Topography of rodent whisking--I. Two-dimensional monitoring of whisker movements

During 'active touch' the rodent whiskers scan the environment in a series of repetitive movements ('whisks') generating afferent signals which transform the spatial properties of objects into spatio-temporal patterns of neural activity. Based upon analyses carried out in a single movement plane, it has been generally assumed that these trajectories are essentially uni-dimensional, although more complex movements have been described in some rodents. The present study was designed to examine this assumption and to more precisely characterize whisking topography by monitoring whisking trajectories along both the antero-posterior and dorso-ventral axes. Using optoelectronic monitoring techniques with high-spatio-temporal resolution, movement data were obtained from a population of vibrissae sampled at different locations on the mystacial pad in head-fixed rats isolated from the perturbing effects of contact. For a substantial proportion of the population of whisking movements sampled, the trajectories generated by a single whisker is most accurately described as occupying an expended two-dimensional space in which the A-P component predominates. However, the whisker system exhibits a considerable range of trajectory types, suggesting a high degree of movement flexibility. For each vibrissa position, it was possible to delineate a 'trajectory' domain -- that portion of the animal's whisking space which is scanned by the movements of that vibrissa during whisking. Since the 'domains' of adjacent whiskers in the same row tend to overlap, synchronized movements of a subset of whiskers could generate a set of overlapping somatosensory fields analogous to overlapping retinal receptive fields. The organization of such trajectory domains within the rats' whisking space could provide the spatial component of the spatio-temporal integration process required to extract information about environmental features from the inputs generated by its recursive whisking movements.     

The planning and control of reaching movements

The notion of internal models has become central to the study of visually guided reaching. Armed with this theoretical framework, researchers are gleaning insights into long-standing problems in the field, such as the ability to respond rapidly to changes in the location of a reach target and the fine control of the multi-joint dynamics of the arm. A key factor in these advances is our increased understanding of how the brain integrates feedforward control signals, sensory feedback, and predictions based on internal models of the arm.     

Operant control of human eye movements

Saccade and smooth pursuit are the eye movements used by primates to shift gaze. In this article we review evidence for the effects of reinforcement on several dimensions of these responses such as their latencies, velocities or amplitudes. We propose that these responses are operant behaviours controlled by their consequences on performance of visually guided tasks. Studying the conditions under which particular eye movement patterns might emerge from the cumulative effects of reinforcement provides critical insights about how motor responses are attuned to environmental exigencies.     

Analysis of the human and ape foot during bipedal standing with implications for the evolution of the foot

The ratio of the power arm (the distance from the heel to the talocrural joint) to the load arm (that from the talocrural joint to the distal head of the metatarsals), or RPL, differs markedly between the human and ape foot. The arches are relatively higher in the human foot in comparison with those in apes. This study evaluates the effect of these two differences on biomechanical effectiveness during bipedal standing, estimating the forces acting across the talocrural and tarsometatarsal joints, and attempts to identify which type of foot is optimal for bipedal standing. A simple model of the foot musculoskeletal system was built to represent the geometric and force relationships in the foot during bipedal standing, and measurements for a variety of human and ape feet applied. The results show that: (1) an RPL of around 40% (as is the case in the human foot) minimizes required muscle force at the talocrural joint; (2) the presence of an high arch in the human foot reduces forces in the plantar musculature and aponeurosis; and (3) the human foot has a lower total of force in joints and muscles than do the ape feet. These results indicate that the proportions of the human foot, and the height of the medial arch are indeed better optimized for bipedal standing than those of apes, further suggesting that their current state is to some extent the product of positive selection for enhanced bipedal standing during the evolution of the foot.     

Crosstalk of cardiomyocytes and fibroblasts in co-cultures

Electromechanical function of cardiac muscle depends critically on the crosstalk of myocytes with non-myocytes. Upon cardiac fibrosis, fibroblasts translocate into infarcted necrotic tissue and alter their communication capabilities. In the present in vitro study, we determined a multiple parameter space relevant for fibrotic cardiac tissue development comprising the following essential processes: (i) adhesion to substrates with varying elasticity, (ii) dynamics of contractile function, and (iii) electromechanical connectivity. By combining electric cell-substrate impedance sensing (ECIS) with conventional optical microscopy, we could measure the impact of fibroblast–cardiomyocyte ratio on the aforementioned parameters in a non-invasive fashion. Adhesion to electrodes was quantified via spreading rates derived from impedance changes, period analysis allowed us to measure contraction dynamics and modulations of the barrier resistance served as a measure of connectivity. In summary, we claim that: (i) a preferred window for substrate elasticity around 7 kPa for low fibroblast content exists, which is shifted to stiffer substrates with increasing fibroblast fractions. (ii) Beat frequency decreases nonlinearly with increasing fraction of fibroblasts, while (iii) the intercellular resistance increases with a maximal functional connectivity at 75% fibroblasts. For the first time, cardiac cell–cell junction density-dependent connectivity in co-cultures of cardiomyocytes and fibroblasts was quantified using ECIS.     

Molecular mechanism of voltage sensor movements in a potassium channel

Voltage-gated potassium channels are six-transmembrane (S1-S6) proteins that form a central pore domain (4 x S5-S6) surrounded by four voltage sensor domains (S1-S4), which detect changes in membrane voltage and control pore opening. Upon depolarization, the S4 segments move outward carrying charged residues across the membrane field, thereby leading to the opening of the pore. The mechanism of S4 motion is controversial. We have investigated how S4 moves relative to the pore domain in the prototypical Shaker potassium channel. We introduced pairs of cysteines, one in S4 and the other in S5, and examined proximity changes between each pair of cysteines during activation, using Cd2+ and copper-phenanthroline, which crosslink the cysteines with metal and disulphide bridges, respectively. Modelling of the results suggests a novel mechanism: in the resting state, the top of the S3b-S4 voltage sensor paddle lies close to the top of S5 of the adjacent subunit, but moves towards the top of S5 of its own subunit during depolarization--this motion is accompanied by a reorientation of S4 charges to the extracellular phase.     

Electrically measuring viscoelastic parameters of adherent cell layers under controlled magnetic forces

Electrical cell-substrate impedance sensing (ECIS) was used to measure the time-dependence and frequency-dependence of impedance for current flowing underneath and between cells. Osteosarcoma cells with a topology similar to a short cylinder (coin-like) surmounted by a dome were used in this study. Application of a small step increase in net vertical stress to the cells (4 and 7 dyn/cm²), via magnetic beads bound to the dorsal (upper) surface, causes an increase in cell body height and an increase in cell-cell separation, as well as stretching of the cell-substrate adhesion bonds. This results in a fast drop in measured resistance (less than 2 s), followed by a slower change with a time constant of 60–150 s. This time constant is about 1.5 times longer at 22 °C than that at 37 °C; it also increases with applied stress. Our frequency scan data, as well as our data for the time course of resistance and capacitance, show that the fast change is associated with both the under-the-cells and between-the-cells resistance. The slower change in resistance mainly reflects the between-the-cells resistance. To obtain viscoelastic parameters from our data we use a simple viscoelastic model comprising viscous and elastic elements (i.e., a dashpot and two springs) for the cell body, and an elastic element (a spring) for the cell-substrate adhesion system. Our results show that the spring constants and the viscosity of the cell body components of this viscoelastic model decrease as the temperature increases, whereas the elastic modulus of cell-substrate adhesion increases with temperature. At 37 °C, for the cell body we obtain a value of about 10⁵ P for the viscous element of the viscoelastic model, and a spring constant expressed in units of an elastic modulus of about 10⁴ dyn/cm² for the spring in series with the viscous element, with another spring with a modulus of about 2×10³ dyn/cm² in parallel with these. In comparable units, we have a modulus for the cell-substrate adhesion system of about 3×10³ dyn/cm². Received: 23 March 1998 / Revised version: 23 June 1998 / Accepted: 1 July 1998     

Muscle-driven finite element simulation of human foot movements

This paper describes a finite element scheme for realistic muscle-driven simulation of human foot movements. The scheme is used to simulate human ankle plantar flexion. A three-dimensional anatomically detailed finite element model of human foot and lower leg is developed and the idea of generating natural foot movement based entirely on the contraction of the plantar flexor muscles is used. The bones, ligaments, articular cartilage, muscles, tendons, as well as the rest soft tissues of human foot and lower leg are included in the model. A realistic three-dimensional continuum constitutive model that describes the biomechanical behaviour of muscles and tendons is used. Both the active and passive properties of muscle tissue are accounted for. The materials for bones and ligaments are considered as homogeneous, isotropic and linearly elastic, whereas the articular cartilage and the rest soft tissues (mainly fat) are defined as hyperelastic materials. The model is used to estimate muscle tissue deformations as well as stresses and strains that develop in the lower leg muscles during plantar flexion of the ankle. Stresses and strains that develop in Achilles tendon during such a movement are also investigated.     

The C-terminus of the gamma 2 chain but not of the beta 3 chain of laminin-332 is indirectly but indispensably necessary for integrin-mediated cell reactions

Using a recombinant mini-laminin-332, we showed that truncation of the three C-terminal amino acids of the gamma 2 chain, but not of the C-terminal amino acid of the beta 3 chain, completely abolished alpha 3 beta 1 integrin binding and its cellular functions, such as attachment and spreading. However, a synthetic peptide mimicking the gamma 2 chain C-terminus did not interfere with alpha 3 beta 1 integrin binding or cell adhesion and spreading on laminin-332 as measured by protein interaction assays and electric cell-substrate impedance sensing. Nor was the soluble peptide able to restore the loss of integrin-mediated cell adhesiveness to mini-laminin-332 after deletion of the gamma 2 chain C-terminus. These findings spoke against the hypothesis that the gamma 2 chain C-terminus of laminin-332 is a part of the alpha 3 beta 1 integrin interaction site. In addition, structural studies with electron microscopy showed that truncation of the gamma 2 chain C-terminus opened up the compact supradomain structure of LG1-3 domains. Thus, by inducing or stabilizing an integrin binding-competent conformation or array of the LG1-3 domains, the gamma 2 chain C-terminus plays an indirect but essential role in laminin-332 recognition by alpha 3 beta 1 integrin and, hence, its cellular functions.     

Modulation of the human nociceptive reflex by cyclic movements

During static conditions the nociceptive reflex is known to vary as a function of, for example, the stimulus position, stimulus intensity, and muscle contraction. The aim of the present human study was to investigate whether the reflex and the corresponding perception of pain are modulated by cyclic movements of the limb involved. Reflexes, evoked by nociceptive electric stimulation of the sural nerve, were recorded from the biceps femoris and the rectus femoris muscles in eight volunteers. Four different experiments were performed to compare the nociceptive reflex and pain score elicited during active isometric/dynamic flexion/extension of the knee joint. The amplitudes of the reflexes were largest for the dynamic conditions. The reflexes, evoked during dynamic extension and isometric contraction of the rectus femoris muscle, had the shortest latencies but the recordings from the biceps femoris muscle were larger than from the rectus femoris muscle. Knee joint angle recordings showed that the largest angle variations occurred for the dynamic conditions and were only marginally disturbed for the isometric conditions. A given stimulus intensity evoked the highest pain intensity during isometric contractions. This indicates that there would seem to be no causal relationship between the size of the nociceptive reflex and the pain intensity.     

Hydrostatic fluid pressure promotes cellularity and proliferation of human dermal fibroblasts in a three-dimensional collagen gel/sponge

Cell constructs and culture systems are essential components of tissue engineering. Cell constructs are usually composed of a dense population of cells, for which long-term culture is required in vitro. However, the denser construct suffers from the absence of passive nutrient supply, gas exchange, and removal of degraded debris. We have developed a novel hydrostatic pressure/perfusion (HP/P) culture system that improves the quality of neo-tissues, providing an automated affordable system for clinical applications. We evaluated the effects of HP/P on cellularity, viability, and proliferation of human dermal fibroblasts seeded in a gel/sponge construct. HP/P and perfusion promoted cell migration and significantly increased proliferation and DNA content after 4 days culture compared to the static culture. HP/P culture is beneficial for building a denser three-dimensional fibroblast construct.     

A model of force and impedance in human arm movements

This paper describes a simple computational model of joint torque and impedance in human arm movements that can be used to simulate three-dimensional movements of the (redundant) arm or leg and to design the control of robots and human-machine interfaces. This model, based on recent physiological findings, assumes that (1) the central nervous system learns the force and impedance to perform a task successfully in a given stable or unstable dynamic environment and (2) stiffness is linearly related to the magnitude of the joint torque and increased to compensate for environment instability. Comparison with existing data shows that this simple model is able to predict impedance geometry well.     

生物被膜的形成及其电化学阻抗检测

生物被膜是细菌及其自身分泌的胞外聚合物组成的微生物群落,其形成是受多种机制共同调控的多阶段动态过程,具有较强的耐药性且难以清除,给医疗、食品等行业带来了巨大的威胁。近年来,生物被膜的相关研究领域备受关注,尤其是针对生物被膜的有效检测技术。本文在简要介绍生物被膜的特点、形成过程及群感效应对生物被膜的调控作用基础之上,总结了生物被膜常用的检测方法,重点针对电化学阻抗技术在生物被膜检测中的应用进行调研和讨论,并对基于微流控芯片的生物被膜电化学阻抗原位检测进行了综述和展望。     

The shaping of social perception by stimulus and knowledge cues to human animacy

Although robots are becoming an ever-growing presence in society, we do not hold the same expectations for robots as we do for humans, nor do we treat them the same. As such, the ability to recognize cues to human animacy is fundamental for guiding social interactions. We review literature that demonstrates cortical networks associated with person perception, action observation and mentalizing are sensitive to human animacy information. In addition, we show that most prior research has explored stimulus properties of artificial agents (humanness of appearance or motion), with less investigation into knowledge cues (whether an agent is believed to have human or artificial origins). Therefore, currently little is known about the relationship between stimulus and knowledge cues to human animacy in terms of cognitive and brain mechanisms. Using fMRI, an elaborate belief manipulation, and human and robot avatars, we found that knowledge cues to human animacy modulate engagement of person perception and mentalizing networks, while stimulus cues to human animacy had less impact on social brain networks. These findings demonstrate that self–other similarities are not only grounded in physical features but are also shaped by prior knowledge. More broadly, as artificial agents fulfil increasingly social roles, a challenge for roboticists will be to manage the impact of pre-conceived beliefs while optimizing human-like design.     

A technical method using musculoskeletal model to analyse dynamic properties of muscles during human movement

An effective way to avoid invading or injuring the subjects is to use the musculoskeletal model when studying the dynamic properties of muscles in vivo. So, we put forward a joint coordinate system-based method, which mainly focuses on the coordinate's transformation of corresponding muscle attachment points, respectively, in the model and the subject in order to reproduce the movement of the subject on the model. As muscle moment arm is usually used to evaluate the dynamic properties of muscles, the moment arms in elbow flexion for each of the major muscles crossing the elbow in 50 healthy subjects (25 males and 25 females), ranging in height from 1.50 to 1.80 m (mean 1.6542 m) are calculated and compared with the measured data obtained from anatomical studies reported in the literature. The trends of the value basically coincide with each other. So, this novel method can be valid.     

A novel tripolymer coating demonstrating the synergistic effect of chitosan, collagen type 1 and hyaluronic acid on osteogenic differentiation of human bone marrow derived mesenchymal stem cells

The biomimetic approach mimicking in vivo micro environment is the key for developing functional tissue engineered constructs. In this study, we used a tripolymer combination consisting of a natural polymer, chitosan and two extracellular matrix components; collagen type 1 and hyaluronic acid to coat tissue culture plate to evaluate their effect on osteogenic differentiation of human bone marrow derived mesenchymal stem cells (hMSCs). The polymers were blended at different mixing ratios and the tissue culture plates were coated either by polyblend method or by surface modification method. hMSCs isolated from adult bone marrow were directed to osteoblast differentiation on the coated plates. Our results showed that the tripolymer coating of the tissue culture plate enhanced mineralization as evidenced by calcium quantification exhibiting significantly higher amount of calcium compared to the untreated or individual polymer coated plates. We found that the tripolymer coated plates having a 1:1 mixing ratio of chitosan and collagen type 1, surface modified with hyaluronic acid is an ideal combination to achieve the synergistic effect of these polymers on in vitro osteogenic differentiation of hMSCs. These results thus, establish a novel biomimetic approach of surface modification to enhance osteoblast differentiation and mineralization. Our findings hold great promise in implementing a biomimetic surface coating to improve osteoconductivity of implants and scaffolds for various orthopaedic and bone tissue engineering applications.     

A mathematical model of human heart including the effects of heart contractility varying with heart rate changes

Incorporating the intrinsic variability of heart contractility varying with heart rate into the mathematical model of human heart would be useful for addressing the dynamical behaviors of human cardiovascular system, but models with such features were rarely reported. This study focused on the development and evaluation of a mathematical model of the whole heart, including the effects of heart contractility varying with heart rate changes. This model was developed based on a paradigm and model presented by Ottesen and Densielsen, which was used to model ventricular contraction. A piece-wise function together with expressions for time-related parameters were constructed for modeling atrial contraction. Atrial and ventricular parts of the whole heart model were evaluated by comparing with models from literature, and then the whole heart model were assessed through coupling with a simple model of the systemic circulation system and the pulmonary circulation system. The results indicated that both atrial and ventricular parts of the whole heart model could reasonably reflect their contractility varying with heart rate changes, and the whole heart model could exhibit major features of human heart. Results of the parameters variation studies revealed the correlations between the parameters in the whole heart model and performances (including the maximum pressure and the stroke volume) of every chamber. These results would be useful for helping users to adjust parameters in special applications.     

Characterization of chimpanzee TCRV gene polymorphism: how old are human TCRV alleles?

 The functional relevance of the majority of human T-cell receptor A and B variable region gene polymorphisms is controversial. Studies of human and nonhuman primate major histocompatibility complex (MHC) class I and II polymorphisms show that allelic lineages predate human speciation and indicate that selection favors the long-term maintenance of these advantageous mutations. We investigated at the DNA level whether 15 human TCRA and B polymorphisms exist in contemporary chimpanzee populations. Polymorphisms consisted of variable region replacements, a recombination signal sequence base change, and silent mutations. With one exception, none of these human TCR polymorphisms were observed in contemporary chimpanzees. Investigation of the same polymorphisms in a range of other nonhuman primates showed little evidence of the existence of human polymorphism prespeciation. Chimpanzee TCRAV and BV regions were however polymorphic for variation so far not observed in human groups. Levels of mitochondrial and nuclear DNA sequence variation in contemporary chimpanzees suggest that population bottlenecks have not been a feature of chimpanzee evolution and it is therefore probable that most human TCR polymorphisms have evolved in the estimated five million years since the speciation of human and chimpanzees. Thus, over the evolutionary time period studied, ancient TCRA and B polymorphisms have not been maintained by selection to the same degree as postulated for MHC polymorphisms. Received: 13 June 1997 / Received: 25 July 1997