An intelligent control method based on fuzzy logic for a robotic testing system for the human spine

In previous biomechanical studies of the human spine, we implemented a hybrid controller to investigate load-displacement characteristics. We found that measurement errors in both position and force caused the controller to be less accurate than predicted. As an alternative to hybrid control, a fuzzy logic controller (FLC) has been developed and implemented in a robotic testing system for the human spine. An FLC is a real-time expert system that can emulate part of a human operator's knowledge by using a set of action rules. The FLC provides simple but robust solutions that cover a wide range of system parameters and can cope with significant disturbances. It can be viewed as a heuristic and modular way of defining a nonlinear, table-based control system. In this study, an FLC is developed which uses the force difference and the change in force difference as the input parameters, and the displacement as the output parameter. A rule-table based on these parameters is designed for the controller Experiments on a physical model composed of springs demonstrate the improved performance of the proposed method.     

Biomechanical Properties of Multi-Swing and Single-Swing Rope Skipping Actions

Rope skipping is popular as it is easy to learn; thus, it has developed into a competitive sport. The research on the biomechanical properties of rope skipping can effectively improve training efficiency and reduce injury probability. This paper briefly introduced the characteristics of single-swing and multi-swing techniques in competitive rope skipping, selected ten second-grade athletes as the subjects to test the single-swing and triple-swing rope skipping, and tested the biomechanical properties in the process of rope skipping. The results showed that the variation range of the lower limb joint angle in the triple-swing rope skipping was larger than that in the single-swing rope skipping in the stage of thrusting against the ground and the hanging stage and smaller in the buffering stage. The maximum ground reaction force, the maximum vertical displacement, the vertical velocity at the moment of leaving the ground, and the vertical velocity at the moment of landing in triple-swing rope skipping were significantly higher than those in the process of single-swing rope skipping. In conclusion, to ensure the success of the triple-swing rope skipping, the lower limbs need to exert a larger acting force on the ground to obtain larger counter-acting force to extend the hanging time and ensure three circles.     

Adaptation of a clinical fixation device for biomechanical testing of the lumbar spine

In-vitro biomechanical testing is widely performed for characterizing the load-displacement characteristics of intact, injured, degenerated, and surgically repaired osteoligamentous spine specimens. Traditional specimen fixture devices offer an unspecified rigidity of fixation, while varying in the associated amounts and reversibility of damage to and “coverage” of a specimen – factors that can limit surgical access to structures of interest during testing as well as preclude the possibility of testing certain segments of a specimen. Therefore, the objective of this study was to develop a specimen fixture system for spine biomechanical testing that uses components of clinically available spinal fixation hardware and determine whether the new system provides sufficient rigidity for spine biomechanical testing. Custom testing blocks were mounted into a robotic testing system and the angular deflection of the upper fixture was measured indirectly using linear variable differential transformers. The fixture system had an overall stiffness 37.0, 16.7 and 13.3 times greater than a typical human functional spine unit for the flexion/extension, axial rotation and lateral bending directions respectively – sufficient rigidity for biomechanical testing. Fixture motion when mounted to a lumbar spine specimen revealed average motion of 0.6, 0.6, and 1.5° in each direction. This specimen fixture method causes only minimal damage to a specimen, permits testing of all levels of a specimen, and provides for surgical access during testing.     

Robotic simulation of identical athletic-task kinematics on cadaveric limbs exhibits a lack of differences in knee mechanics between contralateral pairs

Limb asymmetry is a known factor for increased ACL injury risk. These asymmetries are normally observed during in vivo testing. Prior studies have developed in vitro testing methodologies driven by in vivo kinematics to investigate knee mechanics relative to ACL injury. The objective of this study was to determine if mechanical side-to-side asymmetries persist in contralateral pairs during in vitro simulation testing. In vivo kinematics were recorded for male and female drop vertical jump and sidestep cutting tasks. The recorded kinematics were used to robotically simulate the motions on 7 contralateral pairs of cadaveric lower extremities specimens. ACL and MCL force, torque, and strains were recorded and analyzed for differences between contralateral pairs. There was a general lack of mechanical differences between limb sides. Adduction peak torque for the male sidestep cut movement was significantly different between limb sides (p=0.04). However, this is consistent with ACL injury mechanics in that movement in the frontal plane (abduction/adduction) increases injury risk and it is possible loading differences in this plane may have resulted from tolerances within the setup process. The findings of this study indicate that contralateral knee joints were representative of each other during biomechanical in vitro tests. In future cadaveric robotic simulations, contralateral limbs can be used interchangeably. In addition, direct comparisons of the structural behaviors of isolated conditions for contralateral knee joints can be performed.     

Biomechanical and Structural Features of CS2 Fimbriae of Enterotoxigenic Escherichia coli

Enterotoxigenic Escherichia coli (ETEC) are a major cause of diarrhea worldwide, and infection of children in under-developed countries often leads to high mortality rates. Isolated ETEC expresses a plethora of colonization factors (fimbriae/pili), of which CFA/I and CFA/II, which are assembled via the alternate chaperone pathway (ACP), are among the most common. Fimbriae are filamentous structures whose shafts are primarily composed of helically arranged single pilin-protein subunits, with a unique biomechanical ability to unwind and rewind. A sustained ETEC infection, under adverse conditions of dynamic shear forces, is primarily attributed to this biomechanical feature of ETEC fimbriae. Recent understanding about the role of fimbriae as virulence factors points to an evolutionary adaptation of their structural and biomechanical features. In this work, we investigated the biophysical properties of CS2 fimbriae from the CFA/II group. Homology modeling of its major structural subunit, CotA, reveals structural clues related to the niche in which they are expressed. Using optical-tweezers force spectroscopy, we found that CS2 fimbriae unwind at a constant force of 10 pN and have a corner velocity (i.e., the velocity at which the force required for unwinding rises exponentially with increased speed) of 1300 nm/s. The biophysical properties of CS2 fimbriae assessed in this work classify them into a low-force unwinding group of fimbriae together with the CFA/I and CS20 fimbriae expressed by ETEC strains. The three fimbriae are expressed by ETEC, colonize in similar gut environments, and exhibit similar biophysical features, but differ in their biogenesis. Our observation suggests that the environment has a strong impact on the biophysical characteristics of fimbriae expressed by ETEC.     

The effects of proprioceptive neuromuscular facilitation and dynamic stretching techniques on vertical jump performance

The purpose of this study was to investigate the effects of 3 different warm-ups on vertical jump performance. The warm-ups included a 600-m jog, a 600-m jog followed by a dynamic stretching routine, and a 600-m jog followed by a proprioceptive neuromuscular facilitation (PNF) routine. A second purpose was to determine whether the effects of the warm-ups on vertical jump performance varied by gender. Sixty-eight men and women NCAA Division I athletes from North Dakota State University performed 3 vertical jumps on a Just Jump pad after each of the 3 warm-up routines. The subjects were split into 6 groups and rotated between 3 warm-up routines, completing 1 routine each day in a random order. The results of the 1-way repeated measures analysis of variance showed no significant differences in the combined (p = 0.927), men's (p = 0.798), or women's (p = 0.978) results. The results of this study showed that 3 different warm-ups did not have a significant affect on vertical jumping. The results also showed there were no gender differences between the 3 different warm-ups.     

Hydrodynamic calculations on the movements of cilia and flagella I. Paramecium

Calculations of the velocity profile, force, moment and bending moment using a theoretical model are carried out for the three-dimensional “conical-helical” beat of a cilium of Paramecium multimicro-nucleatum. The mean velocity profile obtained by numerical computation is found to be twisted in form: it is inclined at a slight angle to the effective stroke at the top of the cilia sublayer, but twists around with the recovery stroke in the lower part of the sublayer. The force and moment are larger during the fast effective stroke, but over a complete cycle their contributions are approximately zero. Calculations on the bending moments reveals that they are larger during the recovery stage of the beating cycle.     

Joint kinetic response during unexpectedly reduced plantar flexor torque provided by a robotic ankle exoskeleton during walking

During human walking, plantar flexor activation in late stance helps to generate a stable and economical gait pattern. Because plantar flexor activation is highly mediated by proprioceptive feedback, the nervous system must modulate reflex pathways to meet the mechanical requirements of gait. The purpose of this study was to quantify ankle joint mechanical output of the plantar flexor stretch reflex response during a novel unexpected gait perturbation. We used a robotic ankle exoskeleton to mechanically amplify the ankle torque output resulting from soleus muscle activation. We recorded lower-body kinematics, ground reaction forces, and electromyography during steady-state walking and during randomly perturbed steps when the exoskeleton assistance was unexpectedly turned off. We also measured soleus Hoffmann- (H-) reflexes at late stance during the two conditions. Subjects reacted to the unexpectedly decreased exoskeleton assistance by greatly increasing soleus muscle activity about 60 ms after ankle angle deviated from the control condition (p<0.001). There were large differences in ankle kinematic and electromyography patterns for the perturbed and control steps, but the total ankle moment was almost identical for the two conditions (p=0.13). The ratio of soleus H-reflex amplitude to background electromyography was not significantly different between the two conditions (p=0.4). This is the first study to show that the nervous system chooses reflex responses during human walking such that invariant ankle joint moment patterns are maintained during perturbations. Our findings are particularly useful for the development of neuromusculoskeletal computer simulations of human walking that need to adjust reflex gains appropriately for biomechanical analyses.     

New parameters describing how knee ligaments carry force in situ predict interspecimen variations in laxity during simulated clinical exams

Knee laxity, defined as the net translation or rotation of the tibia relative to the femur in a given direction in response to an applied load, is highly variable from person to person. High levels of knee laxity as assessed during routine clinical exams are associated with first-time ligament injury and graft reinjury following reconstruction. During laxity exams, ligaments carry force to resist the applied load; however, relationships between intersubject variations in knee laxity and variations in how ligaments carry force as the knee moves through its passive envelope of motion, which we refer to as ligament engagement, are not well established. Thus, the objectives of this study were, first, to define parameters describing ligament engagement and, then, to link variations in ligament engagement and variations in laxity across a group of knees. We used a robotic manipulator in a cadaveric knee model (n = 20) to quantify how important knee stabilizers, namely the anterior and posterior cruciate ligaments (ACL and PCL, respectively), as well as the medial collateral ligament (MCL) engage during respective tests of anterior, posterior, and valgus laxity. Ligament engagement was quantified using three parameters: (1) in situ slack, defined as the relative tibiofemoral motion from the neutral position of the joint to the position where the ligament began to carry force; (2) in situ stiffness, defined as the slope of the linear portion of the ligament force–tibial motion response; and (3) ligament force at the peak applied load. Knee laxity was related to parameters of ligament engagement using univariate and multivariate regression models. Variations in the in situ slack of the ACL and PCL predicted anterior and posterior laxity, while variations in both in situ slack and in situ stiffness of the MCL predicted valgus laxity. Parameters of ligament engagement may be useful to further characterize the in situ biomechanical function of ligaments and ligament grafts.     

The effects of pad geometry and material properties on the biomechanical effectiveness of 26 commercially available hip protectors

Wearable hip protectors (padded garments) represent a promising strategy to decrease impact force and hip fracture risk during falls, and a wide range of products are currently marketed. However, little is known about how design features of hip protectors influence biomechanical effectiveness. We used a mechanical test system (simulating sideways falls) to measure the attenuation in femoral neck force provided by 26 commercially available hip protectors at three impact velocities (2, 3, and 4m/s). We also used a materials testing machine to characterize the force-deflection properties of each device. Regression analyses were performed to determine which geometric (e.g., height, width, thickness, volume) and force-deflection properties were associated with force attenuation. At an impact velocity of 3m/s, the force attenuation provided by the various hip protectors ranged between 2.5% and 40%. Hip protectors with lower stiffness (measured at 500N) provided greater force attenuation at all velocities. Protectors that absorbed more energy demonstrated greater force attenuation at the higher impact velocities (3 and 4m/s conditions), while protectors that did not directly contact (but instead bridged) the skin overlying the greater trochanter attenuated more force at velocities of 2 and 3m/s. At these lower velocities, the force attenuation provided by protectors that contacted the skin overlying the greater trochanter increased with increasing pad width, thickness, and energy dissipation. By providing a comparison of the protective value of a large range of existing hip protectors, these results can help to guide consumers and researchers in selecting hip protectors, and in interpreting the results of previous clinical trials. Furthermore, by determining geometric and material parameters that influence biomechanical performance, our results should assist manufacturers in designing devices that offer improved performance and clinical effectiveness.     

Loading of the knee joint during activities of daily living measured in vivo in five subjects

Detailed knowledge about loading of the knee joint is essential for preclinical testing of implants, validation of musculoskeletal models and biomechanical understanding of the knee joint. The contact forces and moments acting on the tibial component were therefore measured in 5 subjects in vivo by an instrumented knee implant during various activities of daily living.Average peak resultant forces, in percent of body weight, were highest during stair descending (346% BW), followed by stair ascending (316% BW), level walking (261% BW), one legged stance (259% BW), knee bending (253% BW), standing up (246% BW), sitting down (225% BW) and two legged stance (107% BW). Peak shear forces were about 10–20 times smaller than the axial force. Resultant forces acted almost vertically on the tibial plateau even during high flexion. Highest moments acted in the frontal plane with a typical peak to peak range ?2.91% BWm (adduction moment) to 1.61% BWm (abduction moment) throughout all activities. Peak flexion/extension moments ranged between ?0.44% BWm (extension moment) and 3.16% BWm (flexion moment). Peak external/internal torques lay between ?1.1% BWm (internal torque) and 0.53% BWm (external torque).The knee joint is highly loaded during daily life. In general, resultant contact forces during dynamic activities were lower than the ones predicted by many mathematical models, but lay in a similar range as measured in vivo by others. Some of the observed load components were much higher than those currently applied when testing knee implants.     

Normalized patellofemoral joint reaction force is greater in individuals with patellofemoral pain

Patellofemoral pain is a disabling, highly prevalent pathology. Altered patellofemoral contact forces are theorized to contribute to this pain. Musculoskeletal modeling has been employed to better understand the etiology of patellofemoral pain. Currently, there are no data on the effective quadriceps moment arm for individuals with patellofemoral pain, forcing researchers to apply normative values when modeling such individuals. In addition, the ratio of patellofemoral reaction force to quadriceps force is often used as a surrogate for patellofemoral joint contact force, ignoring the fact that the quadriceps efficiency can vary with pathology and intervention. Thus, the purposes of this study were to: (1) quantify the effective quadriceps moment arm in individuals with patellofemoral pain and compare this value to a control cohort and (2) develop a novel methodology for quantifying the normalized patellofemoral joint reaction force in vivo during dynamic activities. Dynamic MR data were captured as subjects with patellofemoral pain (30F/3M) cyclically flexed their knee from 10° to 40°. Data for control subjects (29F/9M) were taken from a previous study. The moment arm data acquired across a large cohort of individuals with patellofemoral pain should help advance musculoskeletal modeling. The primary finding of this study was an increased mean normalized patellofemoral reaction force of 14.9% (maximum values at a knee angle of 10°) in individuals with patellofemoral pain. Understanding changes in the normalized patellofemoral reaction force with pathology may lead to improvements in clinical decision making, and consequently treatments, by providing a more direct measure of altered patellofemoral joint forces.     

Sensitivity of lumbar spine response to follower load and flexion moment: finite element study

The follower load (FL) combined with moments is commonly used to approximate flexed/extended posture of the lumbar spine in absence of muscles in biomechanical studies. There is a lack of consensus as to what magnitudes simulate better the physiological conditions. Considering the in-vivo measured values of the intradiscal pressure (IDP), intervertebral rotations (IVRs) and the disc loads, sensitivity of these spinal responses to different FL and flexion moment magnitudes was investigated using a 3D nonlinear finite element (FE) model of ligamentous lumbosacral spine. Optimal magnitudes of FL and moment that minimize deviation of the model predictions from in-vivo data were determined. Results revealed that the spinal parameters i.e. the IVRs, disc moment, and the increase in disc force and moment from neutral to flexed posture were more sensitive to moment magnitude than FL magnitude in case of flexion. The disc force and IDP were more sensitive to the FL magnitude than moment magnitude. The optimal ranges of FL and flexion moment magnitudes were 900–1100 N and 9.9–11.2 Nm, respectively. The FL magnitude had reverse effect on the IDP and disc force. Thus, magnitude for FL or flexion that minimizes the deviation of all the spinal parameters together from the in-vivo data can vary. To obtain reasonable compromise between the IDP and disc force, our findings recommend that FL of low magnitude must be combined with flexion moment of high intensity and vice versa.     

Control of knee coronal plane moment via modulation of center of pressure: a prospective gait analysis study

ObjectivesFootwear-generated biomechanical manipulations (e.g., wedge insoles) have been shown to reduce the magnitude of adduction moment about the knee. The theory behind wedged insoles is that a more laterally shifted location of the center of pressure reduces the distance between the ground reaction force and the center of the knee joint, thereby reducing adduction moment during gait. However, the relationship between the center of pressure and the knee adduction moment has not been studied previously. The aim of this study was to examine the association between the location of the center of pressure and the relative magnitude of the knee adduction moment during gait in healthy men.MethodsA novel foot-worn biomechanical device which allows controlled manipulation of the center of pressure location was utilized. Twelve healthy men underwent successive gait analysis testing in a controlled setting and with the device set to convey three different para-sagittal locations of the center of pressure: neutral, medial offset and lateral offset.ResultsThe knee adduction moment during the stance phase significantly correlated with the shift of the center of pressure from the functional neutral sagittal axis in the coronal plane (i.e., from medial to lateral). The moment was reduced with the lateral sagittal axis configuration and augmented with the medial sagittal axis configuration.ConclusionsThe study results confirm the hypothesis of a direct correlation between the coronal location of the center of pressure and the magnitude of the knee adduction moment.     

Relationship between tethered forces and the four swimming techniques performance

The purpose of the current study was to identify the relationships between competitive performance and tether forces according to distance swam, in the four strokes, and to analyze if relative values of force production are better determinants of swimming performance than absolute values. The subjects (n = 32) performed a 30 s tethered swimming all-out effort. The competitive swimming velocities were obtained in the distances 50, 100 and 200 m using official chronometric values of competitions within 25 days after testing protocol. Mean force and velocity (50 m event) show significant correlations for front crawl (r = .92, p < .01), backstroke (r = .81, p < .05), breaststroke (r = .94, p < .01) and butterfly (r = .92, p < .01). The data suggests that absolute values of force production are more associated to competitive performance than relative values (normalized to body mass). Tethered swimming test seems to be a reliable protocol to evaluate the swimmer stroking force production and a helpful estimator of competitive performance in short distance competitive events.     

Bio-inspired grasp control in a robotic hand with massive sensorial input

The capability of grasping and lifting an object in a suitable, stable and controlled way is an outstanding feature for a robot, and thus far, one of the major problems to be solved in robotics. No robotic tools able to perform an advanced control of the grasp as, for instance, the human hand does, have been demonstrated to date. Due to its capital importance in science and in many applications, namely from biomedics to manufacturing, the issue has been matter of deep scientific investigations in both the field of neurophysiology and robotics. While the former is contributing with a profound understanding of the dynamics of real-time control of the slippage and grasp force in the human hand, the latter tries more and more to reproduce, or take inspiration by, the nature’s approach, by means of hardware and software technology. On this regard, one of the major constraints robotics has to overcome is the real-time processing of a large amounts of data generated by the tactile sensors while grasping, which poses serious problems to the available computational power. In this paper a bio-inspired approach to tactile data processing has been followed in order to design and test a hardware–software robotic architecture that works on the parallel processing of a large amount of tactile sensing signals. The working principle of the architecture bases on the cellular nonlinear/neural network (CNN) paradigm, while using both hand shape and spatial–temporal features obtained from an array of microfabricated force sensors, in order to control the sensory-motor coordination of the robotic system. Prototypical grasping tasks were selected to measure the system performances applied to a computer-interfaced robotic hand. Successful grasps of several objects, completely unknown to the robot, e.g. soft and deformable objects like plastic bottles, soft balls, and Japanese tofu, have been demonstrated.     

Invariant ankle moment patterns when walking with and without a robotic ankle exoskeleton

To guide development of robotic lower limb exoskeletons, it is necessary to understand how humans adapt to powered assistance. The purposes of this study were to quantify joint moments while healthy subjects adapted to a robotic ankle exoskeleton and to determine if the period of motor adaptation is dependent on the magnitude of robotic assistance. The pneumatically powered ankle exoskeleton provided plantar flexor torque controlled by the wearer's soleus electromyography (EMG). Eleven naïve individuals completed two 30-min sessions walking on a split-belt instrumented treadmill at 1.25 m/s while wearing the ankle exoskeleton. After two sessions of practice, subjects reduced their soleus EMG activation by ～36% and walked with total ankle moment patterns similar to their unassisted gait (r²=0.98±0.02, THSD, p>0.05). They had substantially different ankle kinematic patterns compared to their unassisted gait (r²=0.79±0.12, THSD, p<0.05). Not all of the subjects reached a steady-state gait pattern within the two sessions, in contrast to a previous study using a weaker robotic ankle exoskeleton (Gordon and Ferris, 2007). Our results strongly suggest that humans aim for similar joint moment patterns when walking with robotic assistance rather than similar kinematic patterns. In addition, greater robotic assistance provided during initial use results in a longer adaptation process than lesser robotic assistance.     

Longer moment arm results in smaller joint moment development, power and work outputs in fast motions

Effects of moment arm length on kinetic outputs of a musculoskeletal system (muscle force development, joint moment development, joint power output and joint work output) were evaluated using computer simulation. A skeletal system of the human ankle joint was constructed: a lower leg segment and a foot segment were connected with a hinge joint. A Hill-type model of the musculus soleus (m. soleus), consisting of a contractile element and a series elastic element, was attached to the skeletal system. The model of the m. soleus was maximally activated, while the ankle joint was plantarflexed/dorsiflexed at a variation of constant angular velocities, simulating isokinetic exercises on a muscle testing machine. Profiles of the kinetic outputs (muscle force development, joint moment development, joint power output and joint work output) were obtained. Thereafter, the location of the insertion of the m. soleus was shifted toward the dorsal/ventral direction by 1cm, which had an effect of lengthening/shortening the moment arm length, respectively. The kinetic outputs of the musculoskeletal system during the simulated isokinetic exercises were evaluated with these longer/shorter moment arm lengths. It was found that longer moment arm resulted in smaller joint moment development, smaller joint power output and smaller joint work output in the larger plantarflexion angular velocity region (>120 degrees/s). This is because larger muscle shortening velocity was required with longer moment arm to achieve a certain joint angular velocity. Larger muscle shortening velocity resulted in smaller muscle force development because of the force-velocity relation of the muscle. It was suggested that this phenomenon should be taken into consideration when investigating the joint moment-joint angle and/or joint moment-joint angular velocity characteristics of experimental data.     

Biomechanical contributions of upper cervical ligamentous structures in Type II odontoid fractures

Fractures of the odontoid present frequently in spinal trauma, and Type II odontoid fractures, occurring at the junction of the odontoid process and C2 vertebrae, represent the bulk of all traumatic odontoid fractures. It is currently unclear what soft-tissue stabilizers contribute to upper cervical motion in the setting of a Type II odontoid fracture, and evaluation of how concomitant injury contributes to cervical stability may inform surgical decision-making as well as allow for the creation of future, accurate, biomechanical models of the upper cervical spine. The objective of the current study was to determine the contribution of soft-tissue stabilizers in the upper cervical spine following a Type II odontoid fracture. Eight cadaveric C0-C2 specimens were evaluated using a robotic testing system with motion tracking. The unilateral facet capsule (UFC) and anterior longitudinal ligament (ALL) were serially resected to determine their biomechanical role following odontoid fracture. Range of motion (ROM) and moment at the end of intact specimen replay were the primary outcomes. We determined that fracture of the odontoid significantly increases motion and decreases resistance to intact motion for flexion–extension (FE), axial rotation (AR), and lateral bending (LB). Injury to the UFC increased AR by 3.2° and FE by 3.2°. ALL resection did not significantly increase ROM or decrease end-point moment. The UFC was determined to contribute to 19% of intact flexion resistance and 24% of intact AR resistance. Overall, we determined that Type II fracture of the odontoid is a significant biomechanical destabilizer and that concurrent injury to the UFC further increases upper cervical ROM and decreases resistance to motion in a cadaveric model of traumatic Type II odontoid fractures.