Shape memory of human red blood cells

The human red cell can be deformed by external forces but returns to the biconcave resting shape after removal of the forces. If after such shape excursions the rim is always formed by the same part of the membrane, the cell is said to have a memory of its biconcave shape. If the rim can form anywhere on the membrane, the cell would have no shape memory. The shape memory was probed by an experiment called go-and-stop. Locations on the membrane were marked by spontaneously adhering latex spheres. Shape excursions were induced by shear flow. In virtually all red cells, a shape memory was found. After stop of flow and during the return of the latex spheres to the original location, the red cell shape was biconcave. The return occurred by a tank-tread motion of the membrane. The memory could not be eliminated by deforming the red cells in shear flow up to 4 h at room temperature as well as at 37 degrees C. It is suggested that 1). the characteristic time of stress relaxation is >80 min and 2). red cells in vivo also have a shape memory.     

Pattern-dependent response modulations in motion-sensitive visual interneurons--a model study

Even if a stimulus pattern moves at a constant velocity across the receptive field of motion-sensitive neurons, such as lobula plate tangential cells (LPTCs) of flies, the response amplitude modulates over time. The amplitude of these response modulations is related to local pattern properties of the moving retinal image. On the one hand, pattern-dependent response modulations have previously been interpreted as 'pattern-noise', because they deteriorate the neuron's ability to provide unambiguous velocity information. On the other hand, these modulations might also provide the system with valuable information about the textural properties of the environment. We analyzed the influence of the size and shape of receptive fields by simulations of four versions of LPTC models consisting of arrays of elementary motion detectors of the correlation type (EMDs). These models have previously been suggested to account for many aspects of LPTC response properties. Pattern-dependent response modulations decrease with an increasing number of EMDs included in the receptive field of the LPTC models, since spatial changes within the visual field are smoothed out by the summation of spatially displaced EMD responses. This effect depends on the shape of the receptive field, being the more pronounced--for a given total size--the more elongated the receptive field is along the direction of motion. Large elongated receptive fields improve the quality of velocity signals. However, if motion signals need to be localized the velocity coding is only poor but the signal provides--potentially useful--local pattern information. These modelling results suggest that motion vision by correlation type movement detectors is subject to uncertainty: you cannot obtain both an unambiguous and a localized velocity signal from the output of a single cell. Hence, the size and shape of receptive fields of motion sensitive neurons should be matched to their potential computational task.     

Central mechanisms of tactile shape perception

Studies show that while the cortical mechanisms of two-dimensional (2D) form and motion processing are similar in touch and vision, the mechanisms of three-dimensional (3D) shape processing are different. 2D form and motion are processed in areas 3b and 1 of SI cortex by neurons with receptive fields (RFs) composed of excitatory and inhibitory subregions. 3D shape is processed in area 2 and SII and relies on the integration of cutaneous and proprioceptive inputs. The RFs of SII neurons vary in size and shape with heterogeneous structures consisting of orientation-tuned fingerpads mixed with untuned excitatory or inhibitory fingerpads. Furthermore, the sensitivity of the neurons to cutaneous inputs changes with hand conformation. We hypothesize that these RFs are the kernels underlying tactile object recognition.     

Regulation of anaphase chromosome motion in Tradescantia stamen hair cells by calcium and related signaling agents

Several lines of evidence support the idea that increases in the intracellular free calcium concentration [( Ca2+]i) regulate chromosome motion. To directly test this we have iontophoretically injected Ca2+ or related signaling agents into Tradescantia stamen hair cells during anaphase and measured their effect on chromosome motion and on the Ca2+ levels. Ca2+ at (+)1 nA for 10 s (approximately 1 microM) causes a transient (20 s) twofold increase in the rate of chromosome motion, while at higher levels it slows or completely stops motion. Ca2+ buffers, EGTA, and 5,5'-dibromo-1,2- bis(o-aminophenoxy)ethane-N,N,N',N'-tetraacetic acid, which transiently suppress the ion level, also momentarily stop motion. Injection of K+, Cl-, or Mg2+, as controls, have no effect on motion. The injection of GTP gamma S, and to a lesser extent GTP, enhances motion similarly to a low level of Ca2+. However, inositol 1,4,5-trisphosphate, ATP gamma S, ATP, and GDP beta S have no effect. Measurement of the [Ca2+]i with indo-1 reveals that the direct injections of Ca2+ produce the expected increases. GTP gamma S, on the other hand, causes only a small [Ca2+]i rise, which by itself is insufficient to increase the rate of chromosome motion. Further studies reveal that any negative ion injection, presumably through hyperpolarization of the membrane potential, generates a similar small pulse of Ca2+, yet these agents have no effect on motion. Two major conclusions from these studies are as follows. (a) Increased [Ca2+]i can enhance the rate of motion, if administered in a narrow physiological window around 1 microM; concentrations above 1 microM or below the physiological resting level will slow or stop chromosomes. (b) GTP gamma S enhances motion by a mechanism that does not cause a sustained uniform rise of [Ca2+]i in the spindle; this effect may be mediated through very localized [Ca2+]i changes or Ca2(+)-independent effectors.     

Development of a Prototype Over-Actuated Biomimetic Prosthetic Hand

The loss of a hand can greatly affect quality of life. A prosthetic device that can mimic normal hand function is very important to physical and mental recuperation after hand amputation, but the currently available prosthetics do not fully meet the needs of the amputee community. Most prosthetic hands are not dexterous enough to grasp a variety of shaped objects, and those that are tend to be heavy, leading to discomfort while wearing the device. In order to attempt to better simulate human hand function, a dexterous hand was developed that uses an over-actuated mechanism to form grasp shape using intrinsic joint mounted motors in addition to a finger tendon to produce large flexion force for a tight grip. This novel actuation method allows the hand to use small actuators for grip shape formation, and the tendon to produce high grip strength. The hand was capable of producing fingertip flexion force suitable for most activities of daily living. In addition, it was able to produce a range of grasp shapes with natural, independent finger motion, and appearance similar to that of a human hand. The hand also had a mass distribution more similar to a natural forearm and hand compared to contemporary prosthetics due to the more proximal location of the heavier components of the system. This paper describes the design of the hand and controller, as well as the test results.     

Self-motion holds a special status in visual processing

Agency plays an important role in self-recognition from motion. Here, we investigated whether our own movements benefit from preferential processing even when the task is unrelated to self-recognition, and does not involve agency judgments. Participants searched for a moving target defined by its known shape among moving distractors, while continuously moving the computer mouse with one hand. They thereby controlled the motion of one item, which was randomly either the target or any of the distractors, while the other items followed pre-recorded motion pathways. Performance was more accurate and less prone to degradation as set size increased when the target was the self-controlled item. An additional experiment confirmed that participant-controlled motion was not physically more salient than motion recorded offline. We found no evidence that self-controlled items captured attention. Taken together, these results suggest that visual events are perceived more accurately when they are the consequences of our actions, even when self-motion is task irrelevant.     

Motion silences awareness of visual change

Loud bangs, bright flashes, and intense shocks capture attention, but other changes--even those of similar magnitude--can go unnoticed. Demonstrations of change blindness have shown that observers fail to detect substantial alterations to a scene when distracted by an irrelevant flash, or when the alterations happen gradually [1-5]. Here, we show that objects changing in hue, luminance, size, or shape appear to stop changing when they move. This motion-induced failure to detect change, silencing, persists even though the observer attends to the objects, knows that they are changing, and can make veridical judgments about their current state. Silencing demonstrates the tight coupling of motion and object appearance.     

A demonstration of validity of 3-D video motion analysis method for measuring finger flexion and extension

This study demonstrates the validity of using 3-D video motion analysis to measure hand motion. Several researchers have devised ingenious methods to study normal and abnormal hand movements. Although very helpful, these earlier studies are static representations of a dynamic phenomenon. Despite the many studies of hand motion using scientifically impeccable techniques, little is known about digital motion, and there are still few researchers investigating dynamic three-dimensional motion of the hand. Results from a three-camera video motion analysis system were compared to those from the "gold standard", 2-D lateral view fluoroscopy. We used these two methods to record hand motion simultaneously during unrestricted flexion and extension of the index finger of the dominant hand in 6 neurologically normal, healthy volunteers. After collection and post-processing, the waveforms of the PIP, DIP and MCP joint angles were compared using the adjusted coefficient of multiple determination (R2(a), or CMD). The mean CMD values for the MCP, PIP and DIP joint angle waveforms were 0.96, 0.98 and 0.94, respectively, suggesting a close similarity between motion of comparable joints analyzed by the 2-D and 3-D methods. This shows that the method of 3-D motion analysis is capable of accurately quantifying digital joint motion. It is anticipated that 3-D motion analysis, in addition to being used as a research tool, will also have clinical applications such as surgical planning in neuromuscular disorders and the documentation of abnormal motion in many other pathological hand conditions.     

A demonstration of the validity of a 3-D video motion analysis method for measuring finger flexion and extension

This study demonstrates the validity of using 3-D video motion analysis to measure hand motion. Several researchers have devised ingenious methods to study normal and abnormal hand movements. Although very helpful, these earlier studies are static representations of a dynamic phenomenon. Despite the many studies of hand motion using scientifically impeccable techniques, little is known about digital motion, and there are still few researchers investigating dynamic three-dimensional motion of the hand. Results from a three-camera video motion analysis system were compared to those from the “gold standard”, 2-D lateral view fluoroscopy. We used these two methods to record hand motion simultaneously during unrestricted flexion and extension of the index finger of the dominant hand in 6 neurologically normal, healthy volunteers. After collection and post-processing, the waveforms of the PIP, DIP and MCP joint angles were compared using the adjusted coefficient of multiple determination (R²_a, or CMD). The mean CMD values for the MCP, PIP and DIP joint angle waveforms were 0.96, 0.98 and 0.94, respectively, suggesting a close similarity between motion of comparable joints analyzed by the 2-D and 3-D methods. This shows that the method of 3-D motion analysis is capable of accurately quantifying digital joint motion.

It is anticipated that 3-D motion analysis, in addition to being used as a research tool, will also have clinical applications such as surgical planning in neuromuscular disorders and the documentation of abnormal motion in many other pathological hand conditions.     

Isotropic integration of binocular disparity and relative motion in the perception of three-dimensional shape

Richards (1985) showed that veridical three-dimensional shape may be recovered from the integration of binocular disparity and retinal motion information, but proposed that this integration may only occur for horizontal retinal motion. Psychophysical evidence supporting the combination of stereo and motion information is limited to the case of horizontal motion (Johnston et al., 1994), and has been criticised on the grounds of potential object boundary cues to shape present in the stimuli. We investigated whether veridical shape can be recovered under more general conditions. Observers viewed cylinders that were defined by binocular disparity, two-frame motion or a combination of disparity and motion, presented at simulated distances of 30 cm, 90 cm or 150 cm. Horizontally and vertically oriented cylinders were rotated about vertical and horizontal axes. When rotation was about the cylinder's own axis, no boundary cues to shape were introduced. Settings were biased for the disparity and two-frame motion stimuli, while more veridical shape judgements were made under all conditions for combined cue stimuli. These results demonstrate that the improved perception of three-dimensional shape in these stimuli is not a consequence of the presence of object boundary cues, and that the combination of disparity and motion is not restricted to horizontal image motion.     

A model of handwriting

The research reported here is concerned with hand trajectory planning for the class of movements involved in handwriting. Previous studies show that the kinematics of human two-joint arm movements in the horizontal plane can be described by a model which is based on dynamic minimization of the square of the third derivative of hand position (jerk), integrated over the entire movement. We extend this approach to both the analysis and the synthesis of the trajectories occurring in the generation of handwritten characters. Several basic strokes are identified and possible stroke concatenation rules are suggested. Given a concise symbolic representation of a stroke shape, a simple algorithm computes the complete kinematic specification of the corresponding trajectory. A handwriting generation model based on a kinematics from shape principle and on dynamic optimization is formulated and tested. Good qualitative and quantitative agreement was found between subject recordings and trajectories generated by the model. The simple symbolic representation of hand motion suggested here may permit the central nervous system to learn, store and modify motor action plans for writing in an efficient manner.     

Omnidirectional sensory and motor volumes in electric fish

Active sensing organisms, such as bats, dolphins, and weakly electric fish, generate a 3-D space for active sensation by emitting self-generated energy into the environment. For a weakly electric fish, we demonstrate that the electrosensory space for prey detection has an unusual, omnidirectional shape. We compare this sensory volume with the animal's motor volume—the volume swept out by the body over selected time intervals and over the time it takes to come to a stop from typical hunting velocities. We find that the motor volume has a similar omnidirectional shape, which can be attributed to the fish's backward-swimming capabilities and body dynamics. We assessed the electrosensory space for prey detection by analyzing simulated changes in spiking activity of primary electrosensory afferents during empirically measured and synthetic prey capture trials. The animal's motor volume was reconstructed from video recordings of body motion during prey capture behavior. Our results suggest that in weakly electric fish, there is a close connection between the shape of the sensory and motor volumes. We consider three general spatial relationships between 3-D sensory and motor volumes in active and passive-sensing animals, and we examine hypotheses about these relationships in the context of the volumes we quantify for weakly electric fish. We propose that the ratio of the sensory volume to the motor volume provides insight into behavioral control strategies across all animals.     

Jerk-cost modulations during the practice of rapid arm movements

We examined how hand-trajectory smoothness changed during the practice of a motor task where smoothness was quantified by jerk-cost. Four human subjects each moved his nondominant arm between an upper target and a lower target, while circumnavigating a barrier that extended outward from the vertical plane of the targets. The two targets and the barrier placed boundary constraints on hand trajectories, but the motion was not restrained in any other way. Arm movements were recorded on high-speed ciné film, and linear and angular kinematical data were obtained for all arm segments. In each of 100 practice trials, subjects attempted to minimize movement time. After the practice trials, subjects repeated the same motor task but at movement times corresponding to the slowest, mid-range and fastest motion that had occurred during practice. Thus, jerk-cost could be compared for movements of different speeds during practice and after practice. Because the movement task contained several changes in hand-path direction, the changes in the vector characteristics of the hand accelerations were expected to be important for explaining the modulations in jerk-cost with practice. Total jerk-cost, therefore, was calculated as well as the separate magnitudinal and directional jerk-cost components. During practice, total movement time decreased, hand paths became more parabolic in shape, and significant changes occurred in hand acceleration magnitude, direction, and timing. Total jerk-cost and the magnitudinal and directional jerk-cost components were significantly less when slowest hand movements were compared after practice versus during practice. The decrease in jerk-cost indicated an increased smoothness of the practiced movements.K. Schneider was supported by the German Research Association (Deutsche Forschungsgemeinschaft)     

Glycerolipids: common features of molecular motion in bilayers

In the present study, analysis of 2H NMR line-shape and spin-lattice relaxation behavior has been used to investigate the dynamics of several glycolipid and phospholipid bilayers. The gel-phase spectra of these lipids labeled at the C3 position of the glycerol backbone are broad (approximately 90 kHz) and characteristic of fast-limit axially asymmetric motion. Moreover, anisotropic spin-lattice relaxation is observed in all of these systems. The line-shape and relaxation features of the lipids in the gel phase were best simulated by using a fast-limit three-site jump model, with relative site populations of 0.46, 0.34, and 0.20. This motion is associated with an internal jump about the C2-C3 bond of the glycerol backbone. A second motion, rotation about the long axis of the molecule, is needed to account for the observed temperature dependence of the quadrupolar echo amplitude and the spectral line shape above and below the gel to liquid-crystalline phase transition temperature. On the other hand, the gel-phase spectra of phospholipids labeled at the C2 position of the glycerol backbone are also characterized by a fast internal motion, which is simulated by a two-site librational jump. The results indicate that the glycerol backbone dynamics of the glycolipid and phospholipid systems investigated in this study can be described in terms of common fast internal motions and a slower whole molecule axial motion. These results are compared with previous dynamic studies of similar systems.     

Temporal Control and Hand Movement Efficiency in Skilled Music Performance

Skilled piano performance requires considerable movement control to accomplish the high levels of timing and force precision common among professional musicians, who acquire piano technique over decades of practice. Finger movement efficiency in particular is an important factor when pianists perform at very fast tempi. We document the finger movement kinematics of highly skilled pianists as they performed a five-finger melody at very fast tempi. A three-dimensional motion-capture system tracked the movements of finger joints, the hand, and the forearm of twelve pianists who performed on a digital piano at successively faster tempi (7–16 tones/s) until they decided to stop. Joint angle trajectories computed for all adjacent finger phalanges, the hand, and the forearm (wrist angle) indicated that the metacarpophalangeal joint contributed most to the vertical fingertip motion while the proximal and distal interphalangeal joints moved slightly opposite to the movement goal (finger extension). An efficiency measure of the combined finger joint angles corresponded to the temporal accuracy and precision of the pianists’ performances: Pianists with more efficient keystroke movements showed higher precision in timing and force measures. Keystroke efficiency and individual joint contributions remained stable across tempo conditions. Individual differences among pianists supported the view that keystroke efficiency is required for successful fast performance.     

Visual information gleaned by observing grasping movement in allocentric and egocentric perspectives

One of the major functions of vision is to allow for an efficient and active interaction with the environment. In this study, we investigate the capacity of human observers to extract visual information from observation of their own actions, and those of others, from different viewpoints. Subjects discriminated the size of objects by observing a point-light movie of a hand reaching for an invisible object. We recorded real reach-and-grasp actions in three-dimensional space towards objects of different shape and size, to produce two-dimensional 'point-light display' movies, which were used to measure size discrimination for reach-and-grasp motion sequences, release-and-withdraw sequences and still frames, all in egocentric and allocentric perspectives. Visual size discrimination from action was significantly better in egocentric than in allocentric view, but only for reach-and-grasp motion sequences: release-and-withdraw sequences or still frames derived no advantage from egocentric viewing. The results suggest that the system may have access to an internal model of action that contributes to calibrate visual sense of size for an accurate grasp.     

Cell shape dynamics: from waves to migration

We observe and quantify wave-like characteristics of amoeboid migration. Using the amoeba Dictyostelium discoideum, a model system for the study of chemotaxis, we demonstrate that cell shape changes in a wave-like manner. Cells have regions of high boundary curvature that propagate from the leading edge toward the back, usually along alternating sides of the cell. Curvature waves are easily seen in cells that do not adhere to a surface, such as cells that are electrostatically repelled from surfaces or cells that extend over the edge of micro-fabricated cliffs. Without surface contact, curvature waves travel from the leading edge to the back of a cell at -35 μm/min. Non-adherent myosin II null cells do not exhibit these curvature waves. At the leading edge of adherent cells, curvature waves are associated with protrusive activity. Like regions of high curvature, protrusive activity travels along the boundary in a wave-like manner. Upon contact with a surface, the protrusions stop moving relative to the surface, and the boundary shape thus reflects the history of protrusive motion. The wave-like character of protrusions provides a plausible mechanism for the zig-zagging of pseudopods and for the ability of cells both to swim in viscous fluids and to navigate complex three dimensional topography.     

Application of EMG signals for controlling exoskeleton robots.

Exoskeleton robots are mechanical constructions attached to human body parts, containing actuators for influencing human motion. One important application area for exoskeletons is human motion support, for example, for disabled people, including rehabilitation training, and for force enhancement in healthy subjects. This paper surveys two exoskeleton systems developed in our laboratory. The first system is a lower-extremity exoskeleton with one actuated degree of freedom in the knee joint. This system was designed for motion support in disabled people. The second system is an exoskeleton for a human hand with 16 actuated joints, four for each finger. This hand exoskeleton will be used in rehabilitation training after hand surgeries. The application of EMG signals for motion control is presented. An overview of the design and control methods, and first experimental results for the leg exoskeleton are reported.     

Phylogenetic autocorrelation and heritability of geographic range size,shape and position of fiddler crabs,genus Uca (Crustacea,Decapoda)

The aim of this study was to evaluate the levels of phylogenetic heritability of the geographical range size, shape and position for 88 species of fiddler crabs of the world, using phylogenetic comparative methods and simulation procedures to evaluate their fit to the neutral model of Brownian motion. The geographical range maps were compiled from literature, and range size was based on the entire length of coastline occupied by each species, and the position of each range was calculated as its latitudinal and longitudinal midpoint. The range shape of each species was based in fractal dimension (box‐counting technique). The evolutionary patterns in the geographical range metrics were explored by phylogenetic correlograms using Moran’s I autocorrelation coefficients, autoregressive method (ARM) and phylogenetic eigenvector regression (PVR). The correlograms were compared with those obtained by simulations of Brownian motion processes across phylogenies. The distribution of geographical range size of fiddler crabs is right‐skewed and weak phylogenetic autocorrelation was observed. On the other hand, there was a strong phylogenetic pattern in the position of the range (mainly along longitudinal axis). Indeed, the ARM and PVR evidenced, respectively, that ca. 86% and 91% of the longitudinal midpoint could be explained by phylogenetic relationships among the species. The strong longitudinal phylogenetic pattern may be due to vicariant allopatric speciation and geographically structured cladogenesis in the group. The traits analysed (geographical range size and position) did not follow a Brownian motion process, thus suggesting that both adaptive ecological and evolutionary processes must be invoked to explain their dynamics, not following a simple neutral inheritance in the fiddler‐crab evolution.     

3D active workspace of human hand anatomical model

Background  

If the model of the human hand is created with accuracy by respecting the type of motion provided by each articulation and the dimensions of articulated bones, it can function as the real organ providing the same motions. Unfortunately, the human hand is hard to model due to its kinematical chains submitted to motion constraints. On the other hand, if an application does not impose a fine manipulation it is not necessary to create a model as complex as the human hand is. But always the hand model has to perform a certain space of motions in imposed workspace architecture no matter what the practical application does.