The human arm as a redundant manipulator: The control of path and joint angles

The movements studied involved moving the tip of a pointer attached to the hand from a given starting point to a given end point in a horizontal plane. Three joints--the shoulder, elbow and wrist--were free to move. Thus the system represented a redundant manipulator. The coordination of the movements of the three joints was recorded and analyzed. The study concerned how the joints are controlled during a movement. The results are used to evaluate several current hypotheses for motor control. Basically, the incremental changes are calculated so as to move the tip of the manipulator along a straight line in the workspace. The values of the individual joints seem to be determined as follows. Starting from the initial values the incremental changes in the three joint angles represent a compromise between two criteria: 1) the amount of the angular change should be about the same in the three joints, and 2) the angular changes should minimize the total cost of the arm position as determined by cost functions defined for each joint as a function of angle. By itself, this mechanism would produce strongly curved trajectories in joint space which could include additional acceleration and deceleration in a joint. These are reduced by the influence of a third criterion which fits with the mass-spring hypothesis. Thus the path is calculated as a compromise between a straight line in workspace and a straight line in joint space. The latter can produce curved paths in the workspace such as were actually found in the experiments. A model calculation shows that these hypotheses can qualitatively describe the experimental findings.     

Jaw and hyolingual movements during prey transport in varanid lizards: effects of prey type

The ability to modulate feeding kinematics in response to prey items with different functional properties is likely a prerequisite for most organisms that feed on a variety of food items. Variation in prey properties is expected to reveal variation in feeding function and the functional role of the different phases in a transport cycle. Here we describe the kinematics of prey transport of two varanid species, Varanus niloticus and Varanus ornatus. These species were selected for analysis because of their highly specialised hyolingual system and food transport mechanism (inertial food transport). In these animals, tongue and hyoid movements are expected to make no, or only a minor, contribution to prey transport. We observed statistically significant prey type effects that could be associated with prey properties such as mass, size and mobility. These data show that both species are capable of modulating the kinematics of food transport in response to different prey types. Moreover, not only the kinematics of the jaws were modulated in response to prey characteristics but also the anterior/posterior movements of the tongue and hyoid. This suggests a more important role of the tongue and hyolingual movements in these animals than previously suspected. In contrast, head movements were rather stereotyped and were not modulated in response to changes in prey type.     

Feeding mechanics of teleost fishes (Labridae; Perciformes): A test of four-bar linkage models

The feeding mechanisms of two labrid fishes (Cheilinus chlorurus and C. diagrammus: Labridae: Perciformes) are modeled using four-bar linkage theory from mechanical engineering. The actions of the feeding mechanisms are simulated by a computer program that uses morphometric data to calculate the geometry of mechanism structure. The predictions of three different four-bar linkages regarding the kinematics of feeding are compared to the movements observed through hign speed (200 fps) cinematography. A previously unidentified four-bar chain was found to be an accurate model of the mechanism by which upper jaw protrusion, maxillary rotation, and gape increase occur in Cheilinus. This mechanism involves the anterior jaws including the mandible, maxilla, premaxilla, palatine, and suspensorium. The accuracy of two previously described four-bar linkages was also tested by comparison of model predictions and film results. The opercular linkage proposed by Anker ('74) as a mechanism of jaw depression via opercular levation was found to be a poor predictor of feeding movements. This four-bar chain involves the opercle, suspensorium, interopercle, and mandible. Muller ('87) proposed a mechanism of hyoid depression involving cranial elevation due to epaxial muscle contraction as input motion The links in this mechanism include the neurocranium and hyomandibula, hyoid, sternohyoideus muscle, and pectoral girdle. This model was an accurate predictor of hyoid depression in Cheilinus when simultaneous cranial elevation and sternohyoideus contraction were simulated. Quantitative kinematic models involve simplifying assumptions when applied to complex musculoskeletal systems, but such models have a wide range of applications to vertebrate functional morphology.     

A geometric model of the human ankle joint.

A two-dimensional four-bar linkage model of the ankle joint is formulated to describe dorsi/plantarflexion in unloaded conditions as observed in passive tests on ankle complex specimens. The experiments demonstrated that the human ankle joint complex behaves as a single-degree-of-freedom system during passive motion, with a moving axis of rotation. The bulk of the movement occurred at the level of the ankle. Fibres within the calcaneofibular and tibiocalcaneal ligaments remained approximately isometric. The experiments showed that passive kinematics of the ankle complex is governed only by the articular surfaces and the ligaments. It was deduced that the ankle is a single-degree-of-freedom mechanism where mobility is allowed by the sliding of the articular surfaces upon each other and the isometric rotation of two ligaments about their origins and insertions, without tissue deformation. The linkage model is formed by the tibia/fibula and talus/calcaneus bone segments and by the calcaneofibular and tibiocalcaneal ligament segments. The model predicts the path of calcaneus motion, ligament orientations, instantaneous axis of rotation, and conjugate talus surface profile as observed in the experiments. Many features of ankle kinematics such as rolling and multiaxial rotation are elucidated. The geometrical model is a necessary preliminary step to the study of ankle joint stability in response to applied loads and can be used to predict the effects of changes to the original geometry of the intact joint. Careful reconstruction of the original geometry of the ligaments is necessary after injury or during total ankle replacement.     

A neural mechanism for the immediate recall of sequences

Summary Lashley's suggestion that serial behavior has a dual organization, central facilitation of the entire sequence plus scanning of the individual movements, is taken as the starting point for the construction of a model to illustrate in more detail how the nervous system might work during such behavior.Two stages in the learning of a sequence are distinguished: 1. immediate reproduction of a presented sample, and 2. reproduction of habitual responses by association, without the necessity of recent access to the original sample. The model is primarily concerned with performances of the first type.Neurons of a scanning chain, which always fire one another in the same order, acquire temporary connections with the movements to be recalled. The connections fade rapidly with disuse so that the same scanning chain can be used again with different combinations of movements.The same mechanism will also permit the recall of sequences of words, or other habitual movement complexes, as if they were individual movements. It is assumed that such habitual motor patterns as words are under the control of higher-order cell assemblies which regulate the sequences of movements within the response, and thus substitute for the general scanning mechanism. This leaves the scanner free to form temporary associations with the higher-order cell assemblies for the words.It is suggested that the scanning mechanism is actuated only by unpredictable inputs so that the elements within a habitual series do not acquire unnecessary connections with the scanning neurons. The arousal system is known to have this characteristic of not being disturbed by the expected, and it seems likely that the two systems are intimately related.     

Computer-aided dental prostheses construction using reverse engineering

The implementation of computer-aided design/computer-aided manufacturing (CAD/CAM) systems with virtual articulators, which take into account the kinematics, constitutes a breakthrough in the construction of customised dental prostheses. This paper presents a multidisciplinary protocol involving CAM techniques to produce dental prostheses. This protocol includes a step-by-step procedure using innovative reverse engineering technologies to transform completely virtual design processes into customised prostheses. A special emphasis is placed on a novel method that permits a virtual location of the models. The complete workflow includes the optical scanning of the patient, the use of reverse engineering software and, if necessary, the use of rapid prototyping to produce CAD temporary prostheses.     

A comparative linkage map of oilseed rape and its use for QTL analysis of seed oil and erucic acid content

We have developed a new DH mapping population for oilseed rape, named TNDH, using genetically and phenotypically diverse parental lines. We used the population in the construction of a high stringency genetic linkage map, consisting of 277 loci, for use in quantitative genetic analysis. A proportion of the markers had been used previously in the construction of linkage maps for Brassica species, thus permitting the alignment of maps. The map includes 68 newly developed Sequence Tagged Site (STS) markers targeted to the homologues of defined genes of A. thaliana. The use of these markers permits the alignment of our linkage map with the A. thaliana genome sequence. An additional 74 loci (31 newly developed STS markers and 43 loci defined by SSR and RFLP markers that had previously been used in published linkage maps) were added to the map. These markers increased the resolution of alignment of the newly constructed linkage map with existing Brassica linkage maps and the A. thaliana genome sequence. We conducted field trials with the TNDH population at two sites, and over 2 years, and identified reproducible QTL for seed oil content and erucic acid content. The results provide new insights into the genetic control of seed oil and erucic acid content in oilseed rape, and demonstrate the utility of the linkage map and population.Electronic supplementary material Supplementary material is available in the online version of this article at and is accessible for authorized users.D. Qiu and C. Morgan authors contributed equally to the work.     

A Bayesian approach to disease gene location using allelic association

A Bayesian approach to analysing data from family-based association studies is developed. This permits direct assessment of the range of possible values of model parameters, such as the recombination frequency and allelic associations, in the light of the data. In addition, sophisticated comparisons of different models may be handled easily, even when such models are not nested. The methodology is developed in such a way as to allow separate inferences to be made about linkage and association by including theta, the recombination fraction between the marker and disease susceptibility locus under study, explicitly in the model. The method is illustrated by application to a previously published data set. The data analysis raises some interesting issues, notably with regard to the weight of evidence necessary to convince us of linkage between a candidate locus and disease.     

The biomechanical relation between incisal and condylar guidance in man

The arrangement, form and movement of incisal and condylar guidance allow representation of the stomatognathic system by a gearing with positive drive and closed linkage. Because of problems of stability, this gearing has to be a throttle crank. Therefore, the stomatognathic elements have to fulfill the condition of Grashoff. The analysis of 14 Class I patient data confirms this condition and yields that their stomatognathic systems seem to be determined by only two parameters. The properties of these systems are largely independent of the jaw's growth if the momentary growth takes place in the direction of the initial inclination of hinge-axis movement out of centric relation.     

Rat plasma alpha 1-inhibitor3: a member of the alpha-macroglobulin family

The overall mechanism of interaction with proteinases of alpha 1-inhibitor3, a plasma proteinase inhibitor so far specific to the rat, has been shown to be closely similar to that described for alpha-macroglobulins. This mechanism includes: (i) the cleavage of at least one susceptible peptidic bond which leads to structural changes in the molecule. (ii) The cleavage of a putative thiol ester bond in another site of the molecule which permits the covalent linkage of the enzyme. Moreover, fragmentation of alpha 1-inhibitor3 upon heating as observed for alpha-macroglobulin quarter subunits has been demonstrated. The question is raised of the presence of such a molecule in rat plasma in addition to two alpha-macroglobulin species, all of these proteinase inhibitors being antigenically unrelated.     

Manipulators inspired by the tongue of the chameleon

Chameleons have developed a specialized ballistic tongue which elongates more than six times its rest length at speeds higher than 3.5 m s(-1) and accelerations 350 m s(-2), with a highly flexible mobile part, and which applies no continuous force during forward motion. These characteristics are possible because this tongue consists of two highly specialized systems, an ejection system for the forward motion and an accordion-like system for the retraction. Four manipulators inspired by the tongue of the chameleon and based on this design have been developed, resulting in three characteristics similar to the tongue of the chameleon: extensibility of the manipulator, flexibility of the mobile part, and absence of continuous force during the forward motion. The first manipulator mimics the basic mechanism of the tongue of the chameleon and reproduced its basic performances. A second manipulator performs a catching function at a speed of 3.5 m s(-1) with an acceleration of 573 m s(-2) while elongating seven times its rest length. The design of this manipulator is such that the dc motor used for retraction applies a torque 25 times its rated torque. Moreover, during the retraction, the mobile part of the manipulator moves due to its own inertia, allowing the dc motor to rotate at full velocity. In another manipulator, the addition of an elastomer in the mobile part allows for control of the retraction velocity. A model for these two manipulators compares well with the experimental data. Finally, the addition of wings on the mobile part allows us to take the advantage of aerodynamic effects, which is unusual for manipulators.     

Velocity-Based Planning of Rapid Elbow Movements Expands the Control Scheme of the Equilibrium Point Hypothesis

According to the equilibrium point hypothesis of voluntary motor control, control action of muscles is not explicitly computed, but rather arises as a consequence of interaction between moving equilibrium position, current kinematics and stiffness of the joint. This approach is attractive as it obviates the need to explicitly specify the forces controlling limb movements. However, many debatable aspects of this hypothesis remain in the manner of specification of the equilibrium point trajectory and muscle activation (or its stiffness), which elicits a restoring force toward the planned equilibrium trajectory. In this study, we expanded the framework of this hypothesis by assuming that the control system uses the velocity measure as the origin of subordinate variables scaling descending commands. The velocity command is translated into muscle control inputs by second order pattern generators, which yield reciprocal command and coactivation commands, and create alternating activation of the antagonistic muscles during movement and coactivation in the post-movement phase, respectively. The velocity command is also integrated to give a position command specifying a moving equilibrium point. This model is purely kinematics-dependent, since the descending commands needed to modulate the visco-elasticity of muscles are implicitly given by simple parametric specifications of the velocity command alone. The simulated movements of fast elbow single-joint movements corresponded well with measured data performed over a wide range of movement distances, in terms of both muscle excitations and kinematics. Our proposal on a synthesis for the equilibrium point approach and velocity command, may offer some insights into the control scheme of the single-joint arm movements.     

Surface growth kinematics via local curve evolution

A mathematical framework is developed to model the kinematics of surface growth for objects that can be generated by evolving a curve in space, such as seashells and horns. Growth is dictated by a growth velocity vector field defined at every point on a generating curve. A local orthonormal basis is attached to each point of the generating curve and the velocity field is given in terms of the local coordinate directions, leading to a fully local and elegant mathematical structure. Several examples of increasing complexity are provided, and we demonstrate how biologically relevant structures such as logarithmic shells and horns emerge as analytical solutions of the kinematics equations with a small number of parameters that can be linked to the underlying growth process. Direct access to cell tracks and local orientation enables for connections to be made to the underlying growth process.     

Improved single- and multi-contact life-time testing of dental restorative materials using key characteristics of the human masticatory system and a force/position-controlled robotic dental wear simulator

This paper presents a new in vitro wear simulator based on spatial parallel kinematics and a biologically inspired implicit force/position hybrid controller to replicate chewing movements and dental wear formations on dental components, such as crowns, bridges or a full set of teeth. The human mandible, guided by passive structures such as posterior teeth and the two temporomandibular joints, moves with up to 6 degrees of freedom (DOF) in Cartesian space. The currently available wear simulators lack the ability to perform these chewing movements. In many cases, their lack of sufficient DOF enables them only to replicate the sliding motion of a single occlusal contact point by neglecting rotational movements and the motion along one Cartesian axis. The motion and forces of more than one occlusal contact points cannot accurately be replicated by these instruments. Furthermore, the majority of wear simulators are unable to control simultaneously the main wear-affecting parameters, considering abrasive mechanical wear, which are the occlusal sliding motion and bite forces in the constraint contact phase of the human chewing cycle. It has been shown that such discrepancies between the true in vivo and the simulated in vitro condition influence the outcome and the quality of wear studies. This can be improved by implementing biological features of the human masticatory system such as tooth compliance realized through the passive action of the periodontal ligament and active bite force control realized though the central nervous system using feedback from periodontal preceptors. The simulator described in this paper can be used for single- and multi-occlusal contact testing due to its kinematics and ability to exactly replicate human translational and rotational mandibular movements with up to 6 DOF without neglecting movements along or around the three Cartesian axes. Recorded human mandibular motion and occlusal force data are the reference inputs of the simulator. Experimental studies of wear using this simulator demonstrate that integrating the biological feature of combined force/position hybrid control in dental material testing improves the linearity and reduces the variability of results. In addition, it has been shown that present biaxially operated dental wear simulators are likely to provide misleading results in comparative in vitro/in vivo one-contact studies due to neglecting the occlusal sliding motion in one plane which could introduce an error of up to 49% since occlusal sliding motion D and volumetric wear loss V(loss) are proportional.     

A possible correlation between the basal ganglia motor function and the inverse kinematics calculation

The main hypothesis of this study, based on experimental data showing the relations between the BG activities and kinematic variables, is that BG are involved in computing inverse kinematics (IK) as a part of planning and decision-making. Indeed, it is assumed that based on the desired kinematic variables (such as velocity) of a limb in the workspace, angular kinematic variables in the joint configuration space are calculated. Therefore, in this paper, a system-level computational model of BG is proposed based on geometrical rules, which is able to compute IK. Next, the functionality of each part in the presented model is interpreted as a function of a nucleus or a pathway of BG. Moreover, to overcome existing redundancy in possible trajectories, an optimization problem minimizing energy consumption is defined and solved to select an optimal movement trajectory among an infinite number of possible ones. The validity of the model is checked by simulating it to control a three-segment manipulator with rotational joints in a plane. The performance of the model is studied for different types of movement including different reaching movements, a continuous circular movement and a sequence of tracking movements. Furthermore, to demonstrate the physiological similarity of the presented model to the BG structure, the neuronal activity of each part of the model considered as a BG nucleus is verified. Some changes in model parameters, inspired by the dopamine deficiency, also allow simulating some symptoms of Parkinson’s disease such as bradykinesia and akinesia.     

Transmission of force and velocity in the feeding mechanisms of labrid fishes (Teleostei,Perciformes)

Summary The feeding mechanisms of four species of the teleostean family Labridae (Cheilinus fasciatus, C. trilobatus, Oxycheilinus bimaculatus, and O. unifasciatus) were modeled using four-bar linkage theory from mechanical engineering. The predictions of four-bar linkage models regarding the kinematics of feeding were compared to the movements observed with high speed cinematography (200 frames/s). A four-bar linkage was an accurate model of the mechanism by which upper jaw protrusion, maxillary rotation, and gape increase occur in each species. A four-bar mechanism of hyoid depression was an accurate predictor of hyoid depression when simultaneous cranial elevation and sternohyoideus contraction were simulated. Morphometrics of the linkage systems of the jaws and hyoid were collected for 12 labrid species. These data were used to calculate the transmission of force and motion through the musculoskeletal linkages. Several measures of mechanical advantage and displacement advantage were compared, including both traditional lever ratios and transmission coefficients of four-bar linkages. Alternative designs of the feeding mechanisms maximize force or velocity for the capture of different prey types. High velocity transmission of both the jaw and hyoid systems is characteristic of those species that feed on evasive prey, whereas species that feed on benthic invertebrates favor increased force transmission in both systems. Quantitative models of biomechanical systems supply criteria for functionally relevant morphometrics, and aid in calculating the capacity for transmission of force and velocity in musculoskeletal systems.     

Evolutionary Novelty versus Exaptation: Oral Kinematics in Feeding versus Climbing in the Waterfall-Climbing Hawaiian Goby Sicyopterus stimpsoni

Species exposed to extreme environments often exhibit distinctive traits that help meet the demands of such habitats. Such traits could evolve independently, but under intense selective pressures of extreme environments some existing structures or behaviors might be coopted to meet specialized demands, evolving via the process of exaptation. We evaluated the potential for exaptation to have operated in the evolution of novel behaviors of the waterfall-climbing gobiid fish genus Sicyopterus. These fish use an “inching” behavior to climb waterfalls, in which an oral sucker is cyclically protruded and attached to the climbing surface. They also exhibit a distinctive feeding behavior, in which the premaxilla is cyclically protruded to scrape diatoms from the substrate. Given the similarity of these patterns, we hypothesized that one might have been coopted from the other. To evaluate this, we filmed climbing and feeding in Sicyopterus stimpsoni from Hawai’i, and measured oral kinematics for two comparisons. First, we compared feeding kinematics of S. stimpsoni with those for two suction feeding gobiids (Awaous guamensis and Lentipes concolor), assessing what novel jaw movements were required for algal grazing. Second, we quantified the similarity of oral kinematics between feeding and climbing in S. stimpsoni, evaluating the potential for either to represent an exaptation from the other. Premaxillary movements showed the greatest differences between scraping and suction feeding taxa. Between feeding and climbing, overall profiles of oral kinematics matched closely for most variables in S. stimpsoni, with only a few showing significant differences in maximum values. Although current data cannot resolve whether oral movements for climbing were coopted from feeding, or feeding movements coopted from climbing, similarities between feeding and climbing kinematics in S. stimpsoni are consistent with evidence of exaptation, with modifications, between these behaviors. Such comparisons can provide insight into the evolutionary mechanisms facilitating exploitation of extreme habitats.