to retrain the upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes.

Design of fully rotatable, roller-crank-driven, cam mechanisms for arbitrary motion specifications

The design of a non-traditional cam and roller-follower mechanism is described here. In this mechanism, the roller-crank rather than the cam is used as the continuous input member, while both complete a full rotation in each revolution and remain in contact throughout. It is noted that in order to have the cam fully rotate for every full rotation of the roller-crank, the cam cannot be a closed profile, rather the roller traverses the open cam profile twice in each cycle. Using kinematic analysis, the angular velocity of the cam when the roller traverses the cam profile in one direction, is related to the angular velocity of the cam when the roller retraces its path on the cam in the other direction. Thus, one can specify any arbitrary function relating the motion of the cam to the motion of the roller-crank for only 180 degrees of rotation in the angular velocity space. The motion of the cam in the remaining portion is then automatically determined. In specifying the arbitrary motion, many desirable characteristics such as multiple dwells, low acceleration and jerk, etc., can be obtained. Useful design equations are derived for this purpose. Using the kinematic inversion technique, the cam profile is readily obtained once the motion is specified in the angular velocity space. The only limitation to the arbitrary motion specification is making sure that the transmission angle never gets too low, so that the force will be transmitted efficiently from roller to cam. This is addressed by incorporating a transmission index into the motion specification in the synthesis process. Consequently, in this method we can specify any arbitrary motion within a permissible rone, such that the transmission index is higher than the specified minimum value. Single-dwell, double-dwell and a long hesitation motion are used as examples to demonstrate the ffectiveness of the design method. Force closure using an optimally located spring and quasi-kinetostatic analysis are also discussed. (C) 2001 Elsevier Science Ltd. All rights reserved.

Análisis de los requisitos de microfresado de un molde para fabricar microlentes.

[Es]Este documento muestra un análisis de los requisitos para el micro-fresado de un molde. Es importante remarcar que este molde será usado para producir micro-lentes. La herramienta realizará una matriz de cavidades en una pieza cilíndrica y el tamaño de estas coincidirá con el tamaño de las microlentes. Este proyecto será programado mediante el software de MATLAB. El objetivo es calcular tanto la trayectoria de la herramienta, como su inclinación, velocidad, aceleración y jerk. Además este programa calculará las fuerzas de corte en cada instante del mecanizado. Por último, cabe mencionar que los resultados de este proyecto darán soporte a otros proyectos.

TOPS (Task optimization in the presence of signal-dependent noise) model

This paper proposes a movement trajectory planning model, which is a maximum task achievement model in which signal-dependent noise is added to the movement command. In the proposed model, two optimization criteria are combined, maximum task achievement and minimum energy consumption. The proposed model has the feature that the end-point boundary conditions for position, velocity, and acceleration need not be prespecified. Consequently, the method can be applied not only to the simple point-to-point movement, but to any task. In the method in this paper, the hand trajectory is derived by a psychophysical experiment and a numerical experiment for the case in which the target is not stationary, but is a moving region. It is shown that the trajectory predicted from the minimum jerk model or the minimum torque change model differs considerably from the results of the psychophysical experiment. But the trajectory predicted from the maximum task achievement model shows good qualitative agreement with the hand trajectory obtained from the psychophysical experiment. © 2004 Wiley Periodicals, Inc.

Upper limb robot mediated stroke therapy - GENTLE/s approach

Stroke is a leading cause of disability in particular affecting older people. Although the causes of stroke are well known and it is possible to reduce these risks, there is still a need to improve rehabilitation techniques. Early studies in the literature suggest that early intensive therapies can enhance a patient's recovery. According to physiotherapy literature, attention and motivation are key factors for motor relearning following stroke. Machine mediated therapy offers the potential to improve the outcome of stroke patients engaged on rehabilitation for upper limb motor impairment. Haptic interfaces are a particular group of robots that are attractive due to their ability to safely interact with humans. They can enhance traditional therapy tools, provide therapy "on demand" and can present accurate objective measurements of a patient's progression. Our recent studies suggest the use of tele-presence and VR-based systems can potentially motivate patients to exercise for longer periods of time. The creation of human-like trajectories is essential for retraining upper limb movements of people that have lost manipulation functions following stroke. By coupling models for human arm movement with haptic interfaces and VR technology it is possible to create a new class of robot mediated neuro rehabilitation tools. This paper provides an overview on different approaches to robot mediated therapy and describes a system based on haptics and virtual reality visualisation techniques, where particular emphasis is given to different control strategies for interaction derived from minimum jerk theory and the aid of virtual and mixed reality based exercises.

Extracting planetary waves from geomagnetic time series using Empirical Mode Decomposition

Empirical Mode Decomposition is presented as an alternative to traditional analysis methods to decompose geomagnetic time series into spectral components. Important comments on the algorithm and its variations will be given. Using this technique, planetary wave modes of 5-, 10-, and 16-day mean periods can be extracted from magnetic field components of three different stations in Germany. In a second step, the amplitude modulation functions of these wave modes can be shown to contain significant contribution from solar cycle variation through correlation with smoothed sunspot numbers. Additionally, the data indicate connections with geomagnetic jerk occurrences, supported by a second set of data providing reconstructed near-Earth magnetic field for 150 years. Usually attributed to internal dynamo processes within the Earth's outer core, the question of who is impacting whom will be briefly discussed here.

Bayesian analysis and constraints on kinematic models from union SNIa

The kinematic expansion history of the universe is investigated by using the 307 supernovae type Ia from the Union Compilation set. Three simple model parameterizations for the deceleration parameter ( constant, linear and abrupt transition) and two different models that are explicitly parametrized by the cosmic jerk parameter ( constant and variable) are considered. Likelihood and Bayesian analyses are employed to find best fit parameters and compare models among themselves and with the flat Lambda CDM model. Analytical expressions and estimates for the deceleration and cosmic jerk parameters today (q(0) and j(0)) and for the transition redshift (z(t)) between a past phase of cosmic deceleration to a current phase of acceleration are given. All models characterize an accelerated expansion for the universe today and largely indicate that it was decelerating in the past, having a transition redshift around 0.5. The cosmic jerk is not strongly constrained by the present supernovae data. For the most realistic kinematic models the 1 sigma confidence limits imply the following ranges of values: q(0) is an element of [-0.96, -0.46], j(0) is an element of [-3.2,-0.3] and z(t) is an element of [0.36, 0.84], which are compatible with the Lambda CDM predictions, q(0) = -0.57 +/- 0.04, j(0) = -1 and z(t) = 0.71 +/- 0.08. We find that even very simple kinematic models are equally good to describe the data compared to the concordance Lambda CDM model, and that the current observations are not powerful enough to discriminate among all of them.

Avaliação pré-clínica da duloxetina em modelo de convulsão: análise comportamental, eletroencefalográfica e influência no estresse oxidativo

O transtorno epiléptico apresenta alta prevalência e severidade. Além da gravidade da epilepsia per se, este distúrbio pode ser acompanhado de várias comorbidades, sendo a depressão a principal comorbidade psiquiátrica. Os mecanismos envolvidos na relação epilepsia/depressão ainda não estão bem esclarecidos, e sabe-se que o tratamento de ambos os distúrbios pode ser problemático, já que alguns anticonvulsivantes podem causar ou aumentar sintomas depressivos, enquanto alguns antidepressivos parecem aumentar a susceptibilidade a convulsões. Por outro lado, estudos têm demonstrado que alguns antidepressivos, além de seguros, também possuem atividade anticonvulsivante como a venlafaxina, um inibidor da recaptação de serotonina e noradrenalina (IRSN). Considerando que a duloxetina, outro IRSN, apresenta uma inibição mais potente sobre transportados monoaminérgicos e que não existe nada na literatura a respeito de sua influência sobre convulsões apesar de que está sendo aplicado atualmente na clínica, o objetivo do nosso estudo é verificar o possível efeito anticonvulsivante da duloxetina através do modelo de convulsões induzidas pelo pentilenotetrazol (PTZ) em camundongos. Para tal, camundongos foram pré-tratados com duloxetina (10, 20, 40 mg/kg/i.p.) e trinta minutos após receberam uma injeção intraperitoneal de PTZ (60 mg/kg). Por vinte minutos os animais foram monitorados para a avaliação dos tempos de latência para o primeiro espasmo mioclônico e a primeira crise tônico-clônica, como também o tempo de duração das convulsões e de sobrevida. A análise eletroencefalográfica foi utilizada para avaliar a severidade das crises (aumento da amplitude das ondas). Após esse período os animais foram sacrificados, o córtex cerebral dissecado e análises bioquímicas (atividade da superóxido desmutase (SOD), catalase (CAT), níveis de nitritos e peroxidação lipídica) foram feitas para investigação dos mecanismos pelos quais a droga influencia as convulsões. Os resultados preliminares demonstraram que a duloxetina apresenta atividade anticonvulsivante, sendo capaz de aumentar significativamente o tempo de latência tanto para o primeiro espasmo clônico, como para a primeira convulsão tônico-clônica induzidas pelo pentilenotetrazol. Ainda a avaliação eletroencefalográfica demonstrou que a duloxetina na dose de 20 mg/kg diminuiu significativamente a amplitude das ondas enquanto a dose de 40 mg/kg aumentou significativamente a amplitude em comparação a todos os tratamentos. Quanto à avaliação da influência no estresse oxidativo, animais tratados apenas com PTZ apresentaram um aumento significativo do nível de peroxidação lipídica, e diminuição da atividade da SOD e da CAT. Quanto ao nível de nitritos não houve nenhuma alteração significativa entre os tratamentos. A duloxetina na dose de 20 mg/kg se mostrou efetiva para evitar as alterações induzidas pelo PTZ nos parâmetros de estresse oxidativo avaliados. A atividade anticonvulsivante da duloxetina (20 mg/kg) colabora com a teoria que tem sido apresentada nos últimos ano de que a modulação da neurotransmissão serotonérgica e noradrenérgica pode ter efeito anticonvulsivante. Ainda, a capacidade da duloxetina de inibir a exacerbação do estresse oxidativo envolvido nas convulsões induzidas pelo PTZ corrobora com estudos que demonstram que algumas substâncias anticonvulsivantes podem modular as convulsões pelo menos em parte por sua atividade antioxidante. Portanto concluímos que a duloxetine é um adjuvante promissor para o tratamento de pacientes que apresentam a comorbidade epilepsia e depressão.

Observational constraints on a phenomenological f (R, partial derivative R)-model

This paper analyses the cosmological consequences of amodified theory of gravity whose action integral is built from a linear combination of the Ricci scalar R and a quadratic term in the covariant derivative of R. The resulting Friedmann equations are of the fifth-order in the Hubble function. These equations are solved numerically for a flat space section geometry and pressureless matter. The cosmological parameters of the higher-order model are fit using SN Ia data and X-ray gas mass fraction in galaxy clusters. The best-fit present-day t(0) values for the deceleration parameter, jerk and snap are given. The coupling constant beta of the model is not univocally determined by the data fit, but partially constrained by it. Density parameter Omega(m0) is also determined and shows weak correlation with the other parameters. The model allows for two possible future scenarios: there may be either an eternal expansion or a Rebouncing event depending on the set of values in the space of parameters. The analysis towards the past performed with the best-fit parameters shows that the model is not able to accommodate a matter-dominated stage required to the formation of structure.

Rehabilitation Engineering in Parkinson's disease

Impairment of postural control is a common consequence of Parkinson's disease (PD) that becomes more and more critical with the progression of the disease, in spite of the available medications. Postural instability is one of the most disabling features of PD and induces difficulties with postural transitions, initiation of movements, gait disorders, inability to live independently at home, and is the major cause of falls. Falls are frequent (with over 38% falling each year) and may induce adverse consequences like soft tissue injuries, hip fractures, and immobility due to fear of falling. As the disease progresses, both postural instability and fear of falling worsen, which leads patients with PD to become increasingly immobilized. The main aims of this dissertation are to: 1) detect and assess, in a quantitative way, impairments of postural control in PD subjects, investigate the central mechanisms that control such motor performance, and how these mechanism are affected by levodopa; 2) develop and validate a protocol, using wearable inertial sensors, to measure postural sway and postural transitions prior to step initiation; 3) find quantitative measures sensitive to impairments of postural control in early stages of PD and quantitative biomarkers of disease progression; and 4) test the feasibility and effects of a recently-developed audio-biofeedback system in maintaining balance in subjects with PD. In the first set of studies, we showed how PD reduces functional limits of stability as well as the magnitude and velocity of postural preparation during voluntary, forward and backward leaning while standing. Levodopa improves the limits of stability but not the postural strategies used to achieve the leaning. Further, we found a strong relationship between backward voluntary limits of stability and size of automatic postural response to backward perturbations in control subjects and in PD subjects ON medication. Such relation might suggest that the central nervous system presets postural response parameters based on perceived maximum limits and this presetting is absent in PD patients OFF medication but restored with levodopa replacement. Furthermore, we investigated how the size of preparatory postural adjustments (APAs) prior to step initiation depend on initial stance width. We found that patients with PD did not scale up the size of their APA with stance width as much as control subjects so they had much more difficulty initiating a step from a wide stance than from a narrow stance. This results supports the hypothesis that subjects with PD maintain a narrow stance as a compensation for their inability to sufficiently increase the size of their lateral APA to allow speedy step initiation in wide stance. In the second set of studies, we demonstrated that it is possible to use wearable accelerometers to quantify postural performance during quiet stance and step initiation balance tasks in healthy subjects. We used a model to predict center of pressure displacements associated with accelerations at the upper and lower back and thigh. This approach allows the measurement of balance control without the use of a force platform outside the laboratory environment. We used wearable accelerometers on a population of early, untreated PD patients, and found that postural control in stance and postural preparation prior to a step are impaired early in the disease when the typical balance and gait intiation symptoms are not yet clearly manifested. These novel results suggest that technological measures of postural control can be more sensitive than clinical measures. Furthermore, we assessed spontaneous sway and step initiation longitudinally across 1 year in patients with early, untreated PD. We found that changes in trunk sway, and especially movement smoothness, measured as Jerk, could be used as an objective measure of PD and its progression. In the third set of studies, we studied the feasibility of adapting an existing audio-biofeedback device to improve balance control in patients with PD. Preliminary results showed that PD subjects found the system easy-to-use and helpful, and they were able to correctly follow the audio information when available. Audiobiofeedback improved the properties of trunk sway during quiet stance. Our results have many implications for i) the understanding the central mechanisms that control postural motor performance, and how these mechanisms are affected by levodopa; ii) the design of innovative protocols for measuring and remote monitoring of motor performance in the elderly or subjects with PD; and iii) the development of technologies for improving balance, mobility, and consequently quality of life in patients with balance disorders, such as PD patients with augmented biofeedback paradigms.

The Effect of Metronome Pacing on Gait in Healthy Subjects

The complex process of gait is rendered partially automatic by central pattern generators (CPGs). To further our understanding of their role in gait control in healthy subjects, we applied a paradigm of anti-phase, or syncopated, movement to gait. To provide a context for our results, we reviewed the literature on in-phase, or synchronized, gait. The review results are as follows. Auditory cueing increased step/stride rate for older subjects, but not younger. Stride rate variability decreased for younger subjects, perhaps because the metronome’s cue acted as a temporal ‘anchor point’ for each step. Step width increased in half of the treadmill studies, but none of the overground ones, suggesting a cumulative effect of the attentional demands of synchronizing gait while on a treadmill. Time series analysis revealed that the α exponent was the most sensitive parameter reported, decreasing toward anti-persistence in almost all cued-gait studies. This project compares in-phase (IN) and anti-phase gait (ANTI) in young and old healthy subjects. We expected gait to be less disrupted during ANTI trials at preferred speed, when the facilitating effect of CPGs would be strongest. The measures step time variability, jerk index, and harmonic ratio quantified gait perturbation: none indicated that ANTI was easiest at preferred walking speed. Surprisingly, the gait of older subjects was no more perturbed than that of younger subjects. When they successfully matched the pace of the beat, they unwittingly synchronized to it. The temporal relationship of their steps to the beat was the same in the IN and ANTI conditions. Younger subjects, visibly struggling during ANTI trials, were able to walk in syncopation. This result suggests that cognitive resources available only to the younger group are required to resist synchronizing to the beat.