Effects of a passive exoskeleton on the mechanical loading of the low back in static holding tasks

With mechanical loading as the main risk factor for LBP in mind, exoskeletons are designed to reduce the load on the back by taking over a part of the required moment. The present study assessed the effect of a passive exoskeleton on back and abdominal muscle activation, hip and lumbar flexion and on the contribution of both the human and the exoskeleton to the L5/S1 net moment, during static bending at five different hand heights. Two configurations of the exoskeleton (LOW & HIGH) differing in angle-torque characteristics were tested. L5/S1 moments generated by the subjects were significantly reduced (15–20% for the most effective type) at all hand heights. LOW generated 4–11 Nm more support than HIGH at 50%, 25% and 0% upright stance hand height and HIGH generated 4–5 Nm more support than LOW at 100% and 75%. Significant reductions (11–57%) in back muscle activity were found compared to WITHOUT for both exoskeletons for some conditions. However, EMG reductions compared to WITHOUT were highly variable across subjects and not always significant. The device allowed for substantial lumbar bending (up to 70°) so that a number of participants showed the flexion-relaxation phenomenon, which prevented further reduction of back EMG by the device and even an increase from 2% to 6% MVC in abdominal activity at 25% hand height. These results indicate that flexion relaxation and its interindividual variation should be considered in future exoskeleton developments.     

Modulation of shoulder muscle and joint function using a powered upper-limb exoskeleton

Robotic-assistive exoskeletons can enable frequent repetitive movements without the presence of a full-time therapist; however, human-machine interaction and the capacity of powered exoskeletons to attenuate shoulder muscle and joint loading is poorly understood. This study aimed to quantify shoulder muscle and joint force during assisted activities of daily living using a powered robotic upper limb exoskeleton (ArmeoPower, Hocoma). Six healthy male subjects performed abduction, flexion, horizontal flexion, reaching and nose touching activities. These tasks were repeated under two conditions: (i) the exoskeleton compensating only for its own weight, and (ii) the exoskeleton providing full upper limb gravity compensation (i.e., weightlessness). Muscle EMG, joint kinematics and joint torques were simultaneously recorded, and shoulder muscle and joint forces calculated using personalized musculoskeletal models of each subject’s upper limb. The exoskeleton reduced peak joint torques, muscle forces and joint loading by up to 74.8% (0.113 Nm/kg), 88.8% (5.8%BW) and 68.4% (75.6%BW), respectively, with the degree of load attenuation strongly task dependent. The peak compressive, anterior and superior glenohumeral joint force during assisted nose touching was 36.4% (24.6%BW), 72.4% (13.1%BW) and 85.0% (17.2%BW) lower than that during unassisted nose touching, respectively. The present study showed that upper limb weight compensation using an assistive exoskeleton may increase glenohumeral joint stability, since deltoid muscle force, which is the primary contributor to superior glenohumeral joint shear, is attenuated; however, prominent exoskeleton interaction moments are required to position and control the upper limb in space, even under full gravity compensation conditions. The modeling framework and results may be useful in planning targeted upper limb robotic rehabilitation tasks.     

广西靖西寒武纪三叶虫Tamdaspis jingxiensis sp.nov.的个体发育及畸形

描述采自广西靖西果乐剖面三都组一三叶虫新种Tamdaspis jingxiensis sp.nov.,根据该种三叶虫完整标本的背壳特征,认为Liushuicephalus Luo,1983是Tamdaspis Lisogor,1977的晚出异名。同时描述T.jingxiensis sp.nov.的个体发育过程和两块畸形标本,并认为该畸形是因被捕食者咬伤而形成的。     

Custom sizing of lower limb exoskeleton actuators using gait dynamic modelling of children with cerebral palsy

The use of exoskeletons as an aid for people with musculoskeletal disorder is the subject to an increasing interest in the research community. These devices are expected to meet the specific needs of users, such as children with cerebral palsy (CP) who are considered a significant population in pediatric rehabilitation. Although these exoskeletons should be designed to ease the movement of people with physical shortcoming, their design is generally based on data obtained from healthy adults, which leads to oversized components that are inadequate to the targeted users. Consequently, the objective of this study is to custom-size the lower limb exoskeleton actuators based on dynamic modeling of the human body for children with CP on the basis of hip, knee, and ankle joint kinematics and dynamics of human body during gait. For this purpose, a multibody modeling of the human body of 3 typically developed children (TD) and 3 children with CP is used. The results show significant differences in gait patterns especially in knee and ankle with respectively 0.39 and ?0.33 (Nm/kg) maximum torque differences between TD children and children with CP. This study provides the recommendations to support the design of actuators to normalize the movement of children with CP.     

Synchronous moulting of krill,<Emphasis Type="Italic"> Euphausia superba</Emphasis>, in the Bransfield Strait (Antarctica)

A large mass of cast exoskeletons of the Antarctic krill Euphausia superba was fished in February 2001 at one station in the Bransfield Strait between 411 and 153 m. We assume that the mass of cast exoskeletons originated from a synchronous moult of thousands of individuals. Depending on the size of the krill moulted, the amount of exoskeletons corresponded to a krill abundance of 1,480–48,000 individuals per 1,000 m³.     

Digestive chitinolytic activity in marine fishes of Monterey Bay, California

Chitinolytic activities, both chitinase (EC 3.2.1.14) and minimum chitobiase (beta-N-acetyl-D-glucosaminidase; EC 3.2.1.30), were measured in stomach and intestinal tissues and their contents, from 13 fish species. Higher activities were found in the tissues than in the gut contents, and higher activities were seen in the stomachs than in the intestines. Demersal species exhibited chitobiase activities very close to their chitinase activities, suggesting that these fishes can degrade chitin completely to its soluble, absorbable monomer, N-acetyl-glucosamine. This suggests that these species may catabolize chitin not just to penetrate prey exoskeletons but also to derive nutrients from the chitin itself. In contrast, three mesopelagic species exhibited low chitobiase but high chitinase activities. This chitobiase limitation correlated strongly with gastrointestinal tract morphology, with the myctophids having the greatest chitobiase limitation and the shortest alimentary tracts. The high chitinase activities measured in the myctophids reflect their ability to rapidly disrupt prey exoskeletons ingested during their nightly feeding in surface waters. Their chitobiase activities are greatly reduced because with rapid meal evacuation through a short gut there is little time for processing and limited energetic advantage in the complete degradation of chitin. These results suggest multiple roles for chitinolytic enzymes in marine fishes and that feeding habits and frequency may have a bearing on the evolution of their digestive enzymes systems.     

Application of neural networks for the prediction of cartilage stress in a musculoskeletal system

Traditional finite element (FE) analysis is computationally demanding. The computational time becomes prohibitively long when multiple loading and boundary conditions need to be considered such as in musculoskeletal movement simulations involving multiple joints and muscles. Presented in this study is an innovative approach that takes advantage of the computational efficiency of both the dynamic multibody (MB) method and neural network (NN) analysis. A NN model that captures the behavior of musculoskeletal tissue subjected to known loading situations is built, trained, and validated based on both MB and FE simulation data. It is found that nonlinear, dynamic NNs yield better predictions over their linear, static counterparts. The developed NN model is then capable of predicting stress values at regions of interest within the musculoskeletal system in only a fraction of the time required by FE simulation.     

Jaw muscle functional anatomy in northern grasshopper mouse, Onychomys leucogaster, a carnivorous murid

The jaw muscle anatomy of the northern grasshopper mouse, Onychomys leucogaster, was observed and the mechanical basis of the insectivorous/carnivorous adaptations were examined. Compared with Peromyscus maniculatus, a granivorous relative of Onychomys, there is a reduction of some aponeuroses within the masseter deep layer. This characteristic indicates that shearing meat or crushing arthropod exoskeletons requires less occlusal pressure than does grinding plant material. In Onychomys both the anterior and posterior portions of the masseter deep layer are more anterodorsally inclined, so that the line of action of the masseter lies further from the jaw joint than in Peromyscus. A strong incisal bite for killing vertebrates such as other rodents can be produced by a jaw mechanism with the high lever advantage of this muscle, which compensates for the decline in muscle mass. Our quantitative analysis suggests that the disappearance of an aponeurosis along the zygomatic plate in Onychomys decreases the stretch of the corresponding muscle, i.e., the anterior fibers of the masseter deep layer, accompanying jaw opening, and increases the maximum gape necessary for hunting large prey.     

The possible role of poroelasticity in the apparent viscoelastic behavior of passive cardiac muscle

This paper investigates the contribution of extracellular fluid flow to the apparent viscoelastic behavior of passive cardiac muscle. The muscle is modeled as an incompressible, isotropic, poroelastic solid saturated by an incompressible viscous fluid. Based on Biot's linear and nonlinear consolidation theories, solutions are presented for general time-dependent uniaxial loading of unconfined cylindrical muscle specimens. The nonlinear analysis includes the effects of large strain, material nonlinearity, and strain-dependent permeability. The computed results show that, for axial stretch ratios greater than 1.1, the changing permeability and the loading rate strongly affect the total stress relaxation and the short-time relaxation rate. Comparisons of theoretical and published experimental results show that extracellular fluid flow can account for several observed biomechanical features of passive myocardium, including the insensitivity of stress-strain curves to loading rate and of stress-relaxation curves to the amount of stretch. Theoretical hysteresis loops, however, are too small. Thus, both poroelastic and tissue viscoelastic effects must be considered in studies of passive cardiac muscle.     

Trilobites and minute ovoid pellets in a burrow (Ordovician,llanvirnian, Czech Republic)

Old collections from the Ordovician of the Barrandian area (Czech Republic) have yielded a probable vertical burrow that contains several dozen specimens of the pliomerid trilobite Placo‐paria (Placoparia) cambriensis Hicks, some of them enrolled. The fill of the burrow (classified as ?Skolithos isp.) also contains minute ovoid pellets corresponding to the ichnotaxon Tomaculum cf. problematicum Groom. The enrollment of a portion of the trilobite exoskeletons might reflect a defensive response. The pellets may be interpreted as fecal material or, less probably, as eggs. The exoskeletons and the pellets might have been mechanically trapped into the open burrow, or their concentration may have resulted from biological relationships between the tracemaker and the trilobites.     

The next generation of exoskeletons: lighter, cheaper devices are in the works

Many researchers and engineers are busy in their laboratories working on devices that will bring mobility to people who have lost function in the lower body due to an accident, stroke, multiple sclerosis, or other disorders. "Several pretty sophisticated exoskeletons are already on the market now, and they are all similar to each other in terms of technologies, but we're not ready to replace the wheelchair yet," said exoskeleton developer Homayoon Kaz Kazerooni, Ph.D., professor of mechanical engineering at the University of California (UC) at Berkeley. "Eventually, we will have devices that are used by individuals on a daily basis to replace wheelchairs but not with the existing technology. We're at the beginning of a much bigger era in exoskeletons."     

Reconstruction of elastic properties of soft biological tissues from data about it's deformation under dynamic load

The present work continues theoretical investigations on developing new noninvasive methods for diagnostics of tissue pathologies. These methods are based on tissue elasticity reconstruction using the measured internal displacements occurring due to the deformation of the object under study. Dynamic loading of the object is considered. The robustness of the proposed elasticity reconstruction procedure is demonstrated using numerical modeling of the displacement fields inside the nonhomogeneous object.     

Production of chitin and chitosan from the exoskeleton of adult two‐spotted field crickets (Gryllus bimaculatus)

Chitin and chitosan were extracted from all specimens of Type I and II two‐spotted field crickets (Gryllus bimaculatus) following chemical treatment with an acid and alkali. For chitin extraction, 2 N HCl and 1.25 N NaOH solutions were used to achieve demineralization and deproteinization, respectively. For chitosan extraction, 50 % NaOH (w/v) and 50 % NaOH (w/w) solutions were used to achieve deacetylation. Chitosan yielded from adult exoskeletons of G. bimaculatus in Test A of Type I was 1.76 and 8.40 % on a fresh weight (FW) and dry weight (DW) basis, respectively, after treatment with 50 % NaOH (w/v) at 95°C for 3 h. Furthermore, the chitosan yielded in Test D of Type II was 1.79 and 7.06 % on FW and DW basis, respectively, after treatment with 50 % NaOH (w/w) at 105°C for 3 h. The average yield of chitin and chitosan was 2.42 and 1.65 % on a FW basis, and 10.91 and 7.50 % on DW basis, respectively. The deacetylation (%) of chitosan extracted from adult exoskeletons in Tests A, B, C1, C2, D1, and D2 were 81.2 %, 14.5 %, 19.6 %, 90.7 %, 17.1 %, and 95.5 %, respectively. The viscosities of the chitosans extracted from adult exoskeletons in Tests A, C2, and D2 were 32.0, 21.6, and 62.4 cP (centi Poise), respectively. The molecular weight of chitosan from adult exoskeletons of G. bimaculatus was 308.3 kDa. Our results indicate that adult exoskeletons of G. bimaculatus could be used as a source of chitin and chitosan for use as functional additives in industrial animal feeds.     

Occurrence and Activity of Microorganisms in Shrimp Waste

This study aimed to determine the occurrence and respiration activity of heterotrophic bacteria and fungi in shrimp shell waste and to evaluate the role of chitinolytic bacteria and fungi in its decomposition. The highest levels of bacteria were found in shrimp heads sections and the lowest in exoskeletons. The level of fungi was much lower, with the highest proportion present in heads sections and the lowest in exoskeletons. Chitinolytic bacteria constituted a small percentage of the total heterotrophic bacteria in fresh shrimp waste, averaging 4% in exoskeletons, 2.4% in all parts, and 2% in heads. No chitinolytic bacteria were detected in stored waste. In contrast, the percentage of chitinolytic fungi in shrimp waste was much higher than that of bacteria. Chitinolytic fungi constituted 25–60% of the total fungi in fresh waste and 15–40% in stored waste. Chitinolytic bacteria isolated from heads sections were characterized by the highest chitinolytic activity, averaging 11.2 nmol of methylumbelliferyl · mg⁻¹ protein · h⁻¹, whereas the lowest activity was in strains from exoskeletons, averaging 3.2 nmol of methylumbelliferyl · mg⁻¹ protein · h⁻¹. The chitinolytic activity of fungi isolated from all parts waste, head sections, and exoskeletons was similar. The respiration activity of microorganisms in fresh and stored waste was similar. Oxygen consumption activity increased during incubation and approached a saturation value between days 4 and 5. No correlation between the end value of respiratory activity in the analyzed section of shrimp discard after 5 days and the level of bacteria and fungi was observed. The only significant correlation observed was between the respiratory activity of the shrimp and the level of fungi. The respiration activity significantly depended on the analyzed section of shrimp discard (p < 0.000).     

Understanding site-specific residual strain and architecture in bovine cortical bone

Living bone is considered as adaptive material to the mechanical functions, which continually undergoes change in its histological arrangement with respect to external prolonged loading. Such remodeling phenomena within bone depend on the degree of stimuli caused by the mechanical loading being experienced, and therefore, are specific to the sites. In the attempts of understanding strain adaptive phenomena within bones, different theoretical models have been proposed. Also, the existing literatures mostly follow the measurement of surface strains using strain gauges to experimentally quantify the strains experienced in the functional environment. In this work, we propose a novel idea of understanding site-specific functional adaptation to the prolonged load in bone on the basis of inherited residual strains and structural organization. We quantified the residual strains and amount of apatite crystals distribution, i.e., the degree of orientation, using X-ray diffraction procedures. The sites of naturally existing hole in bone, called foramen, are considered from bovine femur and metacarpal samples. Significant values of residual strains are found to exist in the specimens. Trends of residual strains noted in the specimens are mostly consistent with the degree of orientation of the crystallites. These features explain the response behavior of bone to the mechanical loading history near the foramen sites. Preferential orientation of crystals mapped around a femoral foramen specimen showed furnished tailored arrangement of the crystals around the hole. Effect of external loading at the femoral foramen site is also explained by the tensile loading experiment.     

Ex vivo thickness measurement of cartilage covering the temporomandibular joint

Articular cartilage covers the temporomandibular joint (TMJ) and provides smooth and nearly frictionless articulation while distributing mechanical loads to the subchondral bone. The thickness of the cartilage is considered to be an indicator of the stage of development, maturation, aging, loading history, and disease. The aim of our study was to develop a method for ex vivo assessment of the thickness of the cartilage that covers the TMJ and to compare that with two other existing methods. Eight porcine TMJ condyles were used to measure cartilage thickness. Three different methods were employed: needle penetration, micro-computed tomography (micro-CT), and histology; the latter was considered the gold standard. Histology and micro-CT scanning results showed no significant differences between thicknesses throughout the condyle. Needle penetration produced significantly higher values than histology, in the lateral and anterior regions. All three methods showed the anterior region to be thinner than the other regions. We concluded that overestimated thickness by the needle penetration is caused by the penetration of the needle through the first layer of subchondral bone, in which mineralization is less than in deeper layers. Micro-CT scanning method was found to be a valid method to quantify the thickness of the cartilage, and has the advantage of being non-destructive.     

RAPID MOVEMENT OF A HELICONIUS HYBRID ZONE: EVIDENCE FOR PHASE III OF WRIGHT's SHIFTING BALANCE THEORY?

Abstract.— It has been proposed that a moving hybrid zone can be a mechanism for the spread of adaptive traits in phase III of Wright's shifting balance model of evolution. Here I present an example of a moving hybrid zone in warningly colored Heliconius butterflies, a system which is considered to be a possible case of shifting balance evolution. Having moved approximately 47 km in 17 years, the hybrid zone shift has led to the H. erato hydara color pattern rapidly displacing the adjacent H. erato petiverana pattern. The movement is potentially due to dominance drive augmenting a slight selective advantage of H. erato hydara over H. erato petiverana , which is largely consistent with theoretical conditions favoring the success of phase III.     

Temporal variation in mycophagy and prevalence of fungi associated with developmental stages of Dendroctonus ponderosae (Coleoptera: Curculionidae)

Mycophagy by bark beetles is widespread. However, little is known regarding which developmental stages of bark beetles actually feed on fungi. To study this question, we sampled fungi associated with Dendroctonus ponderosae Hopkins (Coleoptera: Curculionidae) throughout development in naturally attacked trees. Isolations of fungi were made from phloem adjacent to brood and from brood exoskeletons and guts. Overall, the incidence of fungi with individual brood increased as brood development progressed. Grosmannia clavigera (Robinson-Jeffrey and Davidson) Zipfel, de Beer and Wingf. and Ophiostoma montium (Rumbold) von Arx exhibited generally opposing trends in prevalence. G. clavigera was most likely to be found in phloem adjacent to prewintering third- and postwintering fourth-instar larvae. O. montium was most likely to be found in phloem adjacent to eggs, first-instar larvae, pupae, and teneral adults. In contrast to isolations made from phloem, fungi isolated from brood guts and exoskeletons were not observed to shift in prevalence. First- and third-instar larvae were often observed migrating to older portions of their galleries, indicating that they do not spend all of their time feeding at, and extending, the apex of the gallery. Our results suggest that not only are D. ponderosae brood in contact with and feeding on fungi throughout development, but also, that during development, contact of brood with a particular fungus is likely to change. Such temporal shifts in fungal symbionts may be environmentally driven and have important implications in how these fungi interact with their hosts within and across generations.     

Factors affecting binary sex evolution with respect to avoidance of vertical transmission of deleterious intracellular parasites

In sexual reproductive systems, the number of sexes is generally binary, viz. male and female. Several theoretical studies have shown that the evolution of this system is possibly related to cytoplasmic DNA, including deleterious cytoplasmic symbionts. When organisms are infected by a symbiont that is transmitted vertically to offspring via gametes, the exclusion or degeneration of the latter may evolve as a characteristic of those organisms. If this necessarily results in the elimination of organelle DNA in gametes, a reciprocal preference between individuals, one transmitting organelles and the other not, may be favored. In this theoretical study, factors affecting such an evolutionary process, in which the symbiont is considered as a parasite infecting vertically, horizontally and naturally, are considered. In addition, host individuals are assumed to recover from the infection to some degree. According to the analysis, a binary sex system can evolve only when uninfected and infected host individuals co-exist in a single host population. This condition can be satisfied only if natural infection occurs. Although recovery from infection has both positive and negative effects on binary sex evolution, the latter is promoted only when natural infection exists. Accordingly, if natural infection does not exist, the evolution of binary sex system is unlikely with respect to deleterious cytoplasmic symbionts, in absent of heterozogotic advantage in vertical transmission.     

An evolutionary comparative analysis of the medusozoan (Cnidaria) exoskeleton

The benthic polyp phase of Medusozoa (Staurozoa, Cubozoa, Scyphozoa, and Hydrozoa) has endoskeletal or exoskeletal support systems, but their composition, development, and evolution is poorly known. In this contribution the variation in synthesis, structure, and function of the medusozoan exoskeleton was examined. In addition, an evolutionary hypothesis for its origin and diversification is proposed for both extinct and extant medusozoans. We also critically reviewed the literature and included data from our own histological and microstructural analyses of some groups. Chitin is a characteristic component of exoskeleton in Medusozoa, functioning as support, protection, and a reserve for various ions and inorganic and organic molecules, which may persuade biomineralization, resulting in rigid biomineralized exoskeletons. Skeletogenesis in Medusozoa dates back to the Ediacaran, when potentially synergetic biotic, abiotic, and physiological processes resulted in development of rigid structures that became the exoskeleton. Of the many types of exoskeletons that evolved, the corneous (chitin‐protein) exoskeleton predominates today in polyps of medusozoans, with its greatest variation and complexity in the polyps of Hydroidolina. A new type of bilayered exoskeleton in which there is an exosarc complementing the perisarc construction is here described.