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Sample records for human bipedal locomotion

  1. Introduction to Focus Issue: Bipedal Locomotion-From Robots to Humans

    Science.gov (United States)

    Milton, John G.

    2009-06-01

    Running and walking, collectively referred to as bipedal locomotion, represent self-organized behaviors generated by a spatially distributed dynamical system operating under the constraint that a person must be able to move without falling down. The organizing principles involve both forces actively regulated by the nervous system and those generated passively by the biomechanical properties of the musculoskeletal system and the environment in which the movements occur. With the development of modern motion capture and electrophysiological techniques it has become possible to explore the dynamical interplay between the passive and active controllers of locomotion in a manner that directly compares observation to predictions made by relevant mathematical and computer models. Consequently, many of the techniques initially developed to study nonlinear dynamical systems, including stability analyses, phase resetting and entrainment properties of limit cycles, and fractal and multifractal analysis, have come to play major roles in guiding progress. This Focus Issue discusses bipedal locomotion from the point of view of dynamical systems theory with the goal of stimulating discussion between the dynamical systems, physics, biomechanics, and neuroscience communities.

  2. Introduction to focus issue: bipedal locomotion--from robots to humans.

    Science.gov (United States)

    Milton, John G

    2009-06-01

    Running and walking, collectively referred to as bipedal locomotion, represent self-organized behaviors generated by a spatially distributed dynamical system operating under the constraint that a person must be able to move without falling down. The organizing principles involve both forces actively regulated by the nervous system and those generated passively by the biomechanical properties of the musculoskeletal system and the environment in which the movements occur. With the development of modern motion capture and electrophysiological techniques it has become possible to explore the dynamical interplay between the passive and active controllers of locomotion in a manner that directly compares observation to predictions made by relevant mathematical and computer models. Consequently, many of the techniques initially developed to study nonlinear dynamical systems, including stability analyses, phase resetting and entrainment properties of limit cycles, and fractal and multifractal analysis, have come to play major roles in guiding progress. This Focus Issue discusses bipedal locomotion from the point of view of dynamical systems theory with the goal of stimulating discussion between the dynamical systems, physics, biomechanics, and neuroscience communities.

  3. From bone to plausible bipedal locomotion using inverse kinematics.

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    Nicolas, Guillaume; Multon, Franck; Berillon, Gilles; Marchal, François

    2007-01-01

    The purpose of this study is to validate a method based on anatomical data and biomechanical locomotor hypotheses that could be applied in palaeontology to simulate locomotion in fossil hominids. The main problem is to ensure that purely mathematical simulation, based on anatomical descriptions, is enough to test hypotheses on human motion control. A 3D geometric model of the lower limb was therefore processed from anatomical descriptions. From this 3D model, we developed a method to retrieve natural lower-limb motion depending on chosen constraints. We assumed that the role of lower-limb motion is to make the feet move from one footprint to the next by following a trajectory that resembles that of living humans (primary task). This method based on inverse kinematics also allows biomechanical laws of bipedal locomotion to be taken into account (secondary tasks). The laws tested in this study relate to preserving joint limits, minimizing energy and minimizing the distance to a rest posture proposed by anthropologists and viewed as input to our system. A weighted sum of the resulting derivable cost functions enabled us to select a specific solution in the null space of the primary task. In order to validate this approach, we compared simulated and captured motion from ten subjects for whom anthropometrical data were recorded. We concluded that this "anatomically based bipedalism simulation" seems promising as a means of investigating natural locomotion behaviour and might also be used to retrieve natural locomotion in fossil hominids where only little knowledge is available.

  4. Why go bipedal? Locomotion and morphology in Australian agamid lizards.

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    Clemente, Christofer J; Withers, Philip C; Thompson, Graham; Lloyd, David

    2008-07-01

    Bipedal locomotion by lizards has previously been considered to provide a locomotory advantage. We examined this premise for a group of quadrupedal Australian agamid lizards, which vary in the extent to which they will become bipedal. The percentage of strides that each species ran bipedally, recorded using high speed video cameras, was positively related to body size and the proximity of the body centre of mass to the hip, and negatively related to running endurance. Speed was not higher for bipedal strides, compared with quadrupedal strides, in any of the four species, but acceleration during bipedal strides was significantly higher in three of four species. Furthermore, a distinct threshold between quadrupedal and bipedal strides, was more evident for acceleration than speed, with a threshold in acceleration above which strides became bipedal. We calculated these thresholds using probit analysis, and compared these to the predicted threshold based on the model of Aerts et al. Although there was a general agreement in order, the acceleration thresholds for lizards were often lower than that predicted by the model. We suggest that bipedalism, in Australian agamid lizards, may have evolved as a simple consequence of acceleration, and does not confer any locomotory advantage for increasing speed or endurance. However, both behavioural and threshold data suggest that some lizards actively attempt to run bipedally, implying some unknown advantage to bipedal locomotion.

  5. Siblings in Kars, Turkey, with Uner Tan syndrome (quadrupedal locomotion, severe mental retardation, and no speech): a novel theory for the evolution of human bipedalism.

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    Tan, Uner

    2015-02-01

    To investigate siblings from Kars (n  =  2), Turkey, with diagonal-sequence quadrupedal locomotion (QL), severe mental retardation, and no speech (Uner Tan syndrome, UTS), in relation to the evolutionary emergence of human bipedal locomotion (BL). Video recordings were made to assess gaits. Brain MRI scanning was performed to visualize the cerebro-cerebellar malformations. Genome-wide association analyses were performed in venous blood samples. One of the two men with UTS showed early-onset QL and late-onset BL without infantile hypotonia, the other consistent QL with infantile hypotonia. No homozygosity was found in the genetic analysis. The family lived under extremely poor socioeconomic conditions. Low socioeconomic status may be a triggering factor for the epigenetic emergence of UTS. The neural networks responsible for the ancestral diagonal-sequence QL, evolutionarily preserved since about 400 MYA, may be selected during locomotor development, under the influence of self-organizing processes during pre- and postnatal periods. The diagonal-sequence QL induced ipsilateral limb interference in UTS cases as in nonhuman primates. To overcome this condition, our ancestors would prefer the attractor BL. This novel theory for the evolution of human bipedalism was evaluated in light of dynamical systems theory.

  6. Decoding bipedal locomotion from the rat sensorimotor cortex

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    Rigosa, J.; Panarese, A.; Dominici, N.; Friedli, L.; van den Brand, R.; Carpaneto, J.; DiGiovanna, J.; Courtine, G.; Micera, S.

    2015-10-01

    Objective. Decoding forelimb movements from the firing activity of cortical neurons has been interfaced with robotic and prosthetic systems to replace lost upper limb functions in humans. Despite the potential of this approach to improve locomotion and facilitate gait rehabilitation, decoding lower limb movement from the motor cortex has received comparatively little attention. Here, we performed experiments to identify the type and amount of information that can be decoded from neuronal ensemble activity in the hindlimb area of the rat motor cortex during bipedal locomotor tasks. Approach. Rats were trained to stand, step on a treadmill, walk overground and climb staircases in a bipedal posture. To impose this gait, the rats were secured in a robotic interface that provided support against the direction of gravity and in the mediolateral direction, but behaved transparently in the forward direction. After completion of training, rats were chronically implanted with a micro-wire array spanning the left hindlimb motor cortex to record single and multi-unit activity, and bipolar electrodes into 10 muscles of the right hindlimb to monitor electromyographic signals. Whole-body kinematics, muscle activity, and neural signals were simultaneously recorded during execution of the trained tasks over multiple days of testing. Hindlimb kinematics, muscle activity, gait phases, and locomotor tasks were decoded using offline classification algorithms. Main results. We found that the stance and swing phases of gait and the locomotor tasks were detected with accuracies as robust as 90% in all rats. Decoded hindlimb kinematics and muscle activity exhibited a larger variability across rats and tasks. Significance. Our study shows that the rodent motor cortex contains useful information for lower limb neuroprosthetic development. However, brain-machine interfaces estimating gait phases or locomotor behaviors, instead of continuous variables such as limb joint positions or speeds

  7. Locomotion in bonobos (Pan paniscus): differences and similarities between bipedal and quadrupedal terrestrial walking, and a comparison with other locomotor modes.

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    D'Août, K; Vereecke, E; Schoonaert, K; De Clercq, D; Van Elsacker, L; Aerts, P

    2004-05-01

    One of the great ongoing debates in palaeo-anthropology is when, and how, hominids acquired habitual bipedal locomotion. The newly adopted bipedal gait and the ancestral quadrupedal gait are most often considered as very distinct, with each habitual locomotor mode showing corresponding anatomical adaptations. Bonobos (Pan paniscus), along with common chimpanzees (P. troglodytes), are the closest living relatives to humans and their locomotion is valuable for comparison with other primates, and to gain an insight in the acquisition of human bipedalism. Bonobos are habitual quadrupeds, but they also engage in bipedal locomotion, both on terrestrial and in arboreal substrates. In terms of kinematics and dynamics, the contrast between bipedal and quadrupedal walking seems to be more subtle than one might expect. Apart from the trunk being approximately 37 degrees more erect during bipedal locomotion, the leg movements are rather similar. Apart from the heel, plantar pressure distributions show subtle differences between bipedal and quadrupedal locomotion. Regardless, variability is high, and various intermediate forms of locomotion (e.g. tripedal walking) exist both in captivity and in the wild. Moreover, there is overlap between the characteristics of walking and other locomotor modes, as we show with new data of walking on an inclined pole and of vertical squat jumps. We suggest that there is great overlap between the many locomotor modes in bonobos, and that the required polyvalence is reflected in their anatomy. This may hamper the development of one highly specialized gait (i.e. bipedalism), which would constrain performance of the other types of locomotion.

  8. Skeletal adaptations to bipedalism

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    Vasiljević Perica

    2014-01-01

    Full Text Available Bipedalism is the main characteristic of humans. During evolutin bipedalism emerged probably as an adaptation to a changing environment. Major changes in skeletal system included femur, pelvis, skull and spine. The significance of bipedal locomotion: Bipedalism freed the forelimbs for carrying objects, creation and usage of tools. In the upright position animals have a broader view of the environment and the early detection of predators is crucial for survival. Bipedal locomotion makes larger distances easier to pass, which is very important in the migration of hominids.

  9. Origins of Bipedalism

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    Kwang Hyun Ko

    2015-12-01

    Full Text Available ABSTRACT This article aimed to review various theories of bipedalism and provide a holistic answer to human evolution. There have been two questions regarding bipedalism: i why were the earliest hominins partially bipedal?, and ii why did hominins become increasingly bipedal over the time and replaced their less bipedal ancestors? To answer these questions, the prominent theories in the field, such as the savanna-based theory, the postural feeding hypotheses, and the provisioning model, are collectively examined. Because biological evolution is not a simple causation; there may be multiple answers to the evolution of bipedalism. The postural feeding hypothesis (reaching for food/balancing provides an explanation for the partial bipedalism of the earliest hominins. The savannah-based theory describes how the largely bipedal hominins that started to settle on the ground became increasingly bipedal. The provisioning model (food-gathering/monogamy explains questions arising after the postural feeding hypothesis and before the savannah theory in an evolutionary timeline. Indeed, there are no straight lines between the theories, and multiple forces could have pushed the evolution of bipedalism at different points. Finally, the arboreal hominins that possessed ambiguous traits of bipedalism were eliminated through the choice and selection. Using the biological analogy of the okapi and giraffe, efforts were put to explain how one of the branches (Homo became increasingly bipedal, while the other (Pan adapted to locomotion for forest life by narrowing the anatomical/biological focus in evolution.

  10. The cost of leg forces in bipedal locomotion: a simple optimization study.

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    John R Rebula

    Full Text Available Simple optimization models show that bipedal locomotion may largely be governed by the mechanical work performed by the legs, minimization of which can automatically discover walking and running gaits. Work minimization can reproduce broad aspects of human ground reaction forces, such as a double-peaked profile for walking and a single peak for running, but the predicted peaks are unrealistically high and impulsive compared to the much smoother forces produced by humans. The smoothness might be explained better by a cost for the force rather than work produced by the legs, but it is unclear what features of force might be most relevant. We therefore tested a generalized force cost that can penalize force amplitude or its n-th time derivative, raised to the p-th power (or p-norm, across a variety of combinations for n and p. A simple model shows that this generalized force cost only produces smoother, human-like forces if it penalizes the rate rather than amplitude of force production, and only in combination with a work cost. Such a combined objective reproduces the characteristic profiles of human walking (R² = 0.96 and running (R² = 0.92, more so than minimization of either work or force amplitude alone (R² = -0.79 and R² = 0.22, respectively, for walking. Humans might find it preferable to avoid rapid force production, which may be mechanically and physiologically costly.

  11. A Combination of Central Pattern Generator-based and Reflex-based Neural Networks for Dynamic, Adaptive, Robust Bipedal Locomotion

    DEFF Research Database (Denmark)

    Di Canio, Giuliano; Larsen, Jørgen Christian; Wörgötter, Florentin

    2016-01-01

    Robotic systems inspired from humans have always been lightening up the curiosity of engineers and scientists. Of many challenges, human locomotion is a very difficult one where a number of different systems needs to interact in order to generate a correct and balanced pattern. To simulate the in...... network to generate basic walking patterns of a dynamic bipedal walking robot (DACBOT) and then a CPG-based neural network to ensure robust walking behavior......Robotic systems inspired from humans have always been lightening up the curiosity of engineers and scientists. Of many challenges, human locomotion is a very difficult one where a number of different systems needs to interact in order to generate a correct and balanced pattern. To simulate...... the interaction of these systems, implementations with reflexbased or central pattern generator (CPG)-based controllers have been tested on bipedal robot systems. In this paper we will combine the two controller types, into a controller that works with both reflex and CPG signals. We use a reflex-based neural...

  12. Principles of human locomotion: a review.

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    Pons, J L; Moreno, J C; Torricelli, D; Taylor, J S

    2013-01-01

    In this article the principles of human locomotion are revisited and reviewed. This has been done in the framework of two European projects, where the elicitation of these mechanisms inform, on the one hand, the design of artificial bipedal walkers (H2R), and on the other hand the design of lower limb exoskeletons (BETTER) for rehabilitation of gait in post-stroke patients. Passive dynamics emerging from the morphology of the human musculoskeletal system, reflexes as stabilization mechanisms, modular control of movement as well as supra-spinal control of gait are reviewed to get insight on how these mechanisms can be used to explain human locomotion.

  13. State of the Art: Bipedal Robots for Lower Limb Rehabilitation

    OpenAIRE

    Xiong Yang; Haotian She; Haojian Lu; Toshio Fukuda; Yajing Shen

    2017-01-01

    The bipedal robot is one of the most attractive robots types given its similarity to the locomotion of human beings and its ability to assist people to walk during rehabilitation. This review summarizes the chronological historical development of bipedal robots and introduces some current popular bipedal robots age. Then, the basic theory-stability control and key technology-motion planning of bipedal robots are introduced and analyzed. Bipedal robots have a wide range of applications in the ...

  14. Human bipedalism and body-mass index.

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    Yi, Su Do; Noh, Jae Dong; Minnhagen, Petter; Song, Mi-Young; Chon, Tae-Soo; Kim, Beom Jun

    2017-06-16

    Body-mass index, abbreviated as BMI and given by M/H (2) with the mass M and the height H, has been widely used as a useful proxy to measure a general health status of a human individual. We generalise BMI in the form of M/H (p) and pursue to answer the question of the value of p for populations of animal species including human. We compare values of p for several different datasets for human populations with the ones obtained for other animal populations of fish, whales, and land mammals. All animal populations but humans analyzed in our work are shown to have p ≈ 3 unanimously. In contrast, human populations are different: As young infants grow to become toddlers and keep growing, the sudden change of p is observed at about one year after birth. Infants younger than one year old exhibit significantly larger value of p than two, while children between one and five years old show p ≈ 2, sharply different from other animal species. The observation implies the importance of the upright posture of human individuals. We also propose a simple mechanical model for a human body and suggest that standing and walking upright should put a clear division between bipedal human (p ≈ 2) and other animals (p ≈ 3).

  15. Emergence of bipedal locomotion through entrainment among the neuro-musculo-skeletal system and the environment

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    Taga, Gentaro

    1994-08-01

    A principle of locomotor control in an unpredictably changing environment is presented on the basis of neurophysiology and biomechanics from the perspective of nonlinear dynamics theory. Locomotor movements emerge as a limit cycle generated through global entrainment among the neuro-musculo-skeletal system and the environment. A computer simulation of a specific model of bipedal locomotion shows its ability to adapt to a changing environment in real-time. The stability of the limit cycle is maintained despite the presence of time delays in transporting and processing information between the neural rhythm generator and the musculo-skeletal system. With considerable time delays, however, the locomotor pattern becomes chaotic, which is compared with a gait of patients with neural deficits. A general framework for motor control is discussed toward the control of movements in an unpredictable environment.

  16. Kinematically stable bipedal locomotion using ionic polymer-metal composite actuators

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    Hosseinipour, Milad; Elahinia, Mohammad

    2013-08-01

    Ionic conducting polymer-metal composites (abbreviated as IPMCs) are interesting actuators that can act as artificial muscles in robotic and microelectromechanical systems. Various black or gray box models have modeled the electrochemical-mechanical behavior of these materials. In this study, the governing partial differential equation of the behavior of IPMCs is solved using finite element methods to find the critical actuation parameters, such as strain distribution, maximum strain, and response time. One-dimensional results of the FEM solution are then extended to 2D to find the tip displacement of a flap actuator and experimentally verified. A model of a seven-degree-of-freedom biped robot, actuated by IPMC flaps, is then introduced. The possibility of fast and stable bipedal locomotion using IPMC artificial muscles is the main motivation of this study. Considering the actuator limits, joint path trajectories are generated to achieve a fast and smooth motion. The stability of the proposed gait is then evaluated using the ZMP criterion and motion simulation. The fabrication parameters of each actuator, such as length, platinum plating thickness and installation angle, are then determined using the generated trajectories. A discussion on future studies on force-torque generation of IPMCs for biped locomotion concludes this paper.

  17. Using entropy measures to characterize human locomotion.

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    Leverick, Graham; Szturm, Tony; Wu, Christine Q

    2014-12-01

    Entropy measures have been widely used to quantify the complexity of theoretical and experimental dynamical systems. In this paper, the value of using entropy measures to characterize human locomotion is demonstrated based on their construct validity, predictive validity in a simple model of human walking and convergent validity in an experimental study. Results show that four of the five considered entropy measures increase meaningfully with the increased probability of falling in a simple passive bipedal walker model. The same four entropy measures also experienced statistically significant increases in response to increasing age and gait impairment caused by cognitive interference in an experimental study. Of the considered entropy measures, the proposed quantized dynamical entropy (QDE) and quantization-based approximation of sample entropy (QASE) offered the best combination of sensitivity to changes in gait dynamics and computational efficiency. Based on these results, entropy appears to be a viable candidate for assessing the stability of human locomotion.

  18. Three-dimensional kinematics of the pelvis and hind limbs in chimpanzee (Pan troglodytes) and human bipedal walking.

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    O'Neill, Matthew C; Lee, Leng-Feng; Demes, Brigitte; Thompson, Nathan E; Larson, Susan G; Stern, Jack T; Umberger, Brian R

    2015-09-01

    The common chimpanzee (Pan troglodytes) is a facultative biped and our closest living relative. As such, the musculoskeletal anatomies of their pelvis and hind limbs have long provided a comparative context for studies of human and fossil hominin locomotion. Yet, how the chimpanzee pelvis and hind limb actually move during bipedal walking is still not well defined. Here, we describe the three-dimensional (3-D) kinematics of the pelvis, hip, knee and ankle during bipedal walking and compare those values to humans walking at the same dimensionless and dimensional velocities. The stride-to-stride and intraspecific variations in 3-D kinematics were calculated using the adjusted coefficient of multiple correlation. Our results indicate that humans walk with a more stable pelvis than chimpanzees, especially in tilt and rotation. Both species exhibit similar magnitudes of pelvis list, but with segment motion that is opposite in phasing. In the hind limb, chimpanzees walk with a more flexed and abducted limb posture, and substantially exceed humans in the magnitude of hip rotation during a stride. The average stride-to-stride variation in joint and segment motion was greater in chimpanzees than humans, while the intraspecific variation was similar on average. These results demonstrate substantial differences between human and chimpanzee bipedal walking, in both the sagittal and non-sagittal planes. These new 3-D kinematic data are fundamental to a comprehensive understanding of the mechanics, energetics and control of chimpanzee bipedalism. Copyright © 2015 Elsevier Ltd. All rights reserved.

  19. Laetoli footprints preserve earliest direct evidence of human-like bipedal biomechanics.

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    David A Raichlen

    Full Text Available BACKGROUND: Debates over the evolution of hominin bipedalism, a defining human characteristic, revolve around whether early bipeds walked more like humans, with energetically efficient extended hind limbs, or more like apes with flexed hind limbs. The 3.6 million year old hominin footprints at Laetoli, Tanzania represent the earliest direct evidence of hominin bipedalism. Determining the kinematics of Laetoli hominins will allow us to understand whether selection acted to decrease energy costs of bipedalism by 3.6 Ma. METHODOLOGY/PRINCIPAL FINDINGS: Using an experimental design, we show that the Laetoli hominins walked with weight transfer most similar to the economical extended limb bipedalism of humans. Humans walked through a sand trackway using both extended limb bipedalism, and more flexed limb bipedalism. Footprint morphology from extended limb trials matches weight distribution patterns found in the Laetoli footprints. CONCLUSIONS: These results provide us with the earliest direct evidence of kinematically human-like bipedalism currently known, and show that extended limb bipedalism evolved long before the appearance of the genus Homo. Since extended-limb bipedalism is more energetically economical than ape-like bipedalism, energy expenditure was likely an important selection pressure on hominin bipeds by 3.6 Ma.

  20. How Fast Can a Human Run? - Bipedal vs. Quadrupedal Running.

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    Kinugasa, Ryuta; Usami, Yoshiyuki

    2016-01-01

    Usain Bolt holds the current world record in the 100-m run, with a running time of 9.58 s, and has been described as the best human sprinter in history. However, this raises questions concerning the maximum human running speed, such as "Can the world's fastest men become faster still?" The correct answer is likely "Yes." We plotted the historical world records for bipedal and quadrupedal 100-m sprint times according to competition year. These historical records were plotted using several curve-fitting procedures. We found that the projected speeds intersected in 2048, when for the first time, the winning quadrupedal 100-m sprint time could be lower, at 9.276 s, than the winning bipedal time of 9.383 s. Video analysis revealed that in quadrupedal running, humans employed a transverse gallop with a small angular excursion. These results suggest that in the future, the fastest human on the planet might be a quadrupedal runner at the 2048 Olympics. This may be achieved by shifting up to the rotary gallop and taking longer strides with wide sagittal trunk motion.

  1. Bipedal spring-damper-mass model reproduces external mechanical power of human walking.

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    Etenzi, Ettore; Monaco, Vito

    2015-01-01

    Previous authors have long investigated the behavior of different models of passive walkers with stiff or compliant limbs. We investigated a model of bipedal mechanism whose limba are provided with damping and elastic elements. This model is designed for walking along an inclined plane, in order to make up the energy lost due to the damping element with that gained thanks to the lowering the CoM. The proposed model is hence able to steadily walk. In particular we investigated the stability of this model by using the Poincaré return map for different dynamical configurations. Then we compared the estimated external mechanical power with experimental data from literature in order to validate the model. Results show that the model is able to reproduce the main features of the time course of the external mechanical power during the gait cycle. Accordingly, dissipative elements coupled with limbs' compliant behavior represent a suitable paradigm, to mimic human locomotion.

  2. Chimpanzee and human midfoot motion during bipedal walking and the evolution of the longitudinal arch of the foot.

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    Holowka, Nicholas B; O'Neill, Matthew C; Thompson, Nathan E; Demes, Brigitte

    2017-03-01

    The longitudinal arch of the human foot is commonly thought to reduce midfoot joint motion to convert the foot into a rigid lever during push off in bipedal walking. In contrast, African apes have been observed to exhibit midfoot dorsiflexion following heel lift during terrestrial locomotion, presumably due to their possession of highly mobile midfoot joints. This assumed dichotomy between human and African ape midfoot mobility has recently been questioned based on indirect assessments of in vivo midfoot motion, such as plantar pressure and cadaver studies; however, direct quantitative analyses of African ape midfoot kinematics during locomotion remain scarce. Here, we used high-speed motion capture to measure three-dimensional foot kinematics in two male chimpanzees and five male humans walking bipedally at similar dimensionless speeds. We analyzed 10 steps per chimpanzee subject and five steps per human subject, and compared ranges of midfoot motion between species over stance phase, as well as within double- and single-limb support periods. Contrary to expectations, humans used a greater average range of midfoot motion than chimpanzees over the full duration of stance. This difference was driven by humans' dramatic plantarflexion and adduction of the midfoot joints during the second double-limb support period, which likely helps the foot generate power during push off. However, chimpanzees did use slightly but significantly more midfoot dorsiflexion than humans in the single limb-support period, during which heel lift begins. These results indicate that both stiffness and mobility are important to longitudinal arch function, and that the human foot evolved to utilize both during push off in bipedal walking. Thus, the presence of human-like midfoot joint morphology in fossil hominins should not be taken as indicating foot rigidity, but may signify the evolution of pedal anatomy conferring enhanced push off mechanics. Copyright © 2016 Elsevier Ltd. All rights

  3. State of the Art: Bipedal Robots for Lower Limb Rehabilitation

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    Xiong Yang

    2017-11-01

    Full Text Available The bipedal robot is one of the most attractive robots types given its similarity to the locomotion of human beings and its ability to assist people to walk during rehabilitation. This review summarizes the chronological historical development of bipedal robots and introduces some current popular bipedal robots age. Then, the basic theory-stability control and key technology-motion planning of bipedal robots are introduced and analyzed. Bipedal robots have a wide range of applications in the service, education, entertainment, and other industries. After that, we specifically discuss the applications of bipedal robots in lower limb rehabilitation, including wearable exoskeleton robots, rehabilitation equipment, soft exoskeleton robots, and unpowered exoskeleton robots, and their control methods. Lastly, the future development and the challenges in this field are discussed.

  4. Gestation and the evolution of vertical stance bipedal humans

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    D.S. Robertson

    2011-12-01

    Full Text Available During mammalian gestation a change in maternal stance alters the velocities of maternal blood flows and results in a changed rate of delivery and distribution of nutrients required to form the bone and tissue in various parts of a developing foetus. The latter in turn results in change in the extent and position of tissue and bone formation in the foetus. It is shown that such changes would, over many generations, alter the physical characteristics of the ancestor offspring under conditions where the pregnant maternal ancestor normally exhibiting horizontal stance was constrained to adopt a vertical stance for all or most of the gestation period. This behaviour produced the physical characteristics seen in humans and other Hominidae primates, including the vertical stance and bipedalism of the former accompanied by increase in skull and brain size. The manner in which difficulties of giving birth as the change from horizontal stance to vertical stance proceeded from generation to generation, limited survival is discussed andreasons for the adoption of this behaviour are proposed. The induction of evolutionary change and the operation of natural selection through alterations in the characteristics of embryo/foetus of an animal, induced by physical, chemical, mechanical or behavioural means, is shown to be feasible. The changes are not related to the Lamarckian principle of inheritance of acquired characteristics as the changes described occurred before birth and are not related to any physical or mental characteristics already present in or acquired during the lifetime of the breeding pair.

  5. The evolution of the human pelvis: changing adaptations to bipedalism, obstetrics and thermoregulation.

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    Gruss, Laura Tobias; Schmitt, Daniel

    2015-03-05

    The fossil record of the human pelvis reveals the selective priorities acting on hominin anatomy at different points in our evolutionary history, during which mechanical requirements for locomotion, childbirth and thermoregulation often conflicted. In our earliest upright ancestors, fundamental alterations of the pelvis compared with non-human primates facilitated bipedal walking. Further changes early in hominin evolution produced a platypelloid birth canal in a pelvis that was wide overall, with flaring ilia. This pelvic form was maintained over 3-4 Myr with only moderate changes in response to greater habitat diversity, changes in locomotor behaviour and increases in brain size. It was not until Homo sapiens evolved in Africa and the Middle East 200 000 years ago that the narrow anatomically modern pelvis with a more circular birth canal emerged. This major change appears to reflect selective pressures for further increases in neonatal brain size and for a narrow body shape associated with heat dissipation in warm environments. The advent of the modern birth canal, the shape and alignment of which require fetal rotation during birth, allowed the earliest members of our species to deal obstetrically with increases in encephalization while maintaining a narrow body to meet thermoregulatory demands and enhance locomotor performance. © 2015 The Author(s) Published by the Royal Society. All rights reserved.

  6. The evolution of the human pelvis: changing adaptations to bipedalism, obstetrics and thermoregulation

    Science.gov (United States)

    Gruss, Laura Tobias; Schmitt, Daniel

    2015-01-01

    The fossil record of the human pelvis reveals the selective priorities acting on hominin anatomy at different points in our evolutionary history, during which mechanical requirements for locomotion, childbirth and thermoregulation often conflicted. In our earliest upright ancestors, fundamental alterations of the pelvis compared with non-human primates facilitated bipedal walking. Further changes early in hominin evolution produced a platypelloid birth canal in a pelvis that was wide overall, with flaring ilia. This pelvic form was maintained over 3–4 Myr with only moderate changes in response to greater habitat diversity, changes in locomotor behaviour and increases in brain size. It was not until Homo sapiens evolved in Africa and the Middle East 200 000 years ago that the narrow anatomically modern pelvis with a more circular birth canal emerged. This major change appears to reflect selective pressures for further increases in neonatal brain size and for a narrow body shape associated with heat dissipation in warm environments. The advent of the modern birth canal, the shape and alignment of which require fetal rotation during birth, allowed the earliest members of our species to deal obstetrically with increases in encephalization while maintaining a narrow body to meet thermoregulatory demands and enhance locomotor performance. PMID:25602067

  7. Locomotor energetics and leg length in hominid bipedality.

    Science.gov (United States)

    Kramer, P A; Eck, G G

    2000-05-01

    Because bipedality is the quintessential characteristic of Hominidae, researchers have compared ancient forms of bipedality with modern human gait since the first clear evidence of bipedal australopithecines was unearthed over 70 years ago. Several researchers have suggested that the australopithecine form of bipedality was transitional between the quadrupedality of the African apes and modern human bipedality and, consequently, inefficient. Other researchers have maintained that australopithecine bipedality was identical to that of Homo. But is it reasonable to require that all forms of hominid bipedality must be the same in order to be optimized? Most attempts to evaluate the locomotor effectiveness of the australopithecines have, unfortunately, assumed that the locomotor anatomy of modern humans is the exemplar of consummate bipedality. Modern human anatomy is, however, the product of selective pressures present in the particular milieu in which Homo arose and it is not necessarily the only, or even the most efficient, bipedal solution possible. In this report, we investigate the locomotion of Australopithecus afarensis, as represented by AL 288-1, using standard mechanical analyses. The osteological anatomy of AL 288-1 and movement profiles derived from modern humans are applied to a dynamic model of a biped, which predicts the mechanical power required by AL 288-1 to walk at various velocities. This same procedure is used with the anatomy of a composite modern woman and a comparison made. We find that AL 288-1 expends less energy than the composite woman when locomoting at walking speeds. This energetic advantage comes, however, at a price: the preferred transition speed (from a walk to a run) of AL 288-1 was lower than that of the composite woman. Consequently, the maximum daily range of AL 288-1 may well have been substantially smaller than that of modern people. The locomotor anatomy of A. afarensis may have been optimized for a particular ecological niche

  8. Laetoli footprints reveal bipedal gait biomechanics different from those of modern humans and chimpanzees

    Science.gov (United States)

    Demes, Brigitte; Richmond, Brian G.

    2016-01-01

    Bipedalism is a key adaptation that shaped human evolution, yet the timing and nature of its evolution remain unclear. Here we use new experimentally based approaches to investigate the locomotor mechanics preserved by the famous Pliocene hominin footprints from Laetoli, Tanzania. We conducted footprint formation experiments with habitually barefoot humans and with chimpanzees to quantitatively compare their footprints to those preserved at Laetoli. Our results show that the Laetoli footprints are morphologically distinct from those of both chimpanzees and habitually barefoot modern humans. By analysing biomechanical data that were collected during the human experiments we, for the first time, directly link differences between the Laetoli and modern human footprints to specific biomechanical variables. We find that the Laetoli hominin probably used a more flexed limb posture at foot strike than modern humans when walking bipedally. The Laetoli footprints provide a clear snapshot of an early hominin bipedal gait that probably involved a limb posture that was slightly but significantly different from our own, and these data support the hypothesis that important evolutionary changes to hominin bipedalism occurred within the past 3.66 Myr. PMID:27488647

  9. Bipedality and hair loss in human evolution revisited: The impact of altitude and activity scheduling.

    Science.gov (United States)

    Dávid-Barrett, Tamás; Dunbar, Robin I M

    2016-05-01

    Bipedality evolved early in hominin evolution, and at some point was associated with hair loss over most of the body. One classic explanation (Wheeler 1984: J. Hum. Evol. 13, 91-98) was that these traits evolved to reduce heat overload when australopiths were foraging in more open tropical habitats where they were exposed to the direct effects of sunlight at midday. A recent critique of this model (Ruxton & Wilkinson 2011a: Proc. Natl. Acad. Sci. USA 108, 20965-20969) argued that it ignored the endogenous costs of heat generated by locomotion, and concluded that only hair loss provided a significant reduction in heat load. We add two crucial corrections to this model (the altitude at which australopiths actually lived and activity scheduling) and show that when these are included there are substantial reductions in heat load for bipedal locomotion even for furred animals. In addition, we add one further consideration to the model: we extend the analysis across the full 24 h day, and show that fur loss could not have evolved until much later because of the thermoregulatory costs this would have incurred at the altitudes where australopiths actually lived. Fur loss is most likely associated with the exploitation of open habitats at much lower altitudes at a much later date by the genus Homo. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.

  10. : The origins of the permanent bipedalism: make the distinction between modes of bipedal locomotion and the verticalisation of the axial skeleton from embryonic origin

    OpenAIRE

    Dambricourt-Malassé, Anne

    2012-01-01

    Symposium international Ostéopathie et Transdiciplinarité " Le squelette humain dans tous ses états " Ecole Supérieure d'Ostéopathie, Champs sur Marne, 24-26 mai 2012 publication acceptée; The National Museum of Natural History in Paris is the cradle of the Evolutionary Theory including human being with Jean-Baptiste Lamarck who published his work in 1802. The Transformism Theory was long to impose face to the Catastrophism of the creationist Georges Cuvier for which the environment was a cau...

  11. Early Permian bipedal reptile.

    Science.gov (United States)

    Berman, D S; Reisz, R R; Scott, D; Henrici, A C; Sumida, S S; Martens, T

    2000-11-03

    A 290-million-year-old reptilian skeleton from the Lower Permian (Asselian) of Germany provides evidence of abilities for cursorial bipedal locomotion, employing a parasagittal digitigrade posture. The skeleton is of a small bolosaurid, Eudibamus cursoris, gen. et sp. nov. and confirms the widespread distribution of Bolosauridae across Laurasia during this early stage of amniote evolution. E. cursoris is the oldest known representative of Parareptilia, a major clade of reptiles.

  12. How Fast Can a Human Run? − Bipedal vs. Quadrupedal Running

    OpenAIRE

    Kinugasa, Ryuta; Usami, Yoshiyuki

    2015-01-01

    Background. Usain Bolt holds the current world record for a 100-m run, 9.58 s, and has been described as the best human sprinter in history. However, this raises questions concerning the maximum human running speed. Can the world’s fastest men become faster still? The correct answer is likely “Yes”. Methods. We plotted the historical world records for bipedal and quadrupedal 100-m sprint times according to competition year. These historical records were plotted using several curve-fitting pro...

  13. Advanced robot locomotion.

    Energy Technology Data Exchange (ETDEWEB)

    Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

    2007-01-01

    This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

  14. Controller design for a bipedal walking robot using variable stiffness actuators

    NARCIS (Netherlands)

    Ketelaar, J. G.; Visser, L. C.; Stramigioli, S.; Carloni, R.

    2013-01-01

    The bipedal spring-loaded inverted pendulum (SLIP) model captures characteristic properties of human locomotion, and it is therefore often used to study human-like walking. The extended variable spring-loaded inverted pendulum (V-SLIP) model provides a control input for gait stabilization and shows

  15. How Fast Can a Human Run? − Bipedal vs. Quadrupedal Running

    Science.gov (United States)

    Kinugasa, Ryuta; Usami, Yoshiyuki

    2016-01-01

    Usain Bolt holds the current world record in the 100-m run, with a running time of 9.58 s, and has been described as the best human sprinter in history. However, this raises questions concerning the maximum human running speed, such as “Can the world’s fastest men become faster still?” The correct answer is likely “Yes.” We plotted the historical world records for bipedal and quadrupedal 100-m sprint times according to competition year. These historical records were plotted using several curve-fitting procedures. We found that the projected speeds intersected in 2048, when for the first time, the winning quadrupedal 100-m sprint time could be lower, at 9.276 s, than the winning bipedal time of 9.383 s. Video analysis revealed that in quadrupedal running, humans employed a transverse gallop with a small angular excursion. These results suggest that in the future, the fastest human on the planet might be a quadrupedal runner at the 2048 Olympics. This may be achieved by shifting up to the rotary gallop and taking longer strides with wide sagittal trunk motion. PMID:27446911

  16. Human Factors Guidelines for the Evaluation of the Locomotive Cab

    Science.gov (United States)

    1995-09-01

    This document presents human factors guidelines for the evaluation of the locomotive cab. These guidelines are part of : an effort to evaluate working conditions and safety in the locomotive cab. The guidelines will serve as a decision : making tool ...

  17. Exotendons for assistance of human locomotion

    Directory of Open Access Journals (Sweden)

    van den Bogert Antonie J

    2003-10-01

    Full Text Available Abstract Background Powered robotic exoskeletons for assistance of human locomotion are currently under development for military and medical applications. The energy requirements for such devices are excessive, and this has become a major obstacle for practical applications. Legged locomotion in many animals, however, is very energy efficient. We propose that poly-articular elastic mechanisms are a major contributor to the economy of locomotion in such specialized animals. Consequently, it should be possible to design unpowered assistive devices that make effective use of similar mechanisms. Methods A passive assistive technology is presented, based on long elastic cords attached to an exoskeleton and guided by pulleys placed at the joints. A general optimization procedure is described for finding the best geometrical arrangement of such "exotendons" for assisting a specific movement. Optimality is defined either as minimal residual joint moment or as minimal residual joint power. Four specific exotendon systems with increasing complexity are considered. Representative human gait data were used to optimize each of these four systems to achieve maximal assistance for normal walking. Results The most complex exotendon system, with twelve pulleys per limb, was able to reduce the joint moments required for normal walking by 71% and joint power by 74%. A simpler system, with only three pulleys per limb, could reduce joint moments by 46% and joint power by 47%. Conclusion It is concluded that unpowered passive elastic devices can substantially reduce the muscle forces and the metabolic energy needed for walking, without requiring a change in movement. When optimally designed, such devices may allow independent locomotion in patients with large deficits in muscle function.

  18. Study of Bipedal Robot Walking Motion in Low Gravity: Investigation and Analysis

    Directory of Open Access Journals (Sweden)

    Aiman Omer

    2014-09-01

    Full Text Available Humanoid robots are expected to play a major role in the future of space and planetary exploration. Humanoid robot features could have many advantages, such as interacting with astronauts and the ability to perform human tasks. However, the challenge of developing such a robot is quite high due to many difficulties. One of the main difficulties is the difference in gravity. Most researchers in the field of bipedal locomotion have not paid much attention to the effect of gravity. Gravity is an important parameter in generating a bipedal locomotion trajectory. This research investigates the effect of gravity on bipedal walking motion. It focuses on low gravity, since most of the known planets and moons have lower gravity than earth. Further study is conducted on a full humanoid robot model walking subject to the moon's gravity, and an approach for dealing with moon gravity is proposed in this paper.

  19. Two families with quadrupedalism, mental retardation, no speech, and infantile hypotonia (Uner Tan Syndrome Type-II); a novel theory for the evolutionary emergence of human bipedalism.

    Science.gov (United States)

    Tan, Uner

    2014-01-01

    Two consanguineous families with Uner Tan Syndrome (UTS) were analyzed in relation to self-organizing processes in complex systems, and the evolutionary emergence of human bipedalism. The cases had the key symptoms of previously reported cases of UTS, such as quadrupedalism, mental retardation, and dysarthric or no speech, but the new cases also exhibited infantile hypotonia and are designated UTS Type-II. There were 10 siblings in Branch I and 12 siblings in Branch II. Of these, there were seven cases exhibiting habitual quadrupedal locomotion (QL): four deceased and three living. The infantile hypotonia in the surviving cases gradually disappeared over a period of years, so that they could sit by about 10 years, crawl on hands and knees by about 12 years. They began walking on all fours around 14 years, habitually using QL. Neurological examinations showed normal tonus in their arms and legs, no Babinski sign, brisk tendon reflexes especially in the legs, and mild tremor. The patients could not walk in a straight line, but (except in one case) could stand up and maintain upright posture with truncal ataxia. Cerebello-vermial hypoplasia and mild gyral simplification were noted in their MRIs. The results of the genetic analysis were inconclusive: no genetic code could be identified as the triggering factor for the syndrome in these families. Instead, the extremely low socio-economic status of the patients was thought to play a role in the emergence of UTS, possibly by epigenetically changing the brain structure and function, with a consequent selection of ancestral neural networks for QL during locomotor development. It was suggested that UTS may be regarded as one of the unpredictable outcomes of self-organization within a complex system. It was also noted that the prominent feature of this syndrome, the diagonal-sequence habitual QL, generated an interference between ipsilateral hands and feet, as in non-human primates. It was suggested that this may have been

  20. Segment and joint angles of hind limb during bipedal and quadrupedal walking of the bonobo (Pan paniscus).

    Science.gov (United States)

    D'Août, Kristiaan; Aerts, Peter; De Clercq, Dirk; De Meester, Koen; Van Elsacker, Linda

    2002-09-01

    We describe segment angles (trunk, thigh, shank, and foot) and joint angles (hip, knee, and ankle) for the hind limbs of bonobos walking bipedally ("bent-hip bent-knee walking," 17 sequences) and quadrupedally (33 sequences). Data were based on video recordings (50 Hz) of nine subjects in a lateral view, walking at voluntary speed. The major differences between bipedal and quadrupedal walking are found in the trunk, thigh, and hip angles. During bipedal walking, the trunk is approximately 33-41 degrees more erect than during quadrupedal locomotion, although it is considerably more bent forward than in normal human locomotion. Moreover, during bipedal walking, the hip has a smaller range of motion (by 12 degrees ) and is more extended (by 20-35 degrees ) than during quadrupedal walking. In general, angle profiles in bonobos are much more variable than in humans. Intralimb phase relationships of subsequent joint angles show that hip-knee coordination is similar for bipedal and quadrupedal walking, and resembles the human pattern. The coordination between knee and ankle differs much more from the human pattern. Based on joint angles observed throughout stance phase and on the estimation of functional leg length, an efficient inverted pendulum mechanism is not expected in bonobos. Copyright 2002 Wiley-Liss, Inc.

  1. A predictive model of muscle excitations based on muscle modularity for a large repertoire of human locomotion conditions.

    Science.gov (United States)

    Gonzalez-Vargas, Jose; Sartori, Massimo; Dosen, Strahinja; Torricelli, Diego; Pons, Jose L; Farina, Dario

    2015-01-01

    well the experimental excitation with a cross-correlation factor greater than 85% and a root mean square error less than 0.09. The ability of synthetizing the neuromuscular mechanisms underlying human locomotion across a variety of locomotion conditions will enable solutions in the field of neurorehabilitation technologies and control of bipedal artificial systems. Open-access of the model implementation is provided for further analysis at https://simtk.org/home/p-mep/.

  2. A predictive model of muscle excitations based on muscle modularity for a large repertoire of human locomotion conditions

    Directory of Open Access Journals (Sweden)

    Jose eGonzalez-Vargas

    2015-09-01

    matched well the experimental excitation with a cross-correlation factor greater than 85% and a root mean square error less than 0.09. The ability of synthetizing the neuromuscular mechanisms underlying human locomotion across a variety of locomotion conditions will enable solutions in the field of neurorehabilitation technologies and control of bipedal artificial systems.

  3. A bipedal mammalian model for spinal cord injury research: The tammar wallaby [version 1; referees: 2 approved

    Directory of Open Access Journals (Sweden)

    Norman R. Saunders

    2017-06-01

    Full Text Available Background: Most animal studies of spinal cord injury are conducted in quadrupeds, usually rodents. It is unclear to what extent functional results from such studies can be translated to bipedal species such as humans because bipedal and quadrupedal locomotion involve very different patterns of spinal control of muscle coordination. Bipedalism requires upright trunk stability and coordinated postural muscle control; it has been suggested that peripheral sensory input is less important in humans than quadrupeds for recovery of locomotion following spinal injury. Methods: We used an Australian macropod marsupial, the tammar wallaby (Macropus eugenii, because tammars exhibit an upright trunk posture, human-like alternating hindlimb movement when swimming and bipedal over-ground locomotion. Regulation of their muscle movements is more similar to humans than quadrupeds. At different postnatal (P days (P7–60 tammars received a complete mid-thoracic spinal cord transection. Morphological repair, as well as functional use of hind limbs, was studied up to the time of their pouch exit. Results: Growth of axons across the lesion restored supraspinal innervation in animals injured up to 3 weeks of age but not in animals injured after 6 weeks of age. At initial pouch exit (P180, the young injured at P7-21 were able to hop on their hind limbs similar to age-matched controls and to swim albeit with a different stroke. Those animals injured at P40-45 appeared to be incapable of normal use of hind limbs even while still in the pouch. Conclusions: Data indicate that the characteristic over-ground locomotion of tammars provides a model in which regrowth of supraspinal connections across the site of injury can be studied in a bipedal animal. Forelimb weight-bearing motion and peripheral sensory input appear not to compensate for lack of hindlimb control, as occurs in quadrupeds. Tammars may be a more appropriate model for studies of therapeutic interventions

  4. Human and avian running on uneven ground: a model-based comparison

    OpenAIRE

    R. Müller; Birn-Jeffery, A V; Blum, Y.

    2016-01-01

    Birds and humans are successful bipedal runners, who have individually evolved bipedalism, but the extent of the similarities and differences of their bipedal locomotion is unknown. In turn, the anatomical differences of their locomotor systems complicate direct comparisons. However, a simplifying mechanical model, such as the conservative spring–mass model, can be used to describe both avian and human running and thus, provides a way to compare the locomotor strategies that birds and humans ...

  5. Control of human mandibular posture during locomotion

    Science.gov (United States)

    Miles, Timothy S; Flavel, Stanley C; Nordstrom, Michael A

    2004-01-01

    Mandibular movements and masseter muscle activity were measured in humans during hopping, walking and running to determine whether reflexes contribute to the maintenance of jaw position during locomotion. In initial experiments, subjects hopped so that they landed either on their toes or on their heel. Landing on the toes provoked only small mandibular movements and no reflex responses in the masseter electromyogram (EMG). Landing on the heels with the jaw muscles relaxed caused the mandible to move vertically downwards relative to the maxilla, and evoked a brisk reflex response in the masseter at monosynaptic latency. Neither this relative movement of the mandible nor the reflex was seen when the teeth were clenched: hence the reflex is not the result of vestibular activation during head movement. The same variables were measured in a second series of experiments while subjects stood, walked and ran at various speeds and at various inclinations on a treadmill. During walking, the vertical movements of the head and therefore the mandible were slow and small, and there was no tonic masseter EMG or gait-related activity in the jaw-closing muscles. When subjects ran, the vertical head and jaw movement depended on the running speed and the inclination of the treadmill. Landing on the heels induced larger movements than landing on the toes. About 10 ms after each foot-strike, the mandible moved downwards relative to the maxilla, thereby stretching the jaw-closing muscles and activating them at segmental reflex latency. This caused the mandible to move back upwards. The strength of the reflex response was related to the speed and amplitude of the vertical jaw movement following landing. It is concluded that, during walking, the small, slow movements of the mandible relative to the maxilla are subthreshold for stretch reflexes in the jaw muscles: i.e. the mandible is supported by visco-elasticity of the soft tissues in the masticatory system. However, the brisker downward

  6. Robust Bipedal Walking with Variable Leg Stiffness

    NARCIS (Netherlands)

    Visser, L.C.; Stramigioli, Stefano; Carloni, Raffaella

    The bipedal spring-mass model embodies important characteristics of human walking, and therefore serves as an important starting point in studying human-like walking for robots. In this paper, we propose to extend the bipedal spring-mass model with variable leg stiffness and exploit the potential of

  7. Modeling of a bipedal locomotor using coupled nonlinear oscillators of Van der Pol.

    Science.gov (United States)

    Dutra, Max S; De Pina Filho, Armando C; Romano, Vitor F

    2003-04-01

    Research to date points to an understanding of human biped locomotion that has been primarily experimental in nature largely due to the complexity of the process. In view of the new, exciting possibilities of programmed electrostimulation of artificial muscles to generate motion (locomotion), a critical study at the theoretical level is greatly warranted. There is strong evidence that many biological clocks consist of a population of mutually coupled oscillators [Pavlidis T (1973) Biological oscillators, Academic; Johnsson A (1978) Zur Biophysik biologischer Oszillatoren. In: Biophisik, Springer]. In this work, a form of bipedal locomotion is simulated by using mutually coupled nonlinear oscillators. A planar model, which includes three out of the six determinants of gait that characterize the human locomotion, was adopted.

  8. Laughter as an approach to vocal evolution: The bipedal theory.

    Science.gov (United States)

    Provine, Robert R

    2017-02-01

    Laughter is a simple, stereotyped, innate, human play vocalization that is ideal for the study of vocal evolution. The basic approach of describing the act of laughter and when we do it has revealed a variety of phenomena of social, linguistic, and neurological significance. Findings include the acoustic structure of laughter, the minimal voluntary control of laughter, the punctuation effect (which describes the placement of laughter in conversation and indicates the dominance of speech over laughter), and the role of laughter in human matching and mating. Especially notable is the use of laughter to discover why humans can speak and other apes cannot. Quadrupeds, including our primate ancestors, have a 1:1 relation between breathing and stride because their thorax must absorb forelimb impacts during running. The direct link between breathing and locomotion limits vocalizations to short, simple utterances, such as the characteristic panting chimpanzee laugh (one sound per inward or outward breath). The evolution of bipedal locomotion freed the respiration system of its support function during running, permitting greater breath control and the selection for human-type laughter (a parsed exhalation), and subsequently the virtuosic, sustained, expiratory vocalization of speech. This is the basis of the bipedal theory of speech evolution.

  9. Human Locomotion in Hypogravity: From Basic Research to Clinical Applications

    Directory of Open Access Journals (Sweden)

    Francesco Lacquaniti

    2017-11-01

    Full Text Available We have considerable knowledge about the mechanisms underlying compensation of Earth gravity during locomotion, a knowledge obtained from physiological, biomechanical, modeling, developmental, comparative, and paleoanthropological studies. By contrast, we know much less about locomotion and movement in general under sustained hypogravity. This lack of information poses a serious problem for human space exploration. In a near future humans will walk again on the Moon and for the first time on Mars. It would be important to predict how they will move around, since we know that locomotion and mobility in general may be jeopardized in hypogravity, especially when landing after a prolonged weightlessness of the space flight. The combination of muscle weakness, of wearing a cumbersome spacesuit, and of maladaptive patterns of locomotion in hypogravity significantly increase the risk of falls and injuries. Much of what we currently know about locomotion in hypogravity derives from the video archives of the Apollo missions on the Moon, the experiments performed with parabolic flight or with body weight support on Earth, and the theoretical models. These are the topics of our review, along with the issue of the application of simulated hypogravity in rehabilitation to help patients with deambulation problems. We consider several issues that are common to the field of space science and clinical rehabilitation: the general principles governing locomotion in hypogravity, the methods used to reduce gravity effects on locomotion, the extent to which the resulting behavior is comparable across different methods, the important non-linearities of several locomotor parameters as a function of the gravity reduction, the need to use multiple methods to obtain reliable results, and the need to tailor the methods individually based on the physiology and medical history of each person.

  10. Human Locomotion in Hypogravity: From Basic Research to Clinical Applications

    Science.gov (United States)

    Lacquaniti, Francesco; Ivanenko, Yury P.; Sylos-Labini, Francesca; La Scaleia, Valentina; La Scaleia, Barbara; Willems, Patrick A.; Zago, Myrka

    2017-01-01

    We have considerable knowledge about the mechanisms underlying compensation of Earth gravity during locomotion, a knowledge obtained from physiological, biomechanical, modeling, developmental, comparative, and paleoanthropological studies. By contrast, we know much less about locomotion and movement in general under sustained hypogravity. This lack of information poses a serious problem for human space exploration. In a near future humans will walk again on the Moon and for the first time on Mars. It would be important to predict how they will move around, since we know that locomotion and mobility in general may be jeopardized in hypogravity, especially when landing after a prolonged weightlessness of the space flight. The combination of muscle weakness, of wearing a cumbersome spacesuit, and of maladaptive patterns of locomotion in hypogravity significantly increase the risk of falls and injuries. Much of what we currently know about locomotion in hypogravity derives from the video archives of the Apollo missions on the Moon, the experiments performed with parabolic flight or with body weight support on Earth, and the theoretical models. These are the topics of our review, along with the issue of the application of simulated hypogravity in rehabilitation to help patients with deambulation problems. We consider several issues that are common to the field of space science and clinical rehabilitation: the general principles governing locomotion in hypogravity, the methods used to reduce gravity effects on locomotion, the extent to which the resulting behavior is comparable across different methods, the important non-linearities of several locomotor parameters as a function of the gravity reduction, the need to use multiple methods to obtain reliable results, and the need to tailor the methods individually based on the physiology and medical history of each person. PMID:29163225

  11. Dynamic motion planning of 3D human locomotion using gradient-based optimization.

    Science.gov (United States)

    Kim, Hyung Joo; Wang, Qian; Rahmatalla, Salam; Swan, Colby C; Arora, Jasbir S; Abdel-Malek, Karim; Assouline, Jose G

    2008-06-01

    Since humans can walk with an infinite variety of postures and limb movements, there is no unique solution to the modeling problem to predict human gait motions. Accordingly, we test herein the hypothesis that the redundancy of human walking mechanisms makes solving for human joint profiles and force time histories an indeterminate problem best solved by inverse dynamics and optimization methods. A new optimization-based human-modeling framework is thus described for predicting three-dimensional human gait motions on level and inclined planes. The basic unknowns in the framework are the joint motion time histories of a 25-degree-of-freedom human model and its six global degrees of freedom. The joint motion histories are calculated by minimizing an objective function such as deviation of the trunk from upright posture that relates to the human model's performance. A variety of important constraints are imposed on the optimization problem, including (1) satisfaction of dynamic equilibrium equations by requiring the model's zero moment point (ZMP) to lie within the instantaneous geometrical base of support, (2) foot collision avoidance, (3) limits on ground-foot friction, and (4) vanishing yawing moment. Analytical forms of objective and constraint functions are presented and discussed for the proposed human-modeling framework in which the resulting optimization problems are solved using gradient-based mathematical programming techniques. When the framework is applied to the modeling of bipedal locomotion on level and inclined planes, acyclic human walking motions that are smooth and realistic as opposed to less natural robotic motions are obtained. The aspects of the modeling framework requiring further investigation and refinement, as well as potential applications of the framework in biomechanics, are discussed.

  12. Two families with quadrupedalism, mental retardation, no speech, and infantile hypotonia (Uner Tan Syndrome Type-II; a novel theory for the evolutionary emergence of human bipedalism

    Directory of Open Access Journals (Sweden)

    Uner eTan

    2014-04-01

    Full Text Available Two consanguineous families with Uner Tan Syndrome (UTS were analyzed in relation to self-organizing processes in complex systems, and the evolutionary emergence of human bipedalism. The cases had the key symptoms of previously reported cases of UTS, such as quadrupedalism, mental retardation, and dysarthric or no speech, but the new cases also exhibited infantile hypotonia and are designated UTS Type-II. There were 10 siblings in Branch I and 12 siblings in Branch II. Of these, there were seven cases exhibiting habitual quadrupedal locomotion (QL: four deceased and three living. The infantile hypotonia in the surviving cases gradually disappeared over a period of years, so that they could sit by about 10 years, crawl on hands and knees by about 12 years. They began walking on all fours around 14 years, habitually using QL. Neurological examinations showed normal tonus in their arms and legs, no Babinski sign, brisk tendon reflexes especially in the legs, and mild tremor. The patients could not walk in a straight line, but (except in one case could stand up and maintain upright posture with truncal ataxia. Cerebello-vermial hypoplasia and mild gyral simplification were noted in their MRIs. The results of the genetic analysis were inconclusive: no genetic code could be identified as the triggering factor for the syndrome in these families. Instead, the extremely low socio-economic status of the patients was thought to play a role in the emergence of UTS, possibly by epigenetically changing the brain structure and function, with a consequent selection of ancestral neural networks for QL during locomotor development. It was suggested that UTS may be regarded as one of the unpredictable outcomes of self-organization within a complex system. It was also noted that the prominent feature of this syndrome, the diagonal-sequence habitual QL, generated an interference between ipsilateral hands and feet, as in non-human primates. It was suggested that this

  13. Dynamic plantar pressure distribution during terrestrial locomotion of bonobos (Pan paniscus).

    Science.gov (United States)

    Vereecke, Evie; D'Août, Kristiaan; De Clercq, Dirk; Van Elsacker, Linda; Aerts, Peter

    2003-04-01

    We collected high-resolution plantar pressure distributions of seven bonobos during terrestrial bipedal and quadrupedal locomotion (N = 146). Functional foot length, degree of hallux abduction, and total contact time were determined, and plots, showing pressure as a function of time for six different foot regions, were generated. We also studied five adult humans for comparison (N = 13). Both locomotion types of the bonobo show a large variation in plantar pressure distributions, which could be due to the interference of instantaneous behavior with locomotion and differences in walking speed and body dimensions. The heel and the lateral midfoot typically touch down simultaneously at initial ground contact in bipedal and quadrupedal walking of bonobos, in contrast with the typical heel-strike of human bipedalism. The center of pressure follows a curved course during quadrupedalism, as a consequence of the medial weight transfer during mid-stance. Bipedal locomotion of bonobos is characterized by a more plantar positioning of the feet and by a shorter contact time than during quadrupedal walking, according to a smaller stride and step length at a higher frequency. We observed a varus position of the foot with an abducted hallux, which likely possesses an important sustaining and stabilizing function during terrestrial locomotion. Copyright 2003 Wiley-Liss, Inc.

  14. [Cortical control in locomotion].

    Science.gov (United States)

    Mori, Futoshi; Nakajima, Katsumi

    2010-11-01

    Although simple in appearance, bipedal (Bp) and even quadrupedal (Qp) locomotion are highly tuned motor behaviors that require coordinated control in the spatial and temporal domains of head, neck, trunk, and limbs. Seamless integration of limb movements and accompanying posture is a crucial determinant for the execution of desired locomotor movements. Recent functional brain imaging studies have shown that multiple cerebral sensorimotor cortices and the cerebellum are highly activated during human BP locomotion, suggesting that humans depend on the cerebrum and cerebellum for the elaboration of Bp locomotion. We have found that a young Japanese monkey, Macaca fuscata, acquires novel Bp walking capability with a long-term locomotor task and physical maturation. This model animal has kinematic features that are common with those of humans. Our imaging study showed that multiple cortical motor related areas are activated during monkey Bp walking, similar to that observed in humans. Furthermore, cortical inactivation studies revealed that each cortical region has an assigned functional role for the elaboration and refinements of its locomotor task. All these results show that selective yet multiple involvement of cortical motor regions are necessary for the elaboration of Bp locomotion in both humans and non-human primate models. Presumably, such multi-faceted recruitment of motor cortices is required to accommodate the limb movement and postural demands for Bp upright standing and walking. To cure locomotor dysfunctions due to CNS impairments, it is necessary to understand the CNS mechanisms involved in fine-tuning of limb movements and accompanying posture. Multi-comparative interdisciplinary studies should be initiated to reveal the CNS mechanisms involved in the control of Bp upright standing and locomotion in humans and non-human primate models.

  15. Postural dependence of human locomotion during gait initiation

    Science.gov (United States)

    Mille, Marie-Laure; Simoneau, Martin

    2014-01-01

    The initiation of human walking involves postural motor actions for body orientation and balance stabilization that must be effectively integrated with locomotion to allow safe and efficient transport. Our ability to coordinately adapt these functions to environmental or bodily changes through error-based motor learning is essential to effective performance. Predictive compensations for postural perturbations through anticipatory postural adjustments (APAs) that stabilize mediolateral (ML) standing balance normally precede and accompany stepping. The temporal sequencing between these events may involve neural processes that suppress stepping until the expected stability conditions are achieved. If so, then an unexpected perturbation that disrupts the ML APAs should delay locomotion. This study investigated how the central nervous system (CNS) adapts posture and locomotion to perturbations of ML standing balance. Healthy human adults initiated locomotion while a resistance force was applied at the pelvis to perturb posture. In experiment 1, using random perturbations, step onset timing was delayed relative to the APA onset indicating that locomotion was withheld until expected stability conditions occurred. Furthermore, stepping parameters were adapted with the APAs indicating that motor prediction of the consequences of the postural changes likely modified the step motor command. In experiment 2, repetitive postural perturbations induced sustained locomotor aftereffects in some parameters (i.e., step height), immediate but rapidly readapted aftereffects in others, or had no aftereffects. These results indicated both rapid but transient reactive adaptations in the posture and gait assembly and more durable practice-dependent changes suggesting feedforward adaptation of locomotion in response to the prevailing postural conditions. PMID:25231611

  16. Bipedal tool use strengthens chimpanzee hand preferences

    DEFF Research Database (Denmark)

    Braccini, Stephanie; Lambeth, Susan; Schapiro, Steve

    2010-01-01

    The degree to which non-human primate behavior is lateralized, at either individual or population levels, remains controversial. We investigated the relationship between hand preference and posture during tool use in chimpanzees (Pan troglodytes) during bipedal tool use. We experimentally induced......, to either the right or left, were emphasized with increasing postural demands. This result has interesting implications for theories of the evolution of tool use and bipedalism, as the combination of bipedalism and tool use may have helped drive extreme lateralization in modern humans, but cannot alone...

  17. Human-robot interaction strategies for walker-assisted locomotion

    CERN Document Server

    Cifuentes, Carlos A

    2016-01-01

    This book presents the development of a new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation. The aim is to achieve a closer interaction between the robotic device and the individual, empowering the rehabilitation potential of such devices in clinical applications. A new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation is presented. Trends and opportunities for future advances in the field of assistive locomotion via the development of hybrid solutions based on the combination of smart walkers and biomechatronic exoskeletons are also discussed. .

  18. Improved Usability of Locomotion Devices Using Human-Centric Taxonomy

    Science.gov (United States)

    2009-03-01

    law, as the psychophysical attempt to cope with neuromotor noise [3]. The degree to which we observe this trade off may indicate the relative ease...degree rapid, aimed movement, which forms the most basic building blocks of human interaction, the measures of performance it predicts, namely speed and...defining travel in a VE as control of a user’s viewpoint motion. They then identified three basic characteristics of locomotion: (1) direction and

  19. Acitretin induced bipedal edema.

    Science.gov (United States)

    Tey, Hong Liang; Theng, Thiam Seng Colin

    2006-05-01

    Generalized edema has been reported to be a rare side effect of systemic retinoids. We report a patient who developed localized bipedal edema from acitretin. Other causes of bipedal edema were excluded and withdrawal of acitretin led to resolution of the edema.

  20. Hand before foot? Cortical somatotopy suggests manual dexterity is primitive and evolved independently of bipedalism.

    Science.gov (United States)

    Hashimoto, Teruo; Ueno, Kenichi; Ogawa, Akitoshi; Asamizuya, Takeshi; Suzuki, Chisato; Cheng, Kang; Tanaka, Michio; Taoka, Miki; Iwamura, Yoshiaki; Suwa, Gen; Iriki, Atsushi

    2013-11-19

    People have long speculated whether the evolution of bipedalism in early hominins triggered tool use (by freeing their hands) or whether the necessity of making and using tools encouraged the shift to upright gait. Either way, it is commonly thought that one led to the other. In this study, we sought to shed new light on the origins of manual dexterity and bipedalism by mapping the neural representations in the brain of the fingers and toes of living people and monkeys. Contrary to the 'hand-in-glove' notion outlined above, our results suggest that adaptations underlying tool use evolved independently of those required for human bipedality. In both humans and monkeys, we found that each finger was represented separately in the primary sensorimotor cortex just as they are physically separated in the hand. This reflects the ability to use each digit independently, as required for the complex manipulation involved in tool use. The neural mapping of the subjects' toes differed, however. In the monkeys, the somatotopic representation of the toes was fused, showing that the digits function predominantly as a unit in general grasping. Humans, by contrast, had an independent neurological representation of the big toe (hallux), suggesting association with bipedal locomotion. These observations suggest that the brain circuits for the hand had advanced beyond simple grasping, whereas our primate ancestors were still general arboreal quadrupeds. This early adaptation laid the foundation for the evolution of manual dexterity, which was preserved and enhanced in hominins. In hominins, a separate adaptation, involving the neural separation of the big toe, apparently occurred with bipedality. This accords with the known fossil evidence, including the recently reported hominin fossils which have been dated to 4.4 million years ago.

  1. Modelling, stability and biomechanical implications of three DOF passive bipedal gait

    Directory of Open Access Journals (Sweden)

    Máximo Alejandro Roa Garzón

    2010-04-01

    Full Text Available Passive dynamic walkers can achieve a steady gait down an inclined plane simply by the influence of gravity. This article presents the modelling of a 3 DOF passive bipedal walker, searching for a relationship between gait characteristics, the robot’s physical properties and the slope of the plane. The proposed adimensional dynamical model’s equations are also given, implementing and modelling the dynamics is described and the main results are presented. Limits on robotic parameters leading to establishing stable limit cycles are also analysed as perio-dic doubling bifurcations appear to be natural in passive gait. Interesting results arose when comparing natural passive walking with human bipedal locomotion.

  2. Comparative Anatomy of the Hind Limb Vessels of the Bearded Capuchins (Sapajus libidinosus with Apes, Baboons, and Cebus capucinus: With Comments on the Vessels' Role in Bipedalism

    Directory of Open Access Journals (Sweden)

    Roqueline A. G. M. F. Aversi-Ferreira

    2013-01-01

    Full Text Available Capuchin monkeys are known to exhibit sporadic bipedalism while performing specific tasks, such as cracking nuts. The bipedal posture and locomotion cause an increase in the metabolic cost and therefore increased blood supply to lower limbs is necessary. Here, we present a detailed anatomical description of the capuchin arteries and veins of the pelvic limb of Sapajus libidinosus in comparison with other primates. The arterial pattern of the bearded capuchin hind limb is more similar to other quadrupedal Cebus species. Similarities were also found to the pattern observed in the quadruped Papio, which is probably due to a comparable pelvis and the presence of the tail. Sapajus' traits show fewer similarities when compared to great apes and modern humans. Moreover, the bearded capuchin showed unique patterns for the femoral and the short saphenous veins. Although this species switches easily from quadrupedal to bipedal postures, our results indicate that the bearded capuchin has no specific or differential features that support extended bipedal posture and locomotion. Thus, the explanation for the behavioral differences found among capuchin genera probably includes other aspects of their physiology.

  3. [Vestibular influences on human locomotion: results obtained using galvanic vestibular stimulation].

    Science.gov (United States)

    Stolbkov, Iu K; Gerasimenko, Iu P

    2014-06-01

    Locomotion is the most important mode of our movement in space. The role of the vestibular system during human locomotion is not well studied, mainly due to problems associated with its isolation stimulation. It is difficult to stimulate this system in isolation during locomotion because the real movement of the head to activate the vestibular end-organs inevitably leads to the activation of other sensory inputs. Galvanic stimulation is not a natural way to stimulate the vestibular system, but it has the advantage providing an isolated stimulation of the vestibular inputs. This technique is relatively novel in the examination of vestibular contributions during human locomotion. In our review we consider the current data regarding the effect of vestibular signals on human locomotion by using galvanic vestibular stimulation.

  4. Arboreality, terrestriality and bipedalism

    OpenAIRE

    Crompton, Robin Huw; Sellers, William I.; Thorpe, Susannah K. S.

    2010-01-01

    The full publication of Ardipithecus ramidus has particular importance for the origins of hominin bipedality, and strengthens the growing case for an arboreal origin. Palaeontological techniques however inevitably concentrate on details of fragmentary postcranial bones and can benefit from a whole-animal perspective. This can be provided by field studies of locomotor behaviour, which provide a real-world perspective of adaptive context, against which conclusions drawn from palaeontology and c...

  5. Spatio-temporal gait characteristics of the hind-limb cycles during voluntary bipedal and quadrupedal walking in bonobos (Pan paniscus).

    Science.gov (United States)

    Aerts, P; Van Damme, R; Van Elsacker, L; Duchêne, V

    2000-04-01

    Spatio-temporal gait characteristics (step and stride length, stride frequency, duty factor) were determined for the hind-limb cycles of nine bonobos (Pan paniscus) walking quadrupedally and bipedally at a range of speeds. The data were recalculated to dimensionless quantities according to the principle of dynamic similarity. Lower leg length was used as the reference length. Interindividual variability in speed modulation strategy of bonobos appears to be low. Compared to quadrupedal walking, bipedal bonobos use smaller steps to attain a given speed (differences increase with speed), resulting in shorter strides at a higher frequency. In the context of the ("hybrid") dynamic pattern approach to locomotion (Latach, 1998) we argue that, despite these absolute differences, intended walking speed is the basic control variable which elicits both quadrupedal and bipedal walking kinematics in a similar way. Differences in the initial status of the dynamic system may be responsible for the differences in step length between both gaits. Comparison with data deduced from the literature shows that the effects of walking speed on stride length and frequency are similar in bonobos, common chimpanzees, and humans. This suggests that (at least) within extant homininae, spatio-temporal gait characteristics are highly comparable, and this in spite of obvious differences in mass distribution and bipedal posture. Copyright 2000 Wiley-Liss, Inc.

  6. Work Analysis of Compliant Leg Mechanisms for Bipedal Walking Robots

    Directory of Open Access Journals (Sweden)

    Byoung-Ho Kim

    2013-09-01

    Full Text Available In this study, we analyse the work of bipedal walking robots with compliant feet. For this purpose, a walking model of bipedal robots with compliant feet is considered. The ligamentous structure of the human foot is used for the compliant feet mechanisms of the bipedal robot considered herein. A work principle is used for determining the corresponding work at the joint space of the compliant legs according to the reaction force which is propagated from the foot space. The usefulness of the work analysis is demonstrated through exemplary simulations. Consequently, it is shown that the work analysis can be used for evaluating the fatigue of the bipedal robot accumulated by the physical walking impact between the supporting foot and the contact surface. Furthermore, comfortable walking by means of footgear with a compliance is addressed.

  7. Modeling, simulation and optimization of bipedal walking

    CERN Document Server

    Berns, Karsten

    2013-01-01

    The model-based investigation of motions of anthropomorphic systems is an important interdisciplinary research topic involving specialists from many fields such as Robotics, Biomechanics, Physiology, Orthopedics, Psychology, Neurosciences, Sports, Computer Graphics and Applied Mathematics. This book presents a study of basic locomotion forms such as walking and running is of particular interest due to the high demand on dynamic coordination, actuator efficiency and balance control. Mathematical models and numerical simulation and optimization techniques are explained, in combination with experimental data, which can help to better understand the basic underlying mechanisms of these motions and to improve them. Example topics treated in this book are Modeling techniques for anthropomorphic bipedal walking systems Optimized walking motions for different objective functions Identification of objective functions from measurements Simulation and optimization approaches for humanoid robots Biologically inspired con...

  8. Bio-Inspired Real-Time Prediction of Human Locomotion for Exoskeletal Robot Control

    Directory of Open Access Journals (Sweden)

    Pu Duan

    2017-11-01

    Full Text Available Human motion detection is of fundamental importance for control of human–robot coupled systems such as exoskeletal robots. Inertial measurement units have been widely used for this purpose, although delay is a major challenge for inertial measurement unit-based motion capture systems. In this paper, we use previous and current inertial measurement unit readings to predict human locomotion based on their kinematic properties. Human locomotion is a synergetic process of the musculoskeletal system characterized by smoothness, high nonlinearity, and quasi-periodicity. Takens’ reconstruction method can well characterize quasi-periodicity and nonlinear systems. With Takens’ reconstruction framework, we developed improving methods, including Gaussian coefficient weighting and offset correction (which is based on the smoothness of human locomotion, Kalman fusion with complementary joint data prediction and united source of historical embedding generation (which is synergy-inspired, and Kalman fusion with the Newton-based method with a velocity and acceleration high-gain observer (also based on smoothness. After thorough analysis of the parameters and the effect of these improving techniques, we propose a novel prediction method that possesses the combined advantages of parameter robustness, high accuracy, trajectory smoothness, zero dead time, and adaptability to irregularities. The proposed methods were tested and validated by experiments, and the real-time applicability in a human locomotion capture system was also validated.

  9. The energetic costs of load-carrying and the evolution of bipedalism.

    Science.gov (United States)

    Watson, J C; Payne, R C; Chamberlain, A T; Jones, R K; Sellers, W I

    2008-05-01

    The evolution of habitual bipedalism is still a fundamental yet unsolved question for paleoanthropologists, and carrying is popular as an explanation for both the early adoption of upright walking and as a positive selection pressure once a terrestrial lifestyle had been adopted. However, to support or reject any hypothesis that suggests carrying efficiency was an important selective pressure, we need quantitative data on the costs of different forms of carrying behavior, especially infant-carrying since reduction in the grasping capabilities of the foot would have prevented infants from clinging on for long durations. In this study, we tested the hypothesis that the mode of load carriage influences the energetic cost of locomotion. Oxygen consumption was measured in seven female participants walking at a constant speed while carrying four different 10-kg loads (a weighted vest, 5-kg dumbbells carried in each hand, a mannequin infant carried on one hip, and a 10-kg dumbbell carried in a single hand). Oxygen consumption was also measured during unloaded standing and unloaded walking. The results show that the weighted vest requires the least amount of energy of the four types of carrying and that, for this condition, humans are as efficient as mammals in general. The balanced load was carried with approximately the predicted energy cost. However, the asymmetrical conditions were considerably less efficient, indicating that, unless infant-carrying was the adaptive response to a strong environmental selection pressure, this behavior is unlikely to have been the precursor to the evolution of bipedalism.

  10. Biologically Inspired Self-Stabilizing Control for Bipedal Robots

    Directory of Open Access Journals (Sweden)

    Woosung Yang

    2013-02-01

    Full Text Available Despite recent major advances in computational power and control algorithms, the stable and robust control of a bipedal robot is still a challenging issue due to the complexity and high nonlinearity of robot dynamics. To address the issue an efficient and powerful alternative based on a biologically inspired control framework employing neural oscillators is proposed and tested. In a numerical test the virtual force controller combined with the neural oscillator of a humanoid robot generated rhythmic control signals and stable bipedal locomotion when coupled with proper impedance components. The entrainment nature inherent to neural oscillators also achieved stable and robust walking even in the presence of unexpected disturbances, in that the centre of mass (COM was successfully kept in phase with the zero moment point (ZMP input trajectory. The efficiency of the proposed control scheme is discussed alongside simulation results.

  11. Collision-based mechanics of bipedal hopping

    National Research Council Canada - National Science Library

    Gutmann, Anne K; Lee, David V; McGowan, Craig P

    2013-01-01

    .... Previous studies have found that large bipedal hoppers can elastically store and return a large fraction of the energy required to hop, whereas small bipedal hoppers can only elastically store...

  12. Simulating an elastic bipedal robot based on musculoskeletal modeling

    NARCIS (Netherlands)

    Bortoletto, Roberto; Sartori, Massimo; He, Fuben; Pagello, Enrico

    2012-01-01

    Many of the processes involved into the synthesis of human motion have much in common with problems found in robotics research. This paper describes the modeling and the simulation of a novel bipedal robot based on series elastic actuators [1]. The robot model takes in- spiration from the human

  13. Human locomotion of a route assists in subsequent blind navigation

    OpenAIRE

    Roche, R.A.P.; Murphy, J.; O'Riordan, K; Glad, K; Commins, S; Mangaoang, M.A.; O'Mara, S.M.

    2006-01-01

    Human spatial navigation requires the establishment of a sophisticated internal representation of the environment, termed the cognitive map. Non-visual navigation requires individuals to rely on their stored model of the world in order to avoid obstacles and navigate successfully.

  14. Effects of fluoride on locomotion of human blood leucocytes in vitro.

    Science.gov (United States)

    Wilkinson, P C

    1983-01-01

    The effect of NaF on the locomotion and chemotaxis of human blood neutrophils and monocytes was studied using two assays: the micropore filter assay and a time-lapse cinematographic assay in which the chemotaxis of cells in response to spores of Candida albicans was filmed. At high concentrations (greater than 10(-4) M), NaF inhibited locomotion of both cell types, but no inhibition of locomotion of either cell-type was seen in either assay using NaF at less than or equal to 10(-4) M, whether or not the cells were responding to a chemotactic source. This was so, even for monocytes incubated for 48 h in the presence of NaF. It is therefore improbable that fluoride, at levels added to drinking water or found in the body fluids of persons drinking fluoridated water, has any deleterious effect on the locomotor capacity of phagocytic cells or on their capacity to detect and home on to chemotactic sources.

  15. Stable bipedal walking with a swing-leg protraction strategy.

    Science.gov (United States)

    Bhounsule, Pranav A; Zamani, Ali

    2017-01-25

    In bipedal locomotion, swing-leg protraction and retraction refer to the forward and backward motion, respectively, of the swing-leg before touchdown. Past studies have shown that swing-leg retraction strategy can lead to stable walking. We show that swing-leg protraction can also lead to stable walking. We use a simple 2D model of passive dynamic walking but with the addition of an actuator between the legs. We use the actuator to do full correction of the disturbance in a single step (a one-step dead-beat control). Specifically, for a given limit cycle we perturb the velocity at mid-stance. Then, we determine the foot placement strategy that allows the walker to return to the limit cycle in a single step. For a given limit cycle, we find that there is swing-leg protraction at shallow slopes and swing-leg retraction at steep slopes. As the limit cycle speed increases, the swing-leg protraction region increases. On close examination, we observe that the choice of swing-leg strategy is based on two opposing effects that determine the time from mid-stance to touchdown: the walker speed at mid-stance and the adjustment in the step length for one-step dead-beat control. When the walker speed dominates, the swing-leg retracts but when the step length dominates, the swing-leg protracts. This result suggests that swing-leg strategy for stable walking depends on the model parameters, the terrain, and the stability measure used for control. This novel finding has a clear implication in the development of controllers for robots, exoskeletons, and prosthetics and to understand stability in human gaits. Copyright © 2016 Elsevier Ltd. All rights reserved.

  16. Optimal walking gait with double support, simple support and impact for a bipedal robot equipped of four-bar knees

    OpenAIRE

    Hamon, Arnaud; Aoustin, Yannick

    2012-01-01

    International audience; The design of a knee joint is a key issue in robotics and biomechanics to improve the compatibility between prosthesis and human movements and to improve the bipedal robot performances. We propose a novel design for the knee joint of a planar bipedal robot, based on a four-bar linkage. n previous a work, we have proved a bipedal robot with four-bar knees has a less energy consumption than a bipedal robot equipped of revolute knee joints for walking gates composed of si...

  17. A bipedal mammalian model for spinal cord injury research: The tammar wallaby

    National Research Council Canada - National Science Library

    Saunders Norman R; Dziegielewska Katarzyna M; Whish Sophie C; Hinds Lyn A; Wheaton Benjamin J; Huang Yifan; Henry Steve; Habgood Mark D

    2017-01-01

    ...: We used an Australian macropod marsupial, the tammar wallaby (Macropus eugenii), because tammars exhibit an upright trunk posture, human-like alternating hindlimb movement when swimming and bipedal over-ground...

  18. Tractable Quantification of Metastability for Robust Bipedal Locomotion

    Science.gov (United States)

    2015-06-01

    Playter, R., and the Big- Dog Team (2008). Bigdog, the rough-terrain quadruped robot. In Proceedings of the World Congress of the International Federation... behaviour of flip-flops used as synchroniz- ers and prediction of their failure rate. IEEE Journal of Solid-State Circuits, 15(2):169– 176

  19. Performance and three-dimensional kinematics of bipedal lizards during obstacle negotiation.

    Science.gov (United States)

    Olberding, Jeffrey P; McBrayer, Lance D; Higham, Timothy E

    2012-01-15

    Bipedal running is common among lizard species, but although the kinematics and performance of this gait have been well characterized, the advantages in biologically relevant situations are still unclear. Obstacle negotiation is a task that is ecologically relevant to many animals while moving at high speeds, such as during bipedal running, yet little is known about how obstacles impact locomotion and performance. We examined the effects of obstacle negotiation on the kinematics and performance of lizards during bipedal locomotion. We quantified three-dimensional kinematics from high-speed video (500 Hz) of six-lined racerunners (Aspidoscelis sexlineata) running on a 3 m racetrack both with and without an obstacle spanning the width of the track. The lizards did not alter their kinematics prior to contacting the obstacle. Although contact with the obstacle caused changes to the hindlimb kinematics, mean forward speed did not differ between treatments. The deviation of the vertical position of the body center of mass did not differ between treatments, suggesting that in the absence of a cost to overall performance, lizards forgo maintaining normal kinematics while negotiating obstacles in favor of a steady body center of mass height to avoid destabilizing locomotion.

  20. A Trial to Detect for Human Locomotion Based on Measurement of Current Generated by Electrostatic Induction

    Science.gov (United States)

    Kurita, Koichi; Imai, Kazumasa; Ike, Tatsumi; Nonaka, Toru

    In this study, an effective noncontact technique for the detection of free-living human locomotion is proposed. The technique involves the measurement of the electrostatic induction current flowing through a measurement electrode. Further, an occurrence model for the electrostatic induction current generated due to a change in the electric potential of the human body is proposed. This model effectively explains the behavior of the waveform of the electrostatic induction current flowing through the measurement electrode. The obtained results show that the presence of a gait cycle is directly reflected in the electrostatic induction current generated due to walking motion. This suggests that subtle differences in the walking condition can be detected using the proposed technique.

  1. The Advantage of Standing Up to Fight and the Evolution of Habitual Bipedalism in Hominins

    Science.gov (United States)

    Carrier, David R.

    2011-01-01

    Background Many quadrupedal species stand bipedally on their hindlimbs to fight. This posture may provide a performance advantage by allowing the forelimbs to strike an opponent with the range of motion that is intrinsic to high-speed running, jumping, rapid braking and turning; the range of motion over which peak force and power can be produced. Methodology/Principal Findings To test the hypothesis that bipedal (i.e., orthograde) posture provides a performance advantage when striking with the forelimbs, I measured the force and energy produced when human subjects struck from “quadrupedal” (i.e., pronograde) and bipedal postures. Downward and upward directed striking energy was measured with a custom designed pendulum transducer. Side and forward strikes were measured with a punching bag instrumented with an accelerometer. When subjects struck downward from a bipedal posture the work was 43.70±12.59% (mean ± S.E.) greater than when they struck from a quadrupedal posture. Similarly, 47.49±17.95% more work was produced when subjects struck upward from a bipedal stance compared to a quadrupedal stance. Importantly, subjects did 229.69±44.19% more work in downward than upward directed strikes. During side and forward strikes the force impulses were 30.12±3.68 and 43.04±9.00% greater from a bipedal posture than a quadrupedal posture, respectively. Conclusions/Significance These results indicate that bipedal posture does provide a performance advantage for striking with the forelimbs. The mating systems of great apes are characterized by intense male-male competition in which conflict is resolved through force or the threat of force. Great apes often fight from bipedal posture, striking with both the fore- and hindlimbs. These observations, plus the findings of this study, suggest that sexual selection contributed to the evolution of habitual bipedalism in hominins. PMID:21611167

  2. The advantage of standing up to fight and the evolution of habitual bipedalism in hominins.

    Directory of Open Access Journals (Sweden)

    David R Carrier

    Full Text Available BACKGROUND: Many quadrupedal species stand bipedally on their hindlimbs to fight. This posture may provide a performance advantage by allowing the forelimbs to strike an opponent with the range of motion that is intrinsic to high-speed running, jumping, rapid braking and turning; the range of motion over which peak force and power can be produced. METHODOLOGY/PRINCIPAL FINDINGS: To test the hypothesis that bipedal (i.e., orthograde posture provides a performance advantage when striking with the forelimbs, I measured the force and energy produced when human subjects struck from "quadrupedal" (i.e., pronograde and bipedal postures. Downward and upward directed striking energy was measured with a custom designed pendulum transducer. Side and forward strikes were measured with a punching bag instrumented with an accelerometer. When subjects struck downward from a bipedal posture the work was 43.70±12.59% (mean ± S.E. greater than when they struck from a quadrupedal posture. Similarly, 47.49±17.95% more work was produced when subjects struck upward from a bipedal stance compared to a quadrupedal stance. Importantly, subjects did 229.69±44.19% more work in downward than upward directed strikes. During side and forward strikes the force impulses were 30.12±3.68 and 43.04±9.00% greater from a bipedal posture than a quadrupedal posture, respectively. CONCLUSIONS/SIGNIFICANCE: These results indicate that bipedal posture does provide a performance advantage for striking with the forelimbs. The mating systems of great apes are characterized by intense male-male competition in which conflict is resolved through force or the threat of force. Great apes often fight from bipedal posture, striking with both the fore- and hindlimbs. These observations, plus the findings of this study, suggest that sexual selection contributed to the evolution of habitual bipedalism in hominins.

  3. Simulation of aperiodic bipedal sprinting.

    Science.gov (United States)

    Celik, Huseyin; Piazza, Stephen J

    2013-08-01

    Synthesis of legged locomotion through dynamic simulation is useful for exploration of the mechanical and control variables that contribute to efficient gait. Most previous simulations have made use of periodicity constraints, a sensible choice for investigations of steady-state walking or running. Sprinting from rest, however, is aperiodic by nature and this aperiodicity is central to the goal of the movement, as performance is determined in large part by a rapid acceleration phase early in the race. The purpose of this study was to create a novel simulation of aperiodic sprinting using a modified spring-loaded inverted pendulum (SLIP) biped model. The optimal control problem was to find the set of controls that minimized the time for the model to run 20 m, and this problem was solved using a direct multiple shooting algorithm that converts the original continuous time problem into piecewise discrete subproblems. The resulting nonlinear programming problem was solved iteratively using a sequential quadratic programming method. The starting point for the optimizer was an initial guess simulation that was a slow alternating-gait "jogging" simulation developed using proportional-derivative feedback to control trunk attitude, swing leg angle, and leg retraction and extension. The optimized aperiodic sprint simulation solution yielded a substantial improvement in locomotion time over the initial guess (2.79 s versus 6.64 s). Following optimization, the model produced forward impulses at the start of the sprint that were four times greater than those of the initial guess simulation, producing more rapid acceleration. Several gait features demonstrated in the optimized sprint simulation correspond to behaviors of human sprinters: forward trunk lean at the start; straightening of the trunk during acceleration; and a dive at the finish. Optimization resulted in reduced foot contact times (0.065 s versus 0.210 s), but contact times early in the optimized

  4. Three-dimensional data-tracking dynamic optimization simulations of human locomotion generated by direct collocation.

    Science.gov (United States)

    Lin, Yi-Chung; Pandy, Marcus G

    2017-07-05

    The aim of this study was to perform full-body three-dimensional (3D) dynamic optimization simulations of human locomotion by driving a neuromusculoskeletal model toward in vivo measurements of body-segmental kinematics and ground reaction forces. Gait data were recorded from 5 healthy participants who walked at their preferred speeds and ran at 2m/s. Participant-specific data-tracking dynamic optimization solutions were generated for one stride cycle using direct collocation in tandem with an OpenSim-MATLAB interface. The body was represented as a 12-segment, 21-degree-of-freedom skeleton actuated by 66 muscle-tendon units. Foot-ground interaction was simulated using six contact spheres under each foot. The dynamic optimization problem was to find the set of muscle excitations needed to reproduce 3D measurements of body-segmental motions and ground reaction forces while minimizing the time integral of muscle activations squared. Direct collocation took on average 2.7±1.0h and 2.2±1.6h of CPU time, respectively, to solve the optimization problems for walking and running. Model-computed kinematics and foot-ground forces were in good agreement with corresponding experimental data while the calculated muscle excitation patterns were consistent with measured EMG activity. The results demonstrate the feasibility of implementing direct collocation on a detailed neuromusculoskeletal model with foot-ground contact to accurately and efficiently generate 3D data-tracking dynamic optimization simulations of human locomotion. The proposed method offers a viable tool for creating feasible initial guesses needed to perform predictive simulations of movement using dynamic optimization theory. The source code for implementing the model and computational algorithm may be downloaded at http://simtk.org/home/datatracking. Copyright © 2017 Elsevier Ltd. All rights reserved.

  5. GestuRe and ACtion Exemplar (GRACE) video database: stimuli for research on manners of human locomotion and iconic gestures.

    Science.gov (United States)

    Aussems, Suzanne; Kwok, Natasha; Kita, Sotaro

    2017-09-15

    Human locomotion is a fundamental class of events, and manners of locomotion (e.g., how the limbs are used to achieve a change of location) are commonly encoded in language and gesture. To our knowledge, there is no openly accessible database containing normed human locomotion stimuli. Therefore, we introduce the GestuRe and ACtion Exemplar (GRACE) video database, which contains 676 videos of actors performing novel manners of human locomotion (i.e., moving from one location to another in an unusual manner) and videos of a female actor producing iconic gestures that represent these actions. The usefulness of the database was demonstrated across four norming experiments. First, our database contains clear matches and mismatches between iconic gesture videos and action videos. Second, the male actors and female actors whose action videos matched the gestures in the best possible way, perform the same actions in very similar manners and different actions in highly distinct manners. Third, all the actions in the database are distinct from each other. Fourth, adult native English speakers were unable to describe the 26 different actions concisely, indicating that the actions are unusual. This normed stimuli set is useful for experimental psychologists working in the language, gesture, visual perception, categorization, memory, and other related domains.

  6. Locomotion of human skin keratinocytes on polystyrene, fibrin, and collagen substrata and its modification by cell-to-cell contacts.

    Science.gov (United States)

    Drukała, J; Bandura, L; Cieślik, K; Korohoda, W

    2001-01-01

    Epithelial wound repair assures the recovery of the epithelial barrier after wounding. During wound healing epithelial cells migrate to cover the wound surface. The presented experiments were carried out to compare the migration of human keratinocytes from primary and secondary culture on polystyrene, collagen, and fibrin glue used in clinical techniques. The images of migrating keratinocytes were recorded and analyzed using computer-aided methods. The results show that the character of the substrate strongly affects the speed and turning behavior of keratinocytes locomoting over it. The highest motile activity of human skin keratinocytes was found on fibrin glue substratum. It was found that locomotion of freely moving isolated cells was much faster than that of cell sheets. The autologous keratinocytes cultured in vitro were applied with fibrin glue to cover trophic wounds. The transplantation of human autologous keratinocyte suspension in fibrin glue upon long-lasting trophic wounds appeared to induce rapid and permanent wound healing.

  7. The stochastic distribution of available coefficient of friction on quarry tiles for human locomotion.

    Science.gov (United States)

    Chang, Wen-Ruey; Matz, Simon; Chang, Chien-Chi

    2012-01-01

    The available coefficient of friction (ACOF) for human locomotion is the maximum coefficient of friction that can be supported without a slip at the shoe and floor interface. A statistical model was introduced to estimate the probability of slip by comparing the ACOF with the required coefficient of friction, assuming that both coefficients have stochastic distributions. This paper presents an investigation of the stochastic distributions of the ACOF of quarry tiles under dry, water and glycerol conditions. One hundred friction measurements were performed on a walkway under the surface conditions of dry, water and 45% glycerol concentration. The Kolmogorov-Smirnov goodness-of-fit test was used to determine if the distribution of the ACOF was a good fit with the normal, log-normal and Weibull distributions. The results indicated that the ACOF appears to fit the normal and log-normal distributions better than the Weibull distribution for the water and glycerol conditions. However, no match was found between the distribution of ACOF under the dry condition and any of the three continuous distributions evaluated. Based on limited data, a normal distribution might be more appropriate due to its simplicity, practicality and familiarity among the three distributions evaluated.

  8. The stochastic distribution of available coefficient of friction for human locomotion of five different floor surfaces.

    Science.gov (United States)

    Chang, Wen-Ruey; Matz, Simon; Chang, Chien-Chi

    2014-05-01

    The maximum coefficient of friction that can be supported at the shoe and floor interface without a slip is usually called the available coefficient of friction (ACOF) for human locomotion. The probability of a slip could be estimated using a statistical model by comparing the ACOF with the required coefficient of friction (RCOF), assuming that both coefficients have stochastic distributions. An investigation of the stochastic distributions of the ACOF of five different floor surfaces under dry, water and glycerol conditions is presented in this paper. One hundred friction measurements were performed on each floor surface under each surface condition. The Kolmogorov-Smirnov goodness-of-fit test was used to determine if the distribution of the ACOF was a good fit with the normal, log-normal and Weibull distributions. The results indicated that the ACOF distributions had a slightly better match with the normal and log-normal distributions than with the Weibull in only three out of 15 cases with a statistical significance. The results are far more complex than what had heretofore been published and different scenarios could emerge. Since the ACOF is compared with the RCOF for the estimate of slip probability, the distribution of the ACOF in seven cases could be considered a constant for this purpose when the ACOF is much lower or higher than the RCOF. A few cases could be represented by a normal distribution for practical reasons based on their skewness and kurtosis values without a statistical significance. No representation could be found in three cases out of 15. Copyright © 2013 Elsevier Ltd and The Ergonomics Society. All rights reserved.

  9. Understanding variation in human movement - The good and the bad in motor variability

    OpenAIRE

    Ignasiak, Niklas

    2017-01-01

    A stable gait pattern and the ability to maintain upright posture are fundamental motor functions to support human bipedal locomotion. Both gait and balance deteriorate in response to age and pathology. In the context of aging western societies, maintaining secure ambulation is key to ensure the independence and mobility of individuals. Therefore, assessment of the quality of gait and balance performance is an essential aspect in the clinical management of aging as well as diseased population...

  10. OPERANT CONDITIONING OF A SPINAL REFLEX CAN IMPROVE LOCOMOTION AFTER SPINAL CORD INJURY IN HUMANS

    Science.gov (United States)

    Thompson, Aiko K.; Pomerantz, Ferne; Wolpaw, Jonathan R.

    2013-01-01

    Operant conditioning protocols can modify the activity of specific spinal cord pathways and can thereby affect behaviors that use these pathways. To explore the therapeutic application of these protocols, we studied the impact of down-conditioning the soleus H-reflex in people with impaired locomotion caused by chronic incomplete spinal cord injury. After a baseline period in which soleus H-reflex size was measured and locomotion was assessed, subjects completed either 30 H-reflex down-conditioning sessions (DC subjects) or 30 sessions in which the H-reflex was simply measured (Unconditioned (UC) subjects), and locomotion was reassessed. Over the 30 sessions, the soleus H-reflex decreased in two-thirds of the DC subjects (a success rate similar to that in normal subjects) and remained smaller several months later. In these subjects, locomotion became faster and more symmetrical, and the modulation of EMG activity across the step-cycle increased bilaterally. Furthermore, beginning about halfway through the conditioning sessions, all of these subjects commented spontaneously that they were walking faster and farther in their daily lives, and several noted less clonus, easier stepping, and/or other improvements. The H-reflex did not decrease in the other DC subjects or in any of the UC subjects; and their locomotion did not improve. These results suggest that reflex conditioning protocols can enhance recovery of function after incomplete spinal cord injuries and possibly in other disorders as well. Because they are able to target specific spinal pathways, these protocols could be designed to address each individual’s particular deficits, and might thereby complement other rehabilitation methods. PMID:23392666

  11. Design, implementation and stabilization of a Bipedal robot

    Science.gov (United States)

    Nath, Alok; Das, Goutam; Mallick, Anik; Chowdhury, Shovan

    2017-12-01

    In this paper, we have presented the mechanical design and fabrication of a Bipedal walking robot as well as control strategies to be implemented for walking and balance recovery. For this robot, we considered Six Degree of Freedom (D.O.P) in the lower body one at each hip, one at each knee and one at each ankle. Each degree of freedom is powered by a RC servo motor and this robot is controlled by Arduino Mega 2560 micro controller. By balancing center of mass (C.O.M) it walks in rhythmic way as like as human one.

  12. When locomotion is used to interact with the environment: investigation of the link between emotions and the twofold goal-directed locomotion in humans.

    Science.gov (United States)

    Vernazza-Martin, S; Longuet, S; Damry, T; Chamot, J M; Dru, V

    2015-10-01

    Walking as a means to interact with the environment has a twofold goal: body displacement (intermediate goal) and the future action on the environment (final representational goal). This involves different processes that plan, program, and control goal-directed locomotion linked to motivation as an "emotional state," which leads to achieving this twofold goal. The aim of the present study was to determine whether emotional valence associated with the final representational goal influences these processes or whether they depend more on the emotional valence associated with the intermediate goal in young adults. Twenty subjects, aged 18-35 years, were instructed to erase an emotional picture that appeared on a wall as soon as they saw it. They had to press a stop button located 5 m in front of them with their right hand. Their gait was analyzed using a force platform and the Vicon system. The main results suggest that the emotional valence of the intermediate goal has the greatest effect on the processes that organize and modulate goal-directed locomotion. A positive valence facilitates cognitive processes involved in the temporal organization of locomotion. A negative valence disturbs the cognitive processes involved in the spatial organization of the locomotion and online motor control, leading to a deviating trajectory and a final body position that is more distant from the stop button. These results are discussed in line with the motivational direction hypothesis and with the affective meaning of the intended response goal.

  13. The relationship between joint kinetic factors and the walk-run gait transition speed during human locomotion.

    Science.gov (United States)

    Hreljac, Alan; Imamura, Rodney T; Escamilla, Rafael F; Edwards, W Brent; MacLeod, Toran

    2008-05-01

    The primary purpose of this project was to examine whether lower extremity joint kinetic factors are related to the walk-run gait transition during human locomotion. Following determination of the preferred transition speed (PTS), each of the 16 subjects walked down a 25-m runway, and over a floor-mounted force platform at five speeds (70, 80, 90, 100, and 110% of the PTS), and ran over the force platform at three speeds (80, 100, and 120% of the PTS) while being videotaped (240 Hz) from the right sagittal plane. Two-dimensional kinematic data were synchronized with ground reaction force data (960 Hz). After smoothing, ankle and knee joint moments and powers were calculated using standard inverse dynamics calculations. The maximum dorsiflexor moment was the only variable tested that increased as walking speed increased and then decreased when gait changed to a run at the PTS, meeting the criteria set to indicate that this variable influences the walk-run gait transition during human locomotion. This supports previous research suggesting that an important factor in changing gaits at the PTS is the prevention of undue stress in the dorsiflexor muscles.

  14. Compensations during Unsteady Locomotion.

    Science.gov (United States)

    Qiao, Mu; Jindrich, Devin L

    2014-12-01

    Locomotion in a complex environment is often not steady, but the mechanisms used by animals to power and control unsteady locomotion (stability and maneuverability) are not well understood. We use behavioral, morphological, and impulsive perturbations to determine the compensations used during unsteady locomotion. At the level both of the whole-body and of joints, quasi-stiffness models are useful for describing adjustments to the functioning of legs and joints during maneuvers. However, alterations to the mechanics of legs and joints often are distinct for different phases of the step cycle or for specific joints. For example, negotiating steps involves independent changes of leg stiffness during compression and thrust phases of stance. Unsteady locomotion also involves parameters that are not part of the simplest reduced-parameter models of locomotion (e.g., the spring-loaded inverted pendulum) such as moments of the hip joint. Extensive coupling among translational and rotational parameters must be taken into account to stabilize locomotion or maneuver. For example, maneuvers with morphological perturbations (increased rotational inertial turns) involve changes to several aspects of movement, including the initial conditions of rotation and ground-reaction forces. Coupled changes to several parameters may be employed to control maneuvers on a trial-by-trial basis. Compensating for increased rotational inertia of the body during turns is facilitated by the opposing effects of several mechanical and behavioral parameters. However, the specific rules used by animals to control translation and rotation of the body to maintain stability or maneuver have not been fully characterized. We initiated direct-perturbation experiments to investigate the strategies used by humans to maintain stability following center-of-mass (COM) perturbations. When walking, humans showed more resistance to medio-lateral perturbations (lower COM displacement). However, when running, humans

  15. A Novel Design for Adjustable Stiffness Artificial Tendon for the Ankle Joint of a Bipedal Robot: Modeling & Simulation

    Directory of Open Access Journals (Sweden)

    Aiman Omer

    2015-12-01

    Full Text Available Bipedal humanoid robots are expected to play a major role in the future. Performing bipedal locomotion requires high energy due to the high torque that needs to be provided by its legs’ joints. Taking the WABIAN-2R as an example, it uses harmonic gears in its joint to increase the torque. However, using such a mechanism increases the weight of the legs and therefore increases energy consumption. Therefore, the idea of developing a mechanism with adjustable stiffness to be connected to the leg joint is introduced here. The proposed mechanism would have the ability to provide passive and active motion. The mechanism would be attached to the ankle pitch joint as an artificial tendon. Using computer simulations, the dynamical performance of the mechanism is analytically evaluated.

  16. Asymmetric interlimb role-sharing in mechanical power during human sideways locomotion.

    Science.gov (United States)

    Yamashita, Daichi; Fujii, Keisuke; Yoshioka, Shinsuke; Isaka, Tadao; Kouzaki, Motoki

    2017-05-24

    Sideways movement at a wide variety of speeds is required in daily life and sports. The purpose of this study was to identify the characteristics of asymmetry in power output between lower limbs during sideways gait patterns. Seven healthy men performed steady-state sideways locomotion at various speeds. The mechanical external power of each limb was calculated and decomposed to the lateral and vertical components by the center of mass velocity and ground reaction force. We acquired data from 126 steps of sideways walking at 0.44-1.21m/s, and from 41 steps of sideways galloping at 1.04-3.00m/s. The results showed asymmetric power production between the limbs during sideways locomotion. During sideways walking, the trailing limb predominantly produced positive external power and the leading limb produced predominantly negative external power, and these amplitudes increased with step speed. In contrast, during sideways galloping, negative and subsequent positive power production was observed in both limbs. These differences in asymmetric interlimb role-sharing were mainly due to the vertical component. During sideways galloping, the trailing limb absorbs vertical power produced by the leading limb due to the longer flight time. This characteristic of vertical power production in the trailing limb may explain the presence of a double-support phase, which is not observed during forward running, even at high speeds. Our results will help to elucidate the asymmetric movements of the limbs in lateral directions at various speeds. Copyright © 2017 Elsevier Ltd. All rights reserved.

  17. Walking like dinosaurs: chickens with artificial tails provide clues about non-avian theropod locomotion.

    Directory of Open Access Journals (Sweden)

    Bruno Grossi

    Full Text Available Birds still share many traits with their dinosaur ancestors, making them the best living group to reconstruct certain aspects of non-avian theropod biology. Bipedal, digitigrade locomotion and parasagittal hindlimb movement are some of those inherited traits. Living birds, however, maintain an unusually crouched hindlimb posture and locomotion powered by knee flexion, in contrast to the inferred primitive condition of non-avian theropods: more upright posture and limb movement powered by femur retraction. Such functional differences, which are associated with a gradual, anterior shift of the centre of mass in theropods along the bird line, make the use of extant birds to study non-avian theropod locomotion problematic. Here we show that, by experimentally manipulating the location of the centre of mass in living birds, it is possible to recreate limb posture and kinematics inferred for extinct bipedal dinosaurs. Chickens raised wearing artificial tails, and consequently with more posteriorly located centre of mass, showed a more vertical orientation of the femur during standing and increased femoral displacement during locomotion. Our results support the hypothesis that gradual changes in the location of the centre of mass resulted in more crouched hindlimb postures and a shift from hip-driven to knee-driven limb movements through theropod evolution. This study suggests that, through careful experimental manipulations during the growth phase of ontogeny, extant birds can potentially be used to gain important insights into previously unexplored aspects of bipedal non-avian theropod locomotion.

  18. Walking like dinosaurs: chickens with artificial tails provide clues about non-avian theropod locomotion.

    Science.gov (United States)

    Grossi, Bruno; Iriarte-Díaz, José; Larach, Omar; Canals, Mauricio; Vásquez, Rodrigo A

    2014-01-01

    Birds still share many traits with their dinosaur ancestors, making them the best living group to reconstruct certain aspects of non-avian theropod biology. Bipedal, digitigrade locomotion and parasagittal hindlimb movement are some of those inherited traits. Living birds, however, maintain an unusually crouched hindlimb posture and locomotion powered by knee flexion, in contrast to the inferred primitive condition of non-avian theropods: more upright posture and limb movement powered by femur retraction. Such functional differences, which are associated with a gradual, anterior shift of the centre of mass in theropods along the bird line, make the use of extant birds to study non-avian theropod locomotion problematic. Here we show that, by experimentally manipulating the location of the centre of mass in living birds, it is possible to recreate limb posture and kinematics inferred for extinct bipedal dinosaurs. Chickens raised wearing artificial tails, and consequently with more posteriorly located centre of mass, showed a more vertical orientation of the femur during standing and increased femoral displacement during locomotion. Our results support the hypothesis that gradual changes in the location of the centre of mass resulted in more crouched hindlimb postures and a shift from hip-driven to knee-driven limb movements through theropod evolution. This study suggests that, through careful experimental manipulations during the growth phase of ontogeny, extant birds can potentially be used to gain important insights into previously unexplored aspects of bipedal non-avian theropod locomotion.

  19. Estimation of skeletal movement of human locomotion from body surface shapes using dynamic spatial video camera (DSVC) and 4D human model.

    Science.gov (United States)

    Saito, Toshikuni; Suzuki, Naoki; Hattori, Asaki; Suzuki, Shigeyuki; Hayashibe, Mitsuhiro; Otake, Yoshito

    2006-01-01

    We have been developing a DSVC (Dynamic Spatial Video Camera) system to measure and observe human locomotion quantitatively and freely. A 4D (four-dimensional) human model with detailed skeletal structure, joint, muscle, and motor functionality has been built. The purpose of our research was to estimate skeletal movements from body surface shapes using DSVC and the 4D human model. For this purpose, we constructed a body surface model of a subject and resized the standard 4D human model to match with geometrical features of the subject's body surface model. Software that integrates the DSVC system and the 4D human model, and allows dynamic skeletal state analysis from body surface movement data was also developed. We practically applied the developed system in dynamic skeletal state analysis of a lower limb in motion and were able to visualize the motion using geometrically resized standard 4D human model.

  20. Electrokinetic Locomotion

    Science.gov (United States)

    Moran, Jeffrey Lawrence

    occurring in the interfacial layer near the particle/solution interface, which play a key role in the locomotion. The model enables one to understand how the rods' motion depends on the properties of their environment, such as hydrogen peroxide concentration, solution electrical conductivity, and solution viscosity. The numerical simulations are complemented with a scaling analysis based on the governing equations, which makes definite, verifiable predictions of these dependences. One of the most important trends that has been observed experimentally is the significant decrease in speed induced by adding sub-millimolar concentrations of inert electrolyte. It is important to understand the physical reasons for the electrolyte-induced speed decrease, in order to know whether it is fundamental to this propulsion mechanism, or if there is some feasible means to circumvent it. Successful completion of this research will result in an improved understanding of the capabilities, as well as the risks and limits of applicability, of the bimetallic nanomotors for applications in nanotechnology and nanomedicine. Potential applications of the rods include the targeted delivery of drugs in the human body, sensing of chemical impurities in drinking water, and as engines to drive fabrication of microscale structures.

  1. Evolution of the Human Pelvis.

    Science.gov (United States)

    Rosenberg, Karen R; DeSilva, Jeremy M

    2017-05-01

    No bone in the human postcranial skeleton differs more dramatically from its match in an ape skeleton than the pelvis. Humans have evolved a specialized pelvis, well-adapted for the rigors of bipedal locomotion. Precisely how this happened has been the subject of great interest and contention in the paleoanthropological literature. In part, this is because of the fragility of the pelvis and its resulting rarity in the human fossil record. However, new discoveries from Miocene hominoids and Plio-Pleistocene hominins have reenergized debates about human pelvic evolution and shed new light on the competing roles of bipedal locomotion and obstetrics in shaping pelvic anatomy. In this issue, 13 papers address the evolution of the human pelvis. Here, we summarize these new contributions to our understanding of pelvic evolution, and share our own thoughts on the progress the field has made, and the questions that still remain. Anat Rec, 300:789-797, 2017. © 2017 Wiley Periodicals, Inc. © 2017 Wiley Periodicals, Inc.

  2. Locomotive and reptation motion induced by internal force and friction.

    Science.gov (United States)

    Sakaguchi, Hidetsugu; Ishihara, Taisuke

    2011-06-01

    We propose a simple mechanical model of locomotion induced by internal force and friction. We first construct a system of two elements as an analog of the bipedal motion. The internal force does not induce a directional motion by itself because of the action-reaction law, but a directional motion becomes possible by the control of the frictional force. The efficiency of these model systems is studied using an analogy to the heat engine. As a modified version of the two-element model, we construct a model that exhibits a bipedal motion similar to kinesin's motion of molecular motor. Next, we propose a linear chain model and a ladder model as an extension of the original two-element model. We find a transition from a straight to a snake-like motion in a ladder model by changing the strength of the internal force.

  3. Decentralized Feedback Controllers for Robust Stabilization of Periodic Orbits of Hybrid Systems: Application to Bipedal Walking.

    Science.gov (United States)

    Hamed, Kaveh Akbari; Gregg, Robert D

    2017-07-01

    This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially and robustly stabilize periodic orbits for hybrid dynamical systems against possible uncertainties in discrete-time phases. The algorithm assumes a family of parameterized and decentralized nonlinear controllers to coordinate interconnected hybrid subsystems based on a common phasing variable. The exponential and [Formula: see text] robust stabilization problems of periodic orbits are translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities. By investigating the properties of the Poincaré map, some sufficient conditions for the convergence of the iterative algorithm are presented. The power of the algorithm is finally demonstrated through designing a set of robust stabilizing local nonlinear controllers for walking of an underactuated 3D autonomous bipedal robot with 9 degrees of freedom, impact model uncertainties, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg.

  4. Oreopithecus was a bipedal ape after all: Evidence from the iliac cancellous architecture

    Science.gov (United States)

    Rook, Lorenzo; Bondioli, Luca; Köhler, Meike; Moyà-Solà, Salvador; Macchiarelli, Roberto

    1999-01-01

    Textural properties and functional morphology of the hip bone cancellous network of Oreopithecus bambolii, a 9- to 7-million-year-old Late Miocene hominoid from Italy, provide insights into the postural and locomotor behavior of this fossil ape. Digital image processing of calibrated hip bone radiographs reveals the occurrence of trabecular features, which, in humans and fossil hominids, are related to vertical support of the body weight, i.e., to bipedality. PMID:10411955

  5. Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion.

    Science.gov (United States)

    Chevallereau, Christine; Boyer, Frédéric; Porez, Mathieu; Mauny, Johan; Aoustin, Yannick

    2017-06-20

    To a large extent, robotics locomotion can be viewed as cyclic motions, named gaits. Due to the high complexity of the locomotion dynamics, to find the control laws that ensure an expected gait and its stability with respect to external perturbations, is a challenging issue for feedback control. To address this issue, a promising way is to take inspiration from animals that intensively exploit the interactions of the passive degrees of freedom of their body with their physical surroundings, to outsource the high-level exteroceptive feedback control to low-level proprioceptive ones. In this case, passive interactions can ensure most of the expected control goals. In this article, we propose a methodological framework to study the role of morphology in the design of locomotion gaits and their stability. This framework ranges from modelling to control aspects, and is illustrated through three examples from bio-inspired locomotion: a three-dimensional micro air vehicle in hovering flight, a pendular planar climber and a bipedal planar walker. In these three cases, we will see how simple considerations based on the morphology of the body can ensure the existence of passive stable gaits without requiring any high-level control.

  6. Theoretical analysis of the state of balance in bipedal walking.

    Science.gov (United States)

    Firmani, Flavio; Park, Edward J

    2013-04-01

    This paper presents a theoretical analysis based on classic mechanical principles of balance of forces in bipedal walking. Theories on the state of balance have been proposed in the area of humanoid robotics and although the laws of classical mechanics are equivalent to both humans and humanoid robots, the resulting motion obtained with these theories is unnatural when compared to normal human gait. Humanoid robots are commonly controlled using the zero moment point (ZMP) with the condition that the ZMP cannot exit the foot-support area. This condition is derived from a physical model in which the biped must always walk under dynamically balanced conditions, making the centre of pressure (CoP) and the ZMP always coincident. On the contrary, humans follow a different strategy characterized by a 'controlled fall' at the end of the swing phase. In this paper, we present a thorough theoretical analysis of the state of balance and show that the ZMP can exit the support area, and its location is representative of the imbalance state characterized by the separation between the ZMP and the CoP. Since humans exhibit this behavior, we also present proof-of-concept results of a single subject walking on an instrumented treadmill at different speeds (from slow 0.7 m/s to fast 2.0 m/s walking with increments of 0.1 m/s) with the motion recorded using an optical motion tracking system. In order to evaluate the experimental results of this model, the coefficient of determination (R2) is used to correlate the measured ground reaction forces and the resultant of inertial and gravitational forces (anteroposterior R² = 0.93, mediolateral R² = 0.89, and vertical R² = 0.86) indicating that there is a high correlation between the measurements. The results suggest that the subject exhibits a complete dynamically balanced gait during slow speeds while experiencing a controlled fall (end of swing phase) with faster speeds. This is quantified with the root-mean-square deviation (RMSD

  7. Accidental visualization of mesenteric lymph nodes by bipedal lymphography

    Energy Technology Data Exchange (ETDEWEB)

    Bastholt, L.; Pfeiffer, P.

    1983-03-01

    A case is presented of mesenteric lymph nodes filling accidentally by bipedal lymphography. The radiographs were interpreted erroneously as pathologic; consequently the patient was treated with chemotherapy and radiotherapy. The correct diagnosis was made later by explorative laparotomy.

  8. Authropomorphic robots and bipedal walking; Ningengata robot to nisoku hoko

    Energy Technology Data Exchange (ETDEWEB)

    Takanishi, A. [Waseda University, Tokyo (Japan). School of Science and Engineering

    1998-03-05

    This paper takes a general view on studies that have been done to date on mechanism and control of bipedal walking of anthromorphic robots. The paper describes the following matters: a group in Waseda University had a success in making smooth walking automatically with a bipedal robot of air pressure driven type with nine degrees of freedom (1971); a group in Nagoya University has succeeded in controlling dynamic bipedal walking (1981); a group in Waseda University has realized to have a bipedal robot make three-dimensional dynamic walking (1984); a bipedal walking control system was proposed, which is of an upper body compensation type that can assure safety in walking by motions of the upper body even if motions are given to the lower limbs randomly (1986); a success was attained in dynamic walking on a road surface with small irregularities that are unknown to a robot (1994); and development was made on a bipedal Humanoid having 35 degrees of freedom in driving (a robot which can walk holding a cage without dropping things in it, and can dance moving its arms wildly) (1997). 20 refs., 3 figs.

  9. Elastic coupling of limb joints enables faster bipedal walking.

    Science.gov (United States)

    Dean, J C; Kuo, A D

    2009-06-06

    The passive dynamics of bipedal limbs alone are sufficient to produce a walking motion, without need for control. Humans augment these dynamics with muscles, actively coordinated to produce stable and economical walking. Present robots using passive dynamics walk much slower, perhaps because they lack elastic muscles that couple the joints. Elastic properties are well known to enhance running gaits, but their effect on walking has yet to be explored. Here we use a computational model of dynamic walking to show that elastic joint coupling can help to coordinate faster walking. In walking powered by trailing leg push-off, the model's speed is normally limited by a swing leg that moves too slowly to avoid stumbling. A uni-articular spring about the knee allows faster but uneconomical walking. A combination of uni-articular hip and knee springs can speed the legs for improved speed and economy, but not without the swing foot scuffing the ground. Bi-articular springs coupling the hips and knees can yield high economy and good ground clearance similar to humans. An important parameter is the knee-to-hip moment arm that greatly affects the existence and stability of gaits, and when selected appropriately can allow for a wide range of speeds. Elastic joint coupling may contribute to the economy and stability of human gait.

  10. Full-Body Animation of Human Locomotion in Reduced Gravity Using Physics-Based Control.

    Science.gov (United States)

    Kim, Yun-Hyeong; Kwon, Taesoo; Song, Daeun; Kim, Young J

    2017-01-01

    The proposed physics-based approach can generate stable and robust full-body animation of various gaits under different gravitational conditions. As input, this method takes motion-captured human motions in the Earth's gravity and builds an inverted-pendulum on cart (IPC) control model, which is analyzed using the motion-captured data. The authors use a pre-estimation model based on the Froude number to predict the desired velocity and stride frequency of a character model in hypogravity and then generate full-body animation using a pendulum trajectory generator, motion planner, and tracking.

  11. Fundamentals of soft robot locomotion.

    Science.gov (United States)

    Calisti, M; Picardi, G; Laschi, C

    2017-05-01

    Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human-robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. © 2017 The Author(s).

  12. Mutant human torsinA, responsible for early-onset dystonia, dominantly suppresses GTPCH expression, dopamine levels and locomotion in Drosophila melanogaster

    Directory of Open Access Journals (Sweden)

    Noriko Wakabayashi-Ito

    2015-07-01

    Full Text Available Dystonia represents the third most common movement disorder in humans with over 20 genetic loci identified. TOR1A (DYT1, the gene responsible for the most common primary hereditary dystonia, encodes torsinA, an AAA ATPase family protein. Most cases of DYT1 dystonia are caused by a 3 bp (ΔGAG deletion that results in the loss of a glutamic acid residue (ΔE302/303 in the carboxyl terminal region of torsinA. This torsinAΔE mutant protein has been speculated to act in a dominant-negative manner to decrease activity of wild type torsinA. Drosophila melanogaster has a single torsin-related gene, dtorsin. Null mutants of dtorsin exhibited locomotion defects in third instar larvae. Levels of dopamine and GTP cyclohydrolase (GTPCH proteins were severely reduced in dtorsin-null brains. Further, the locomotion defect was rescued by the expression of human torsinA or feeding with dopamine. Here, we demonstrate that human torsinAΔE dominantly inhibited locomotion in larvae and adults when expressed in neurons using a pan-neuronal promoter Elav. Dopamine and tetrahydrobiopterin (BH4 levels were significantly reduced in larval brains and the expression level of GTPCH protein was severely impaired in adult and larval brains. When human torsinA and torsinAΔE were co-expressed in neurons in dtorsin-null larvae and adults, the locomotion rates and the expression levels of GTPCH protein were severely reduced. These results support the hypothesis that torsinAΔE inhibits wild type torsinA activity. Similarly, neuronal expression of a Drosophila DtorsinΔE equivalent mutation dominantly inhibited larval locomotion and GTPCH protein expression. These results indicate that both torsinAΔE and DtorsinΔE act in a dominant-negative manner. We also demonstrate that Dtorsin regulates GTPCH expression at the post-transcriptional level. This Drosophila model of DYT1 dystonia provides an important tool for studying the differences in the molecular function between the

  13. Contribution of afferent feedback to the soleus muscle activity during human locomotion

    DEFF Research Database (Denmark)

    Mazzaro, Nazarena; Grey, Michael James; Sinkjær, Thomas

    2005-01-01

    During the stance phase of the human step cycle, the ankle undergoes a natural dorsiflexion that stretches the soleus muscle. The afferent feedback resulting from this stretch enhances the locomotor drive. In this study a robotic actuator was used to slightly enhance or reduce the natural ankle...... enhancements was reduced when the group Ia afferents were blocked with peripheral ischemia at the thigh, and during high-frequency Achilles tendon vibration. However, neither ischemia nor tendon vibration affected the decrements in the SOL EMG during the dorsiflexion reductions. These findings give evidence...... of the contribution of afferent feedback to the SOL activity in an ongoing basis during the stance phase. The results suggest that mainly feedback from the group Ia pathways is responsible for the increments in the SOL EMG during the dorsiflexion enhancements. However, the decrements in the SOL activity might...

  14. Human and avian running on uneven ground: a model-based comparison

    Science.gov (United States)

    Birn-Jeffery, A. V.; Blum, Y.

    2016-01-01

    Birds and humans are successful bipedal runners, who have individually evolved bipedalism, but the extent of the similarities and differences of their bipedal locomotion is unknown. In turn, the anatomical differences of their locomotor systems complicate direct comparisons. However, a simplifying mechanical model, such as the conservative spring–mass model, can be used to describe both avian and human running and thus, provides a way to compare the locomotor strategies that birds and humans use when running on level and uneven ground. Although humans run with significantly steeper leg angles at touchdown and stiffer legs when compared with cursorial ground birds, swing-leg adaptations (leg angle and leg length kinematics) used by birds and humans while running appear similar across all types of uneven ground. Nevertheless, owing to morphological restrictions, the crouched avian leg has a greater range of leg angle and leg length adaptations when coping with drops and downward steps than the straight human leg. On the other hand, the straight human leg seems to use leg stiffness adaptation when coping with obstacles and upward steps unlike the crouched avian leg posture. PMID:27655670

  15. Neural mechanisms influencing interlimb coordination during locomotion in humans: presynaptic modulation of forearm H-reflexes during leg cycling.

    Directory of Open Access Journals (Sweden)

    Tsuyoshi Nakajima

    Full Text Available Presynaptic inhibition of transmission between Ia afferent terminals and alpha motoneurons (Ia PSI is a major control mechanism associated with soleus H-reflex modulation during human locomotion. Rhythmic arm cycling suppresses soleus H-reflex amplitude by increasing segmental Ia PSI. There is a reciprocal organization in the human nervous system such that arm cycling modulates H-reflexes in leg muscles and leg cycling modulates H-reflexes in forearm muscles. However, comparatively little is known about mechanisms subserving the effects from leg to arm. Using a conditioning-test (C-T stimulation paradigm, the purpose of this study was to test the hypothesis that changes in Ia PSI underlie the modulation of H-reflexes in forearm flexor muscles during leg cycling. Subjects performed leg cycling and static activation while H-reflexes were evoked in forearm flexor muscles. H-reflexes were conditioned with either electrical stimuli to the radial nerve (to increase Ia PSI; C-T interval  = 20 ms or to the superficial radial (SR nerve (to reduce Ia PSI; C-T interval  = 37-47 ms. While stationary, H-reflex amplitudes were significantly suppressed by radial nerve conditioning and facilitated by SR nerve conditioning. Leg cycling suppressed H-reflex amplitudes and the amount of this suppression was increased with radial nerve conditioning. SR conditioning stimulation removed the suppression of H-reflex amplitude resulting from leg cycling. Interestingly, these effects and interactions on H-reflex amplitudes were observed with subthreshold conditioning stimulus intensities (radial n., ∼0.6×MT; SR n., ∼ perceptual threshold that did not have clear post synaptic effects. That is, did not evoke reflexes in the surface EMG of forearm flexor muscles. We conclude that the interaction between leg cycling and somatosensory conditioning of forearm H-reflex amplitudes is mediated by modulation of Ia PSI pathways. Overall our results support a

  16. Diagnosis of lymphoma using bipedal lymphangiography

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Hyun; Rho, Hee Jeong; Song, Kyung Sup; Kim, Choon Yul; Bahk, Yong Whee [Catholic University Medical College, Seoul (Korea, Republic of)

    1987-08-15

    Bipedal lymphangiography is widely accepted as a useful adjunct in the staging, treatment and follow up of the selected patients with non-Hodgkin's lymphoma and Hodgkin's disease. Lymph angiographic findings of 33 cases of lymphomas were analysed in an effort to access and improve the criteria for the lymph angiographic diagnosis in lymphoma. The clinical materials consisted of 22 non-Hodgkin's lymphomas and 11 Hodgkin's diseases. The results were as follows: 1. In lymphatic phase, displacement of lymphatic vessels, early filling of lymph nodes and collateral lymphatic vessels were 57.6% and 42.2% respectively. 2. In ductal phase, lymph node enlargement, increased number of lymph nodes, filling defects of lymph node, persistent filling of lymphatic vessels, discontinued lymphatic chain, irregular marginal filling defect, foamy pattern of lymph node and abnormal position of lymph nodes (increased spine-to-node distance) were 84.8% 84.8%, 72.2%, 57.6%, 54.5%, 51.5% and 48.5%, respectively. 3. The mean diameter of lymph node with normal architecture was 1.0cm, and that of abnormal architecture node was 2.0cm. 4. The order of frequency of abnormal findings was external iliac, para-aortic, inguinal and common iliac node groups. 5. Clinical stage I and II were readjusted to stage III in 54.5%.

  17. Disease consequences of human adaptation

    Directory of Open Access Journals (Sweden)

    Justin C. Fay

    2013-12-01

    Full Text Available Adaptive evolution has provided us with a unique set of characteristics that define us as humans, including morphological, physiological and cellular changes. Yet, natural selection provides no assurances that adaptation is without human health consequences; advantageous mutations will increase in frequency so long as there is a net gain in fitness. As such, the current incidence of human disease can depend on previous adaptations. Here, I review genome-wide and gene-specific studies in which adaptive evolution has played a role in shaping human genetic disease. In addition to the disease consequences of adaptive phenotypes, such as bipedal locomotion and resistance to certain pathogens, I review evidence that adaptive mutations have influenced the frequency of linked disease alleles through genetic hitchhiking. Taken together, the links between human adaptation and disease highlight the importance of their combined influence on functional variation within the human genome and offer opportunities to discover and characterize such variation.

  18. Maneuvers during legged locomotion

    Science.gov (United States)

    Jindrich, Devin L.; Qiao, Mu

    2009-06-01

    Maneuverability is essential for locomotion. For animals in the environment, maneuverability is directly related to survival. For humans, maneuvers such as turning are associated with increased risk for injury, either directly through tissue loading or indirectly through destabilization. Consequently, understanding the mechanics and motor control of maneuverability is a critical part of locomotion research. We briefly review the literature on maneuvering during locomotion with a focus on turning in bipeds. Walking turns can use one of several different strategies. Anticipation can be important to adjust kinematics and dynamics for smooth and stable maneuvers. During running, turns may be substantially constrained by the requirement for body orientation to match movement direction at the end of a turn. A simple mathematical model based on the requirement for rotation to match direction can describe leg forces used by bipeds (humans and ostriches). During running turns, both humans and ostriches control body rotation by generating fore-aft forces. However, whereas humans must generate large braking forces to prevent body over-rotation, ostriches do not. For ostriches, generating the lateral forces necessary to change movement direction results in appropriate body rotation. Although ostriches required smaller braking forces due in part to increased rotational inertia relative to body mass, other movement parameters also played a role. Turning performance resulted from the coordinated behavior of an integrated biomechanical system. Results from preliminary experiments on horizontal-plane stabilization support the hypothesis that controlling body rotation is an important aspect of stable maneuvers. In humans, body orientation relative to movement direction is rapidly stabilized during running turns within the minimum of two steps theoretically required to complete analogous maneuvers. During straight running and cutting turns, humans exhibit spring-mass behavior in the

  19. Enforced bipedal downhill running induces Achilles tendinosis in rats.

    Science.gov (United States)

    Ng, Gabriel Yin-Fat; Chung, Polly Yee-Man; Wang, Jenny Shijie; Cheung, Roy Tsz-Hei

    2011-01-01

    Enforced downhill running has been reported to induce tendinosis in the rat supraspinatus tendon but similar exercise failed to induce Achilles tendinosis in this animal. Due to the presence of acromial arch in the shoulder, accessing the supraspinatus tendon with physical modalities is difficult; thus this model may not be suitable for studying the treatment for tendinosis. To develop a rat model for Achilles tendinosis, we tested 14 mature Sprague-Dawley rats by dividing them into 2 groups of 7 each. The experimental group was subjected to a daily enforced downhill bipedal running program by suspending their upper bodies so that they ran with their hind limbs on a treadmill for 1 hr/day for 8 weeks. The downward inclination was 20 degrees and the speed was 17 m/min. The animals in the control group did not undergo any exercise. After 8 weeks, the Achilles tendons were harvested and subjected to histological and biomechanical analysis. Histological examination revealed tenocyte proliferation, change in tenocytes appearance, and collagen bundle disintegration in the running group. The biomechanical testing revealed significant decrease in stiffness (p = 0.002) and ultimate tensile strength (p = 0.016) in the running group than in the control group. Both the histological and biomechanical findings are suggestive of changes in the tendon of the running group that resembled the pathological changes of tendinosis in human. This new model of Achilles tendinosis in rat will be useful for studying the etiology and subsequent management strategies of this condition.

  20. Locomotion and posture from the common hominoid ancestor to fully modern hominins, with special reference to the last common panin/hominin ancestor

    Science.gov (United States)

    Crompton, R H; Vereecke, E E; Thorpe, S K S

    2008-01-01

    Based on our knowledge of locomotor biomechanics and ecology we predict the locomotion and posture of the last common ancestors of (a) great and lesser apes and their close fossil relatives (hominoids); (b) chimpanzees, bonobos and modern humans (hominines); and (c) modern humans and their fossil relatives (hominins). We evaluate our propositions against the fossil record in the context of a broader review of evolution of the locomotor system from the earliest hominoids of modern aspect (crown hominoids) to early modern Homo sapiens. While some early East African stem hominoids were pronograde, it appears that the adaptations which best characterize the crown hominoids are orthogrady and an ability to abduct the arm above the shoulder – rather than, as is often thought, manual suspension sensu stricto. At 7–9 Ma (not much earlier than the likely 4–8 Ma divergence date for panins and hominins, see Bradley, 2008) there were crown hominoids in southern Europe which were adapted to moving in an orthograde posture, supported primarily on the hindlimb, in an arboreal, and possibly for Oreopithecus, a terrestrial context. By 7 Ma, Sahelanthropus provides evidence of a Central African hominin, panin or possibly gorilline adapted to orthogrady, and both orthogrady and habitually highly extended postures of the hip are evident in the arboreal East African protohominin Orrorin at 6 Ma. If the traditional idea that hominins passed through a terrestrial ‘knuckle-walking’ phase is correct, not only does it have to be explained how a quadrupedal gait typified by flexed postures of the hindlimb could have preadapted the body for the hominin acquisition of straight-legged erect bipedality, but we would have to accept a transition from stem-hominoid pronogrady to crown hominoid orthogrady, back again to pronogrady in the African apes and then back to orthogrady in hominins. Hand-assisted arboreal bipedality, which is part of a continuum of orthograde behaviours, is used by

  1. Artificial locomotion control

    DEFF Research Database (Denmark)

    Azevedo, Christine; Poignet, Philippe; Espiau, Bernard

    2004-01-01

    This paper concerns the simultaneous synthesis and control of walking gaits for biped robots. The goal is to propose an adaptable and reactive control law for two-legged machines. The problem is addressed with human locomotion as a reference. The starting point of our work is an analysis of human...... walking from descriptive (biomechanics) as well as explicative (neuroscience and physiology) points of view, the objective being to stress the relevant elements for the approach of robot control. The adopted principles are then: no joint trajectory tracking; explicit distinction and integration...... of postural and walking control; use of evolutive optimization objectives; on-line event handling and environment adaptation and anticipation. This leads to the synthesis of an original control scheme based on non-linear model predictive control: Trajectory Free NMPC. The movement is specified implicitly...

  2. Computer Simulation Study of Human Locomotion with a Three-Dimensional Entire-Body Neuro-Musculo-Skeletal Model

    Science.gov (United States)

    Hase, Kazunori; Yokoi, Takashi

    In the present study, the computer simulation technique to autonomously generate running motion from walking was developed using a three-dimensional entire-body neuro-musculo-skeletal model. When maximizing locomotive speed was employed as the evaluative criterion, the initial walking pattern could not transition to a valid running motion. When minimizing the period of foot-ground contact was added to this evaluative criterion, the simulation model autonomously produced appropriate three-dimensional running. Changes in the neuronal system showed the fatigue coefficient of the neural oscillators to reduce as locomotion patterns transitioned from walking to running. Then, when the running speed increased, the amplitude of the non-specific stimulus from the higher center increased. These two changes indicate mean that the improvement in responsiveness of the neuronal system is important for the transition process from walking to running, and that the comprehensive activation level of the neuronal system is essential in the process of increasing running speed.

  3. Chondroitinase ABC improves basic and skilled locomotion in spinal cord injured cats.

    Science.gov (United States)

    Tester, Nicole J; Howland, Dena R

    2008-02-01

    Chondroitin sulfate proteoglycans (CSPGs) are upregulated in the central nervous system following injury. Chondroitin sulfate glycosaminoglycan (CS GAG) side chains substituted on this family of molecules contribute to the limited functional recovery following injury by restricting axonal growth and synaptic plasticity. In the current study, the effects of degrading CS GAGs with Chondroitinase ABC (Ch'ase ABC) in the injured spinal cords of adult cats were assessed. Three groups were evaluated for 5 months following T10 hemisections: lesion-only, lesion+control, and lesion+Ch'ase ABC. Intraspinal control and Ch'ase ABC treatments to the lesion site began immediately after injury and continued every other day, for a total of 15 treatments, using an injectable port system. Delivery and in vivo cleavage were verified anatomically in a subset of cats across the treatment period. Recovery of skilled locomotion (ladder, peg, and beam) was significantly accelerated, on average, by >3 weeks in Ch'ase ABC-treated cats compared to controls. Ch'ase ABC-treated cats also showed greater recovery of specific skilled locomotor features including intralimb movement patterns and significantly greater paw placement onto pegs. Although recovery of basic locomotion (bipedal treadmill and overground) was not accelerated, intralimb movement patterns were more normal in the Ch'ase ABC-treated cats. Qualitative assessment of serotonergic immunoreactivity also suggested that Ch'ase ABC treatment enhanced plasticity. Finally, analyses using fluorophore-assisted carbohydrate electrophoresis (FACE) indicate CS GAG content is similar in cat and human. These findings show, for the first time, that intraspinal cleavage of CS GAGs can enhance recovery of function following spinal cord injury in large animals with sophisticated motor behaviors and axonal growth requirements similar to those encountered in humans.

  4. Homeothermy and primate bipedalism: is water shortage or solar radiation the main threat to baboon (Papio hamadryas) homeothermy?

    Science.gov (United States)

    Mitchell, Duncan; Fuller, Andrea; Maloney, Shane K

    2009-05-01

    Other than the hominin lineage, baboons are the diurnally active primates that have colonized the arid plains of Africa most successfully. While the hominin lineage adopted bipedalism before colonizing the open, dry plains, baboons retained a quadrupedal mode of locomotion. Because bipedalism has been considered to reduce the thermoregulatory stress of inhabiting open dry plains, we investigated how baboons cope with thermal loads and water restriction. Using implanted data loggers, we measured abdominal temperature every 5 min in six unrestrained baboons while they were exposed to simulated desert conditions (15 degrees C at night rising to 35 degrees C during the day, with and without extra radiant heating), or an ambient temperature of 22 degrees C. At 22 degrees C, core temperature averaged 37.9 degrees C and cycled nychthemerally by 1.7 degrees C. Mean, minimum, and maximum daily core temperatures in euhydrated baboons in the simulated desert environments did not differ from the temperatures displayed in the 22 degrees C environment, even when radiant heating was applied. At 22 degrees C, restricting water intake did not affect core temperature. During the desert simulations, maximum core temperature increased significantly on each day of water deprivation, with the highest temperatures (>40 degrees C) on the third day in the simulation that included radiant heat. When drinking water heated to 38 degrees C was returned, core temperature decreased rapidly to a level lower than normal for that time of day. We conclude that baboons with access to water can maintain homeothermy in the face of high air temperatures and radiant heat loads, but that a lack of access to drinking water poses a major threat to baboon homeothermy. We speculate that any competitive thermoregulatory advantage of bipedalism in early hominins was related to coping with water shortage in hot environments, and that their freed hands might have enabled them to transport enough water to avoid

  5. Involvement of the corticospinal tract in the control of human gait

    DEFF Research Database (Denmark)

    Barthélemy, Dorothy; Grey, Michael James; Nielsen, Jens Bo

    2011-01-01

    Given the inherent mechanical complexity of human bipedal locomotion, and that complete spinal cord lesions in human leads to paralysis with no recovery of gait, it is often suggested that the corticospinal tract (CST) has a more predominant role in the control of walking in humans than in other ...... on the CST that has been gained from studies involving CNS lesions, with a particular focus on recent data acquired in people with spinal cord injury.......Given the inherent mechanical complexity of human bipedal locomotion, and that complete spinal cord lesions in human leads to paralysis with no recovery of gait, it is often suggested that the corticospinal tract (CST) has a more predominant role in the control of walking in humans than in other...... to rehabilitation therapy, which will enhance gait ability and recovery in patients with lesions to the central nervous system (CNS). We review evidence for the involvement of the primary motor cortex and the CST during normal and perturbed walking and during gait adaptation. We will also discuss knowledge...

  6. On the Role of the Pedunculopontine Nucleus and Mesencephalic Reticular Formation in Locomotion in Nonhuman Primates.

    Science.gov (United States)

    Goetz, Laurent; Piallat, Brigitte; Bhattacharjee, Manik; Mathieu, Hervé; David, Olivier; Chabardès, Stéphan

    2016-05-04

    The mesencephalic reticular formation (MRF) is formed by the pedunculopontine and cuneiform nuclei, two neuronal structures thought to be key elements in the supraspinal control of locomotion, muscle tone, waking, and REM sleep. The role of MRF has also been advocated in modulation of state of arousal leading to transition from wakefulness to sleep and it is further considered to be a main player in the pathophysiology of gait disorders seen in Parkinson's disease. However, the existence of a mesencephalic locomotor region and of an arousal center has not yet been demonstrated in primates. Here, we provide the first extensive electrophysiological mapping of the MRF using extracellular recordings at rest and during locomotion in a nonhuman primate (NHP) (Macaca fascicularis) model of bipedal locomotion. We found different neuronal populations that discharged according to a phasic or a tonic mode in response to locomotion, supporting the existence of a locomotor neuronal circuit within these MRF in behaving primates. Altogether, these data constitute the first electrophysiological characterization of a locomotor neuronal system present within the MRF in behaving NHPs under normal conditions, in accordance with several studies done in different experimental animal models. We provide the first extensive electrophysiological mapping of the two major components of the mesencephalic reticular formation (MRF), namely the pedunculopontine and cuneiform nuclei. We exploited a nonhuman primate (NHP) model of bipedal locomotion with extracellular recordings in behaving NHPs at rest and during locomotion. Different MRF neuronal groups were found to respond to locomotion, with phasic or tonic patterns of response. These data constitute the first electrophysiological evidences of a locomotor neuronal system within the MRF in behaving NHPs. Copyright © 2016 the authors 0270-6474/16/364917-13$15.00/0.

  7. Optimization of Mass and Stiffness Distribution for Efficient Bipedal Walking

    NARCIS (Netherlands)

    Duindam, V.; Stramigioli, Stefano

    2005-01-01

    Energy-efficient control of bipedal walking robots requires both minimization of mechanical energy losses (often mainly due to impacts) and the use of natural oscillations in a mechanism to minimize actuator torques (as shown by research on passive dynamic walking). In this paper, we discuss how

  8. Dynamics and regulation of locomotion of a human swing leg as a double-pendulum considering self-impact joint constraint.

    Science.gov (United States)

    Bazargan-Lari, Y; Eghtesad, M; Khoogar, A; Mohammad-Zadeh, A

    2014-09-01

    Despite some successful dynamic simulation of self-impact double pendulum (SIDP)-as humanoid robots legs or arms- studies, there is limited information available about the control of one leg locomotion. The main goal of this research is to improve the reliability of the mammalians leg locomotion and building more elaborated models close to the natural movements, by modeling the swing leg as a SIDP. This paper also presents the control design for a SIDP by a nonlinear model-based control method. To achieve this goal, the available data of normal human gait will be taken as the desired trajectories of the hip and knee joints. The model is characterized by the constraint that occurs at the knee joint (the lower joint of the model) in both dynamic modeling and control design. Since the system dynamics is nonlinear, the MIMO Input-Output Feedback Linearization method will be employed for control purposes. The first constraint in forward impact simulation happens at 0.5 rad where the speed of the upper link is increased to 2.5 rad/sec. and the speed of the lower link is reduced to -5 rad/sec. The subsequent constraints occur rather moderately. In the case of both backward and forward constraints simulation, the backward impact occurs at -0.5 rad and the speeds of the upper and lower links increase to 2.2 and 1.5 rad/sec., respectively. The designed controller performed suitably well and regulated the system accurately.

  9. The Design and Control of a Bipedal Robot with Sensory Feedback

    Directory of Open Access Journals (Sweden)

    Teck-Chew Wee

    2013-06-01

    Full Text Available A stable walking motion requires effective gait balancing and robust posture correction algorithms. However, to develop and implement such intelligent motion algorithms remains a challenging task for researchers. Effective sensory feedback for stable posture control is essential for bipedal locomotion. In order to minimize the modelling errors and disturbances, this paper presents an effective sensory system and an alternative approach in generating a stable Centre-of-Mass (CoM trajectory by using an observer-based augmented model predictive control technique with sensory feedback. The proposed approach is used to apply an Augmented Model Predictive Control (AMPC algorithm with an on-line time shift and to look ahead to process future data to optimize a control signal by minimizing the cost function so that the system is able to track the desired Zero Moment Point (ZMP as closely as possible, and at the same time to limit the motion jerk. The robot's feet are fitted with force sensors to measure the contact force's location. An observer is also implemented into the system.

  10. Emotion through locomotion: gender impact.

    Directory of Open Access Journals (Sweden)

    Samuel Krüger

    Full Text Available Body language reading is of significance for daily life social cognition and successful social interaction, and constitutes a core component of social competence. Yet it is unclear whether our ability for body language reading is gender specific. In the present work, female and male observers had to visually recognize emotions through point-light human locomotion performed by female and male actors with different emotional expressions. For subtle emotional expressions only, males surpass females in recognition accuracy and readiness to respond to happy walking portrayed by female actors, whereas females exhibit a tendency to be better in recognition of hostile angry locomotion expressed by male actors. In contrast to widespread beliefs about female superiority in social cognition, the findings suggest that gender effects in recognition of emotions from human locomotion are modulated by emotional content of actions and opposite actor gender. In a nutshell, the study makes a further step in elucidation of gender impact on body language reading and on neurodevelopmental and psychiatric deficits in visual social cognition.

  11. Controller design for a bipedal walking robot using variable stiffness actuators

    NARCIS (Netherlands)

    Ketekaar, J.G.; Visser, L.C.; Stramigioli, Stefano; Carloni, Raffaella

    The (SLIP) model captures characteristic properties of human locomotion, and it is therefore often used to study human- like walking. The extended variable spring-loaded inverted pendulum (V-SLIP) model provides a control input for gait stabilization and shows robust and energy-efficient walking

  12. Generation of Underactuated Bipedal Gait Completing in One Step

    Science.gov (United States)

    2016-12-01

    collisionless limit cycle walking. We then mathematically analyze the stability of the zero dynamics and investigate the fundamental gait properties through...island to the next. I. INTRODUCTION In general, a stable walking gait of limit- cycle walkers is designed to increase mechanical energy efficiently for...discuss the limit cycle stability. IV. GAIT ANALYSIS A. Typical Walking Gait Fig. 2 shows the simulation results of collisionless un- deractuated bipedal

  13. A Visual Lifting Approach for Dynamic Bipedal Walking

    OpenAIRE

    Wei Song; Mamoru Minami; Yanan Zhang

    2012-01-01

    Although many papers have been published on visual tracking and visual servoing for vision-based robotics, there are only a few research projects studying using vision to improve standing and walking stabilization for legged robots. In this paper, we proposition a “Visual Lifting Bipedal Walking” strategy, which uses visually measured information to control the robot to keep a desired head-top's position/orientation in order to help prevent the robot from falling into unstable gaits, such as ...

  14. Strategies and determinants for selection of alternate foot placement during human locomotion: influence of spatial and temporal constraints.

    Science.gov (United States)

    Moraes, Renato; Lewis, M Anthony; Patla, Aftab E

    2004-11-01

    During locomotion in a cluttered terrain, certain terrain surfaces such as an icy one are not appropriate for foot placement; an alternate choice is required. In a previous study we showed that the selection of foot placement is not random but systematic; the dominant choices made are not uniquely defined by the available or predicted sensory inputs. We argued that selection is guided by specific rules and involves minimal displacement of the foot from its normal landing spot. The experimental protocol involved implicit spatial constraint by requiring individuals to step on the force plate that could trigger a lighted area to be avoided, thereby requiring individuals to respond within one step-cycle. Alternate foot placement was visually identified, but not measured. The purpose of this study was to directly measure foot placement, validate and/or refine the rules used to guide selection, and identify whether the alternate foot placement choices are influenced by spatial and temporal constraints on response selection. The area to be avoided was visible from the start and therefore individuals could plan and implement appropriate avoidance strategies without any temporal constraint. Spatial constraint introduced in this experiment included requirement both to step on a specific location and to avoid stepping on a specific location on the next step. The results provide support for the rules previously identified in guiding foot placement to an alternate location. Minimal displacement of the foot from its normal landing spot was validated as an important factor for selecting alternate foot placement. When several choices satisfied this factor, additional factors guide alternate foot placement. Modifications in the plane of progression are preferred while stepping wide is avoided. When no temporal constraints are imposed on the response selection, enhancing forward progression of the body becomes the dominant determinant followed by stability and lastly by energy costs

  15. Models of Snail Locomotion

    Science.gov (United States)

    Chan, Brian; Hosoi, Anette

    2003-11-01

    All snails move over a thin layer of mucus using periodic deformations of their muscular foot. This unusual mode of locomotion can be modeled as a thin film of viscous fluid sandwiched between a flexible membrane and a rigid substrate. We present theoretical, numerical and experimental studies of locomotion via viscous stresses generated in thin films. Study of snail locomotion led us to design and construct several mechanical models: RoboSnail 1 which mimics snail locomotion incorrectly, but still proves to be a valid propulsion device over a thin viscous fluid layer and RoboSnail 2 which mimics land snails and uses forward-propagating compression waves on the base of the foot. Experimental results from the prototype machines are compared with long wavelength numerical and theoretical models.

  16. Dynamics and Regulation of Locomotion of a Human Swing Leg as a DoublePendulum Considering Self-Impact Joint Constraint

    Directory of Open Access Journals (Sweden)

    Bazargan-Lari Y

    2014-09-01

    Full Text Available Background: Despite some successful dynamic simulation of self-impact double pendulum (SIDP-as humanoid robots legs or arms- studies, there is limited information available about the control of one leg locomotion. Objective: The main goal of this research is to improve the reliability of the mammalians leg locomotion and building more elaborated models close to the natural movements, by modeling the swing leg as a SIDP. This paper also presents the control design for a SIDP by a nonlinear model-based control method. To achieve this goal, the available data of normal human gait will be taken as the desired trajectories of the hip and knee joints. Method: The model is characterized by the constraint that occurs at the knee joint (the lower joint of the model in both dynamic modeling and control design. Since the system dynamics is nonlinear, the MIMO Input-Output Feedback Linearization method will be employed for control purposes. Results: The first constraint in forward impact simulation happens at 0.5 rad where the speed of the upper link is increased to 2.5 rad/sec. and the speed of the lower link is reduced to -5 rad/sec. The subsequent constraints occur rather moderately. In the case of both backward and forward constraints simulation, the backward impact occurs at -0.5 rad and the speeds of the upper and lower links increase to 2.2 and 1.5 rad/sec., respectively. Conclusion: The designed controller performed suitably well and regulated the system accurately

  17. Robotic Bipedal Running : Increasing disturbance rejection

    NARCIS (Netherlands)

    Karssen, J.G.D.

    2013-01-01

    The goal of the research presented in this thesis is to increase the understanding of the human running gait. The understanding of the human running gait is essential for the development of devices, such as prostheses and orthoses, that enable disabled people to run or that enable able people to

  18. Synthesis of bipedal motion resembling actual human walking by neural oscillators and genetic algorithms; Shinkei shindoshi to identeki arugorizumu wo mochiita mi 2 soku hoko ruii undo no seisei

    Energy Technology Data Exchange (ETDEWEB)

    Hase, K.; Yamazaki, N. [Keio Univ., Tokyo (Japan). Faculty of Science and Technology

    1997-05-31

    The human body motion like walking is not only a motion of musculoskeleton controlled by neural system, but also a synthetic result of passive resistant force generated by muscles, gravity force and inertial force acting at mass distribution of the human body. Therefore, the body motion is closely related to the morphological trait of the motion body-itself. In fact, the human walking pattern is similar to a natural vibration mode while using a multiple oscillator to model the human body. In this study, in order to reproduce the morphology of human body truly and apply it in practical walking analysis of imaginary human being, a mechanical model of whole body that simulates the main morphological trait and musculoskeletal system of a human body and a human walking simulator formed by neural models worked by neural oscillators are developed. It may be predicted that the influences of changing of morphology of human body upon the human walking manner which are required by plastic surgery and anthropology may be estimated by using the model thus developed. 19 refs., 7 figs., 3 tabs.

  19. Variant insertion of the fibularis tertius muscle is an evidence of the progressive evolutionary adaptation for the bipedal gait

    Directory of Open Access Journals (Sweden)

    Rashmoni Jana

    2011-10-01

    Full Text Available Fibularis tertius (FT is often considered as part of extensor digitorum longus (EDL muscle. The muscle is absent in hominoid apes and with the acquisition of the bipedal gait; the muscle emerged as a recent addition in the human foot. From its various modes of insertions, it is evident that the muscles of the sole are in search of its distal attachment, which can best support the relatively weak human midfoot. We describe an unusual insertion of the muscle in support of this hypothesis.

  20. Complex and changing patterns of natural selection explain the evolution of the human hip.

    Science.gov (United States)

    Grabowski, Mark; Roseman, Charles C

    2015-08-01

    Causal explanations for the dramatic changes that occurred during the evolution of the human hip focus largely on selection for bipedal function and locomotor efficiency. These hypotheses rest on two critical assumptions. The first-that these anatomical changes served functional roles in bipedalism-has been supported in numerous analyses showing how postcranial changes likely affected locomotion. The second-that morphological changes that did play functional roles in bipedalism were the result of selection for that behavior-has not been previously explored and represents a major gap in our understanding of hominin hip evolution. Here we use evolutionary quantitative genetic models to test the hypothesis that strong directional selection on many individual aspects of morphology was responsible for the large differences observed across a sample of fossil hominin hips spanning the Plio-Pleistocene. Our approach uses covariance among traits and the differences between relatively complete fossils to estimate the net selection pressures that drove the major transitions in hominin hip evolution. Our findings show a complex and changing pattern of natural selection drove hominin hip evolution, and that many, but not all, traits hypothesized to play functional roles in bipedalism evolved as a direct result of natural selection. While the rate of evolutionary change for all transitions explored here does not exceed the amount expected if evolution was occurring solely through neutral processes, it was far above rates of evolution for morphological traits in other mammalian groups. Given that stasis is the norm in the mammalian fossil record, our results suggest that large shifts in the adaptive landscape drove hominin evolution. Copyright © 2015 Elsevier Ltd. All rights reserved.

  1. Steroid-associated hip joint collapse in bipedal emus.

    Directory of Open Access Journals (Sweden)

    Li-Zhen Zheng

    Full Text Available In this study we established a bipedal animal model of steroid-associated hip joint collapse in emus for testing potential treatment protocols to be developed for prevention of steroid-associated joint collapse in preclinical settings. Five adult male emus were treated with a steroid-associated osteonecrosis (SAON induction protocol using combination of pulsed lipopolysaccharide (LPS and methylprednisolone (MPS. Additional three emus were used as normal control. Post-induction, emu gait was observed, magnetic resonance imaging (MRI was performed, and blood was collected for routine examination, including testing blood coagulation and lipid metabolism. Emus were sacrificed at week 24 post-induction, bilateral femora were collected for micro-computed tomography (micro-CT and histological analysis. Asymmetric limping gait and abnormal MRI signals were found in steroid-treated emus. SAON was found in all emus with a joint collapse incidence of 70%. The percentage of neutrophils (Neut % and parameters on lipid metabolism significantly increased after induction. Micro-CT revealed structure deterioration of subchondral trabecular bone. Histomorphometry showed larger fat cell fraction and size, thinning of subchondral plate and cartilage layer, smaller osteoblast perimeter percentage and less blood vessels distributed at collapsed region in SAON group as compared with the normal controls. Scanning electron microscope (SEM showed poor mineral matrix and more osteo-lacunae outline in the collapsed region in SAON group. The combination of pulsed LPS and MPS developed in the current study was safe and effective to induce SAON and deterioration of subchondral bone in bipedal emus with subsequent femoral head collapse, a typical clinical feature observed in patients under pulsed steroid treatment. In conclusion, bipedal emus could be used as an effective preclinical experimental model to evaluate potential treatment protocols to be developed for prevention of

  2. Control strategy for energy-efficient bipedal walking with variable leg stiffness

    NARCIS (Netherlands)

    Visser, L.C.; Stramigioli, Stefano; Carloni, Raffaella

    In this work, we propose a hybrid model for a bipedal walker with controlled variable leg stiffness, and a control strategy for stable gait control. The control reference is a passive gait of the limit-case bipedal spring-loaded inverted pendulum model with massless feet, ensuring that the gait is

  3. A Visual Lifting Approach for Dynamic Bipedal Walking

    Directory of Open Access Journals (Sweden)

    Wei Song

    2012-11-01

    Full Text Available Although many papers have been published on visual tracking and visual servoing for vision-based robotics, there are only a few research projects studying using vision to improve standing and walking stabilization for legged robots. In this paper, we proposition a “Visual Lifting Bipedal Walking” strategy, which uses visually measured information to control the robot to keep a desired head-top's position/orientation in order to help prevent the robot from falling into unstable gaits, such as falling down on the ground or dangerous foot-slipping caused by gravity, unexpected coupling dynamics, etc.

  4. Animal Locomotion in Different Mediums

    Indian Academy of Sciences (India)

    IAS Admin

    GENERAL ARTICLE. RESONANCE. June 2016. Animal Locomotion in Different Mediums. The Adaptations of Wetland Organisms. Abdul Jamil Urfi. Keywords. Wetlands, animal locomotion, medium, terrestrial, aquatic, mudskipper. Abdul Jamil Urfi is. Associate Professor at. Department of Environ- mental Studies, University.

  5. Locomotion in ornithischian dinosaurs: an assessment using three-dimensional computational modelling.

    Science.gov (United States)

    Maidment, Susannah C R; Bates, Karl T; Falkingham, Peter L; VanBuren, Collin; Arbour, Victoria; Barrett, Paul M

    2014-08-01

    Ornithischian dinosaurs were primitively bipedal with forelimbs modified for grasping, but quadrupedalism evolved in the clade on at least three occasions independently. Outside of Ornithischia, quadrupedality from bipedal ancestors has only evolved on two other occasions, making this one of the rarest locomotory transitions in tetrapod evolutionary history. The osteological and myological changes associated with these transitions have only recently been documented, and the biomechanical consequences of these changes remain to be examined. Here, we review previous approaches to understanding locomotion in extinct animals, which can be broadly split into form-function approaches using analogy based on extant animals, limb-bone scaling, and computational approaches. We then carry out the first systematic attempt to quantify changes in locomotor muscle function in bipedal and quadrupedal ornithischian dinosaurs. Using three-dimensional computational modelling of the major pelvic locomotor muscle moment arms, we examine similarities and differences among individual taxa, between quadrupedal and bipedal taxa, and among taxa representing the three major ornithischian lineages (Thyreophora, Ornithopoda, Marginocephalia). Our results suggest that the ceratopsid Chasmosaurus and the ornithopod Hypsilophodon have relatively low moment arms for most muscles and most functions, perhaps suggesting poor locomotor performance in these taxa. Quadrupeds have higher abductor moment arms than bipeds, which we suggest is due to the overall wider bodies of the quadrupeds modelled. A peak in extensor moment arms at more extended hip angles and lower medial rotator moment arms in quadrupeds than in bipeds may be due to a more columnar hindlimb and loss of medial rotation as a form of lateral limb support in quadrupeds. We are not able to identify trends in moment arm evolution across Ornithischia as a whole, suggesting that the bipedal ancestry of ornithischians did not constrain the

  6. Combination Of Static And Dynami,C Stereophotogrammetry For The Kinetic Analysis Of Human Locomotion: Preliminary Results

    Science.gov (United States)

    Schaer, Alex R.; Sheffer, Daniel B.; Jones, D.; Meier, G.; Baumann, Juerg U.

    1989-04-01

    For a deeper understanding of the complexity of human walking movement not only a kinematic analysis , but also a comprehensive three-dimensional biomechanical model of the human body is required to detail the kinetic activities. This research combined static stereophotogrammetric determination of body segment mass parameters with three-dimensional gait analysis by cinephotography, direct linear transformation and two force plates. A method of combining the two independent analyses by defining the anatomical axes of each segment is shown. Practical problems arising in dynamic and stereometric analysis are demonstrated. Power spectra of a normal and a matched subject with spastic diplegia were calculated for a proper design of the kinematic analysis.

  7. The AL 333-160 fourth metatarsal from Hadar compared to that of humans, great apes, baboons and proboscis monkeys: non-conclusive evidence for pedal arches or obligate bipedality in Hadar hominins.

    Science.gov (United States)

    Mitchell, P J; Sarmiento, E E; Meldrum, D J

    2012-10-01

    Based on comparisons to non-statistically representative samples of humans and two great ape species (i.e. common chimpanzees Pan troglodytes and lowland gorillas Gorilla gorilla), Ward et al. (2011) concluded that a complete hominin fourth metatarsal (4th MT) from Hadar, AL 333-160, belonged to a committed terrestrial biped with fixed transverse and longitudinal pedal arches, which was no longer under selection favoring substantial arboreal behaviors. According to Ward et al., the Hadar 4th MT had (1) a torsion value indicating a transverse arch, (2) sagittal plane angles between the diaphyseal long axis and the planes of the articular surfaces indicating a longitudinal arch, and (3) a narrow mediolateral to dorsoplantar base ratio, an ectocuneiform facet, and tarsal articular surface contours all indicating a rigid foot without an ape-like mid-tarsal break. Comparisons of the Hadar 4th MT characters to those of statistically representative samples of humans, all five great ape species, baboons and proboscis monkeys show that none of the correlations Ward et al. make to localized foot function were supported by this analysis. The Hadar 4th MT characters are common to catarrhines that have a midtarsal break and lack fixed transverse or longitudinal arches. Further comparison of the AL 333-160 4th MT length, and base, midshaft and head circumferences to those of catarrhines with field collected body weights show that this bone is uniquely short with a large base. Its length suggests the AL 333-160 individual was a poor leaper with limited arboreal behaviors and lacked a longitudinal arch, i.e. its 4th MT long axis was usually held perpendicular to gravity. Its large base implies cuboid-4th MT joint mobility. A relatively short 4th MT head circumference indicates AL 333-160 had small proximal phalanges with a restricted range of mobility. Overall, AL 333-160 is most similar to the 4th MT of eastern gorillas, a slow moving quadruped that sacrifices arboreal behaviors

  8. The human iliotibial band is specialized for elastic energy storage compared with the chimp fascia lata.

    Science.gov (United States)

    Eng, Carolyn M; Arnold, Allison S; Biewener, Andrew A; Lieberman, Daniel E

    2015-08-01

    This study examines whether the human iliotibial band (ITB) is specialized for elastic energy storage relative to the chimpanzee fascia lata (FL). To quantify the energy storage potential of these structures, we created computer models of human and chimpanzee lower limbs based on detailed anatomical dissections. We characterized the geometry and force-length properties of the FL, tensor fascia lata (TFL) and gluteus maximus (GMax) in four chimpanzee cadavers based on measurements of muscle architecture and moment arms about the hip and knee. We used the chimp model to estimate the forces and corresponding strains in the chimp FL during bipedal walking, and compared these data with analogous estimates from a model of the human ITB, accounting for differences in body mass and lower extremity posture. We estimate that the human ITB stores 15- to 20-times more elastic energy per unit body mass and stride than the chimp FL during bipedal walking. Because chimps walk with persistent hip flexion, the TFL and portions of GMax that insert on the FL undergo smaller excursions (origin to insertion) than muscles that insert on the human ITB. Also, because a smaller fraction of GMax inserts on the chimp FL than on the human ITB, and thus its mass-normalized physiological cross-sectional area is about three times less in chimps, the chimp FL probably transmits smaller muscle forces. These data provide new evidence that the human ITB is anatomically derived compared with the chimp FL and potentially contributes to locomotor economy during bipedal locomotion. © 2015. Published by The Company of Biologists Ltd.

  9. Vibroacoustic characteristics of mine locomotives

    Energy Technology Data Exchange (ETDEWEB)

    Chigirinskii, S.E.; Ponomarev, N.S.; Leiman, Ya.A.

    1982-11-01

    The paper discusses noise pollution caused by locomotives used for mine haulage in underground mining. Noise pollution in a mine working and at the driver working place is measured. Mechanical vibrations of the floor in the driver cab are also determined. Noise pollution and mechanical vibrations of 3 locomotive types are comparatively evaluated: the AM-8D electric locomotive, the GR-4 inertia-type locomotive and the 1D-8 diesel locomotive. The results of investigations are shown in 2 tables. The inertia-type locomotive causes the most intensive noise pollution. Noise pollution of the diesel locomotive has been successfully suppressed by a system of shock absorbers. The following methods for noise and vibration control are discussed: use of soundproof cabs, damping vibrations at the driver's seat, use of motors with noise abatement systems and shock absorbers. (In Russian)

  10. Locomotion by Abdopus aculeatus (Cephalopoda: Octopodidae): walking the line between primary and secondary defenses.

    Science.gov (United States)

    Huffard, Christine L

    2006-10-01

    Speeds and variation in body form during crawling, bipedal walking, swimming and jetting by the shallow-water octopus Abdopus aculeatus were compared to explore possible interactions between defense behaviors and biomechanics of these multi-limbed organisms. General body postures and patterns were more complex and varied during the slow mode of crawling than during fast escape maneuvers such as swimming and jetting. These results may reflect a trade-off between predator deception and speed, or simply a need to reduce drag during jet-propelled locomotion. Octopuses swam faster when dorsoventrally compressed, a form that may generate lift, than when swimming in the head-raised posture. Bipedal locomotion proceeded as fast as swimming and can be considered a form of fast escape (secondary defense) that also incorporates elements of crypsis and polyphenism (primary defenses). Body postures during walking suggested the use of both static and dynamic stability. Absolute speed was not correlated with body mass in any mode. Based on these findings the implications for defense behaviors such as escape from predation, aggression, and 'flatfish mimicry' performed by A. aculeatus and other octopuses are discussed.

  11. Optimizing turning for locomotion

    Science.gov (United States)

    Burton, Lisa; Hatton, Ross; Choset, Howie; Hosoi, A. E.

    2012-02-01

    Speed and efficiency are common and often adequate metrics to compare locomoting systems. These metrics, however, fail to account for a system's ability to turn, a key component in a system's ability to move a confined environment and an important factor in optimal motion planning. To explore turning strokes for a locomoting system, we develop a kinematic model to relate a system's shape configuration to its external velocity. We exploit this model to visualize the dynamics of the system and determine optimal strokes for multiple systems, including low Reynolds number swimmers and biological systems dominated by inertia. Understanding how shape configurations are related to external velocities enables a better understanding of biological and man made systems. Using these tools, we can justify biological system motion and determine optimal shape configurations for robots to maneuver through difficult environments.

  12. Optimal Foot Trajectory Planning of Bipedal Robots Based on a Measure of Falling

    Directory of Open Access Journals (Sweden)

    Byoung-Ho Kim

    2012-11-01

    Full Text Available This paper presents a falling-based optimal foot trajectory planning method (FOFTP for the effective walking of bipedal robots in three-dimensional space. Our primary concern is to determine the optimal footstep location for the more balanced walking of bipedal robots based on a measure of falling. A proper strategy for the intermediate trajectory of the swing foot is also considered. The feasibility of the FOFTP method is verified by a typical bipedal walking simulation. We also discuss the walking efficiency of the proposed approach. It is finally shown that the proposed foot trajectory planning method is applicable for the effective walking of bipeds or humanoid robots.

  13. a Novel Sideway Stability Control Method for Bipedal Walking Robot

    Science.gov (United States)

    Jo, H. Siswoyo; Mir-Nasiri, N.

    2011-06-01

    This paper presents a novel sensing and balancing method for bipedal walking robot. The proposed method involves the design of semi-rigid ankle joint to facilitate the responsive and accurate measurement of the sideway (sagittal) instability of the walking robot. The use of double balancing mass and the developed control algorithms provide a constant sideway stability of the robot while it walks in forward direction. The smooth legs trajectory planning then can be implemented successfully regardless of the robot sideway stability condition. The developed method is able to decouple the walking algorithms from the robot stability issues. Furthermore, the use of two different masses for the balancing helps to improve response time and efficiency of the balancing system. In this paper, the proposed method is tested on the simplified model of a robot balancing on its single leg and the feasibility of the method is confirmed by the simulation results obtained with MATLAB Simulink tools.

  14. Talking about walking: Biomechanics and the language of locomotion

    OpenAIRE

    Malt, Barbara; Gennari, Sylvia; Imai, Mutsumi; Ameel, Eef; Tsuda, Naoaki; Majid, Asifa

    2008-01-01

    What drives humans around the world to converge in certain ways in their naming while diverging dramatically in others? We studied how naming patterns are constrained by investigating whether labeling of human locomotion reflects the biomechanical discontinuity between walking and running gaits. Similarity judgments of a student locomoting on a treadmill at different slopes and speeds revealed perception of this discontinuity. Naming judgments of the same clips by speakers of English, Japanes...

  15. Biomechanics of human bipedal gallop: asymmetry dictates leg function

    National Research Council Canada - National Science Library

    Fiers, Pieter; De Clercq, Dirk; Segers, Veerle; Aerts, Peter

    2013-01-01

    .... In 12 subjects, who were required to run and gallop overground at their preferred speed, kinematic and kinetic data were collected and mechanical work at the main lower limb joints (hip, knee, ankle) was calculated...

  16. Robots in human biomechanics--a study on ankle push-off in walking.

    Science.gov (United States)

    Renjewski, Daniel; Seyfarth, André

    2012-09-01

    In biomechanics, explanatory template models are used to identify the basic mechanisms of human locomotion. However, model predictions often lack verification in a realistic environment. We present a method that uses template model mechanics as a blueprint for a bipedal robot and a corresponding computer simulation. The hypotheses derived from template model studies concerning the function of heel-off in walking are analysed and discrepancies between the template model and its real-world anchor are pointed out. Neither extending the ground clearance of the swinging leg nor an impact reduction at touch-down as an effect of heel lifting was supported by the experiments. To confirm the relevance of the experimental findings, a comparison of robot data to human walking data is discussed and we speculate on an alternative explanation of heel-off in human walking, i.e. that the push-off powers the following leg swing.

  17. Growth control of the cranial base. A study with experimentally bipedal male rats

    Energy Technology Data Exchange (ETDEWEB)

    Smit-Vis, J.H.

    1981-01-01

    In a cross-sectional study the postnatal development of the skull, particularly that of the cranial base, was studied in experimentally bipedal male rats, up to the age of 46 weeks. A total of 81 bipedal rats and a control group of 90 animals were studied. It was found that, as compared with control rats, the bipedal rats had a definitely more spherical skull. This was the result of an increased height and a stronger dorsal flexion of the anterior cranial base. As to the chondrocranial elements, the basi-occipital bone reached, on the average, the same length in bipedal rats as in controls. However, the basisphenoid bone was significantly shorter. Arguments are given to relate the latter phenomenon to the altered shape of the neurocranium. The conclusion is drawn that, in this experimental approach, chondrocranial growth at the intersphenoidal synchondrosis is controlled not only by intrinsic genetic factors but also by local epigenetic and/or environmental factors.

  18. Locomotive energy savings possibilities

    Directory of Open Access Journals (Sweden)

    Leonas Povilas LINGAITIS

    2009-01-01

    Full Text Available Economic indicators of electrodynamic braking have not been properly estimated. Vehicles with alternative power trains are transitional stage between development of pollution- free vehicles. According to these aspects the investigation on conventional hybrids drives and their control system is carried out in the article. The equation that allows evaluating effectiveness of regenerative braking for different variants of hybrid drive are given. Presenting different types of locomotive energy savings power systems, which are using regenerative braking energy any form of hybrid traction vehicles systems, circuit diagrams, electrical parameters curves.

  19. Shared human-chimpanzee pattern of perinatal femoral shaft morphology and its implications for the evolution of hominin locomotor adaptations.

    Directory of Open Access Journals (Sweden)

    Naoki Morimoto

    Full Text Available BACKGROUND: Acquisition of bipedality is a hallmark of human evolution. How bipedality evolved from great ape-like locomotor behaviors, however, is still highly debated. This is mainly because it is difficult to infer locomotor function, and even more so locomotor kinematics, from fossil hominin long bones. Structure-function relationships are complex, as long bone morphology reflects phyletic history, developmental programs, and loading history during an individual's lifetime. Here we discriminate between these factors by investigating the morphology of long bones in fetal and neonate great apes and humans, before the onset of locomotion. METHODOLOGY/PRINCIPAL FINDINGS: Comparative morphometric analysis of the femoral diaphysis indicates that its morphology reflects phyletic relationships between hominoid taxa to a greater extent than taxon-specific locomotor adaptations. Diaphyseal morphology in humans and chimpanzees exhibits several shared-derived features, despite substantial differences in locomotor adaptations. Orangutan and gorilla morphologies are largely similar, and likely represent the primitive hominoid state. CONCLUSIONS/SIGNIFICANCE: These findings are compatible with two possible evolutionary scenarios. Diaphyseal morphology may reflect retained adaptive traits of ancestral taxa, hence human-chimpanzee shared-derived features may be indicative of the locomotor behavior of our last common ancestor. Alternatively, diaphyseal morphology might reflect evolution by genetic drift (neutral evolution rather than selection, and might thus be more informative about phyletic relationships between taxa than about locomotor adaptations. Both scenarios are consistent with the hypothesis that knuckle-walking in chimpanzees and gorillas resulted from convergent evolution, and that the evolution of human bipedality is unrelated to extant great ape locomotor specializations.

  20. On extracting design principles from biology: II. Case study-the effect of knee direction on bipedal robot running efficiency.

    Science.gov (United States)

    Haberland, M; Kim, S

    2015-02-02

    Comparing the leg of an ostrich to that of a human suggests an important question to legged robot designers: should a robot's leg joint bend in the direction of running ('forwards') or opposite ('backwards')? Biological studies cannot answer this question for engineers due to significant differences between the biological and engineering domains. Instead, we investigated the inherent effect of joint bending direction on bipedal robot running efficiency by comparing energetically optimal gaits of a wide variety of robot designs sampled at random from a design space. We found that the great majority of robot designs have several locally optimal gaits with the knee bending backwards that are more efficient than the most efficient gait with the knee bending forwards. The most efficient backwards gaits do not exhibit lower touchdown losses than the most efficient forward gaits; rather, the improved efficiency of backwards gaits stems from lower torque and reduced motion at the hip. The reduced hip use of backwards gaits is enabled by the ability of the backwards knee, acting alone, to (1) propel the robot upwards and forwards simultaneously and (2) lift and protract the foot simultaneously. In the absence of other information, designers interested in building efficient bipedal robots with two-segment legs driven by electric motors should design the knee to bend backwards rather than forwards. Compared to common practices for choosing robot knee direction, application of this principle would have a strong tendency to improve robot efficiency and save design resources.

  1. The use of pelvic fins for benthic locomotion during foraging behavior in Potamotrygon motoro (Chondrichthyes: Potamotrygonidae

    Directory of Open Access Journals (Sweden)

    Akemi Shibuya

    2015-06-01

    Full Text Available Synchronized bipedal movements of the pelvic fins provide propulsion (punting during displacement on the substrate in batoids with benthic locomotion. In skates (Rajidae this mechanism is mainly generated by the crural cartilages. Although lacking these anatomical structures, some stingray species show modifications of their pelvic fins to aid in benthic locomotion. This study describes the use of the pelvic fins for locomotory performance and body re-orientation in the freshwater stingray Potamotrygon motoro (Müller & Henle, 1841 during foraging. Pelvic fin movements of juvenile individuals of P. motoro were recorded in ventral view by a high-speed camera at 250-500 fields/s-1. Potamotrygon motoro presented synchronous, alternating and unilateral movements of the pelvic fins, similar to those reported in skates. Synchronous movements were employed during straightforward motion for pushing the body off the substrate as well as for strike feeding, whereas unilateral movements were used to maneuver the body to the right or left during both locomotion and prey capture. Alternating movements of the pelvic fins are similar to bipedal movements in terrestrial and semi-aquatic tetrapods. The pelvic fins showed coordinated movements during feeding even when stationary, indicating that they have an important function in maintaining body posture (station holding during prey capture and manipulation. The use of pelvic fins during prey stalking may be advantageous because it results in less substrate disturbance when compared to movements generated by pectoral fin undulation. The range of pelvic fin movements indicates more complex control and coordination of the pelvic radial muscles.

  2. Terrestrial locomotion in arachnids.

    Science.gov (United States)

    Spagna, Joseph C; Peattie, Anne M

    2012-05-01

    In this review, we assess the current state of knowledge on terrestrial locomotion in Arachnida. Arachnids represent a single diverse (>100,000 species) clade containing well-defined subgroups (at both the order and subordinal levels) that vary morphologically around a basic body plan, yet exhibit highly disparate limb usage, running performance, and tarsal attachment mechanisms. Spiders (Araneae), scorpions (Scorpiones), and harvestmen (Opiliones) have received the most attention in the literature, while some orders have never been subject to rigorous mechanical characterization. Most well-characterized taxa move with gaits analogous to the alternating tripod gaits that characterize fast-moving Insecta - alternating tetrapods or alternating tripods (when one pair of legs is lifted from the ground for some other function). However, between taxa, there is considerable variation in the regularity of phasing between legs. Both large and small spiders appear to show a large amount of variation in the distribution of foot-ground contact, even between consecutive step-cycles of a single run. Mechanisms for attachment to vertical surfaces also vary, and may depend on tufts of adhesive hairs, fluid adhesives, silks, or a combination of these. We conclude that Arachnida, particularly with improvements in microelectronic force sensing technology, can serve as a powerful study system for understanding the kinematics, dynamics, and ecological correlates of sprawled-posture locomotion. Copyright © 2012 Elsevier Ltd. All rights reserved.

  3. What moves us? How mobility and movement are at the center of human evolution.

    Science.gov (United States)

    Kuhn, Steven L; Raichlen, David A; Clark, Amy E

    2016-05-06

    Movement is central to the survival of all free-living organisms. Consequently, movement and what anthropologists often refer to as mobility, which is the sum of small-scale movements tracked across larger geographic and temporal scales, are key targets of selection. Movement and mobility also underpin many of the key features that make us human and that allowed our lineage to adapt to changing environments across the globe. The most obvious example is the evolution of humans' singular mode of locomotion. Bipedalism is arguably the most important derived anatomical trait of the hominin lineage. The mechanisms and circumstances that gave rise to this novel mode of movement remain subjects of intense research. © 2016 Wiley Periodicals, Inc.

  4. Synthesis of digital locomotive receiver of automatic locomotive signaling

    Directory of Open Access Journals (Sweden)

    K. V. Goncharov

    2013-02-01

    Full Text Available Purpose. Automatic locomotive signaling of continuous type with a numeric coding (ALSN has several disadvantages: a small number of signal indications, low noise stability, high inertia and low functional flexibility. Search for new and more advanced methods of signal processing for automatic locomotive signaling, synthesis of the noise proof digital locomotive receiver are essential. Methodology. The proposed algorithm of detection and identification locomotive signaling codes is based on the definition of mutual correlations of received oscillation and reference signals. For selecting threshold levels of decision element the following criterion has been formulated: the locomotive receiver should maximum set the correct solution for a given probability of dangerous errors. Findings. It has been found that the random nature of the ALSN signal amplitude does not affect the detection algorithm. However, the distribution law and numeric characteristics of signal amplitude affect the probability of errors, and should be considered when selecting a threshold levels According to obtained algorithm of detection and identification ALSN signals the digital locomotive receiver has been synthesized. It contains band pass filter, peak limiter, normalizing amplifier with automatic gain control circuit, analog to digital converter and digital signal processor. Originality. The ALSN system is improved by the way of the transfer of technical means to modern microelectronic element base, more perfect methods of detection and identification codes of locomotive signaling are applied. Practical value. Use of digital technology in the construction of the locomotive receiver ALSN will expand its functionality, will increase the noise immunity and operation stability of the locomotive signal system in conditions of various destabilizing factors.

  5. Biomechanics of running indicates endothermy in bipedal dinosaurs.

    Science.gov (United States)

    Pontzer, Herman; Allen, Vivian; Hutchinson, John R

    2009-11-11

    One of the great unresolved controversies in paleobiology is whether extinct dinosaurs were endothermic, ectothermic, or some combination thereof, and when endothermy first evolved in the lineage leading to birds. Although it is well established that high, sustained growth rates and, presumably, high activity levels are ancestral for dinosaurs and pterosaurs (clade Ornithodira), other independent lines of evidence for high metabolic rates, locomotor costs, or endothermy are needed. For example, some studies have suggested that, because large dinosaurs may have been homeothermic due to their size alone and could have had heat loss problems, ectothermy would be a more plausible metabolic strategy for such animals. Here we describe two new biomechanical approaches for reconstructing the metabolic rate of 14 extinct bipedal dinosauriforms during walking and running. These methods, well validated for extant animals, indicate that during walking and slow running the metabolic rate of at least the larger extinct dinosaurs exceeded the maximum aerobic capabilities of modern ectotherms, falling instead within the range of modern birds and mammals. Estimated metabolic rates for smaller dinosaurs are more ambiguous, but generally approach or exceed the ectotherm boundary. Our results support the hypothesis that endothermy was widespread in at least larger non-avian dinosaurs. It was plausibly ancestral for all dinosauriforms (perhaps Ornithodira), but this is perhaps more strongly indicated by high growth rates than by locomotor costs. The polarity of the evolution of endothermy indicates that rapid growth, insulation, erect postures, and perhaps aerobic power predated advanced "avian" lung structure and high locomotor costs.

  6. A model-experiment comparison of system dynamics for human walking and running.

    Science.gov (United States)

    Lipfert, Susanne W; Günther, Michael; Renjewski, Daniel; Grimmer, Sten; Seyfarth, Andre

    2012-01-07

    The human musculo-skeletal system comprises high complexity which makes it difficult to identify underlying basic principles of bipedal locomotion. To tackle this challenge, a common approach is to strip away complexity and formulate a reductive model. With utter simplicity a bipedal spring-mass model gives good predictions of the human gait dynamics, however, it has not been fully investigated whether center of mass motion over time of walking and running is comparable between the model and the human body over a wide range of speed. To test the model's ability in this respect, we compare sagittal center of mass trajectories of model and human data for speeds ranging from 0.5 m/s to 4 m/s. For simulations, system parameters and initial conditions are extracted from experimental observations of 28 subjects. The leg parameters stiffness and length are extracted from functional fitting to the subjects' leg force-length curves. With small variations of the touch-down angle of the leg and the vertical position of the center of mass at apex, we find successful spring-mass simulations for moderate walking and medium running speeds. Predictions of the sagittal center of mass trajectories and ground reaction forces are good, but their amplitudes are overestimated, while contact time is underestimated. At faster walking speeds and slower running speeds we do not find successful model locomotion with the extent of allowed parameter variation. We conclude that the existing limitations may be improved by adding complexity to the model. Copyright © 2011 Elsevier Ltd. All rights reserved.

  7. Avoidance of overheating and selection for both hair loss and bipedality in hominins.

    Science.gov (United States)

    Ruxton, Graeme D; Wilkinson, David M

    2011-12-27

    Two frequently debated aspects of hominin evolution are the development of upright bipedal stance and reduction in body hair. It has long been argued, on the basis of heat-balance models, that thermoregulation might have been important in the evolution of both of these traits. Previous models were based on a stationary individual standing in direct sunlight; here we extend this approach to consider a walking hominin, having argued that walking is more thermally challenging than remaining still. Further, stationary activities may be more compatible with shade seeking than activities (such as foraging) involving travel across the landscape. Our model predictions suggest that upright stance probably evolved for nonthermoregulatory reasons. However, the thermoregulatory explanation for hair loss was supported. Specifically, we postulate progressive hair loss being selected and this allowing individuals to be active in hot, open environments initially around dusk and dawn without overheating. Then, as our ancestors' hair loss increased and sweating ability improved over evolutionary time, the fraction of the day when they could remain active in such environments extended. Our model suggests that only when hair loss and sweating ability reach near-modern human levels could hominins have been active in the heat of the day in hot, open environments.

  8. Characteristics of Autocorrelation Structure of Lower Extremity Functional Laterality in Disturbed and Undisturbed Bipedal Upright Stance

    Directory of Open Access Journals (Sweden)

    Stodółka Jacek

    2016-12-01

    Full Text Available Purpose. It is posited that functional laterality is influenced by the generation and conduction of neural signals and therefore associated with sensorimotor control. The question arises if symmetry or asymmetry in sensorimotor processing affects the development of symmetric or asymmetric motor programs in the lower extremities. The purpose of the study was to examine the mechanisms of the human mobility moto-control - the process of maintaining body balance in a standing position through an appropriate course of distribution of ground reaction forces in a time frame, in a situation requiring lower extremity movement symmetry. Methods. The autocorrelation function was calculated for ground reaction forces (in the three orthogonal axes registered during 45 s of bipedal upright stance in two conditions (eyes open and closed. Results. Minor albeit significant deficiencies in postural muscle control were revealed as a function of time, as evidenced in the decay of the autocorrelation function to zero (T0 between the right and left foot for the mediolateral ground reaction force signal. However, the results attest to symmetrical sensorimotor control between both feet. Conclusions. Motor actions (postural corrections performed in long-duration tasks may have less of an effect on sensorimotor control than those applied in shorter duration projections. ANOVA and correlation analysis (across all variables of the right and left foot T0 indicate considerable symmetry in the control of force magnitude and direction during upright standing.

  9. Anatomy, Development, and Function of the Human Pelvis.

    Science.gov (United States)

    DeSilva, Jeremy M; Rosenberg, Karen R

    2017-04-01

    The pelvis is an anatomically complex and functionally informative bone that contributes directly to both human locomotion and obstetrics. Because of the pelvis' important role in obstetrics, it is one of the most sexually dimorphic bony elements of the human body. The complex intersection of pelvic dimorphism, locomotion, and obstetrics has been reenergized by exciting new research, and many papers in this special issue of the pelvis help provide clarity on the relationship between pelvic form (especially female) and locomotor function. Compared to the pelvis of our ape relatives, the human pelvis is uniquely shaped; it is superoinferiorly short and stout, and mediolaterally wide-critical adaptations for bipedalism that are already present in some form very early in the history of the hominin lineage. In this issue, 13 original research papers address the anatomy, development, variation, and function of the modern human pelvis, with implications for understanding the selection pressures that shaped and continue to shape this bone. This rich collection of scholarship moves our understanding of the pelvis forward, while raising dozens of new questions that we hope will serve as inspiration for colleagues and students (both current and future) puzzled by this fascinatingly complex bone. Anat Rec, 300:628-632, 2017. © 2017 Wiley Periodicals, Inc. © 2017 Wiley Periodicals, Inc.

  10. How is sagittal balance acquired during bipedal gait acquisition? Comparison of neonatal and adult pelves in three dimensions. Evolutionary implications.

    Science.gov (United States)

    Tardieu, Christine; Bonneau, Noémie; Hecquet, Jérôme; Boulay, Christophe; Marty, Catherine; Legaye, Jean; Duval-Beaupère, Geneviève

    2013-08-01

    We compare adult and intact neonatal pelves, using a pelvic sagittal variable, the angle of sacral incidence, which presents significant correlations with vertebral curvature in adults and plays an important role in sagittal balance of the trunk on the lower limbs. Since the lumbar curvature develops in the child in association with gait acquisition, we expect a change in this angle during growth which could contribute to the acquisition of sagittal balance. To understand the mechanisms underlying the sagittal balance in the evolution of human bipedalism, we also measure the angle of incidence of hominid fossils. Fourty-seven landmarks were digitized on 50 adult and 19 intact neonatal pelves. We used a three-dimensional model of the pelvis (DE-VISU program) which calculates the angle of sacral incidence and related functional variables. Cross-sectional data from newborns and adults show that the angle of sacral incidence increases and becomes negatively correlated with the sacro-acetabular distance. During ontogeny the sacrum becomes curved, tends to sink down between the iliac blades as a wedge and moves backward in the sagittal plane relative to the acetabula, thus contributing to the backwards displacement of the center of gravity of the trunk. A chain of correlations links the degree of the sacral slope and of the angle of incidence, which is tightly linked with the lumbar lordosis. We sketch a model showing the coordinated changes occurring in the pelvis and vertebral column during the acquisition of bipedalism in infancy. In the australopithecine pelves, Sts 14 and AL 288-1, and in the Homo erectus Gona pelvis the angle of sacral incidence reaches the mean values of humans. Discussing the incomplete pelves of Ardipithecus ramidus, Australopithecus sediba and the Nariokotome Boy, we suggest how the functional linkage between pelvis and spine, observed in humans, could have emerged during hominid evolution. Copyright © 2013 Elsevier Ltd. All rights reserved.

  11. Biomechanics of running indicates endothermy in bipedal dinosaurs.

    Directory of Open Access Journals (Sweden)

    Herman Pontzer

    Full Text Available BACKGROUND: One of the great unresolved controversies in paleobiology is whether extinct dinosaurs were endothermic, ectothermic, or some combination thereof, and when endothermy first evolved in the lineage leading to birds. Although it is well established that high, sustained growth rates and, presumably, high activity levels are ancestral for dinosaurs and pterosaurs (clade Ornithodira, other independent lines of evidence for high metabolic rates, locomotor costs, or endothermy are needed. For example, some studies have suggested that, because large dinosaurs may have been homeothermic due to their size alone and could have had heat loss problems, ectothermy would be a more plausible metabolic strategy for such animals. METHODOLOGY/PRINCIPAL FINDINGS: Here we describe two new biomechanical approaches for reconstructing the metabolic rate of 14 extinct bipedal dinosauriforms during walking and running. These methods, well validated for extant animals, indicate that during walking and slow running the metabolic rate of at least the larger extinct dinosaurs exceeded the maximum aerobic capabilities of modern ectotherms, falling instead within the range of modern birds and mammals. Estimated metabolic rates for smaller dinosaurs are more ambiguous, but generally approach or exceed the ectotherm boundary. CONCLUSIONS/SIGNIFICANCE: Our results support the hypothesis that endothermy was widespread in at least larger non-avian dinosaurs. It was plausibly ancestral for all dinosauriforms (perhaps Ornithodira, but this is perhaps more strongly indicated by high growth rates than by locomotor costs. The polarity of the evolution of endothermy indicates that rapid growth, insulation, erect postures, and perhaps aerobic power predated advanced "avian" lung structure and high locomotor costs.

  12. Electric-Pneumatic Actuator: A New Muscle for Locomotion

    Directory of Open Access Journals (Sweden)

    Maziar Ahmad Sharbafi

    2017-10-01

    Full Text Available A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA as an enhanced variable impedance actuator (VIA. EPA is consisted of a pneumatic artificial muscle (PAM and an electric motor (EM. In contrast to other VIAs, the pneumatic artificial muscle (PAM within the EPA provides not only adaptable compliance, but also an additional powerful actuator with muscle-like properties, which can be arranged in different combinations (e.g., in series or parallel to the EM. The novel hybrid actuator shares the advantages of both integrated actuator types combining precise control of EM with compliant energy storage of PAM, which are required for efficient and adjustable locomotion. Experimental and simulation results based on the new dynamic model of PAM support the hypothesis that combination of the two actuators can improve efficiency (energy and peak power and performance, while does not increase control complexity and weight, considerably. Finally, the experiments on EPA adapted bipedal robot (knee joint of the BioBiped3 robot show improved efficiency of the actuator at different frequencies.

  13. Modulation corticale de la locomotion

    OpenAIRE

    Tard, Céline

    2015-01-01

    Patients with Parkinson 's disease present gait impairments, sometimes sudden and unexpected, either improved or deteriorated with environmental stimuli. Attention focalization, either on external stimuli or on gait, could then modulate locomotion.The main objective was to better characterize how environmental stimuli would modulate locomotion, via attentional networks, in healthy subjects and in parkinsonian patients, with or without freezing of gait.At first, we precisely defined the attent...

  14. Fundamentals of soft robot locomotion

    OpenAIRE

    Calisti, M.; Picardi, G.; Laschi, C.

    2017-01-01

    Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human���robot interaction and locomotion. Although field applications have emerged for soft manipulation and human���robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This p...

  15. Stability Analysis of Bipedal Robots Using the Concept of Lyapunov Exponents

    Directory of Open Access Journals (Sweden)

    Liu Yunping

    2013-01-01

    Full Text Available The dynamics and stability of passive bipedal robot have an important impact on the mass distribution, leg length, and the angle of inclination. Lyapunov’s second method is difficult to be used in highly nonlinear multibody systems, due to the lack of constructive methods for deriving Lyapunov fuction. The dynamics equation is established by Kane method, the relationship between the mass, length of leg, angle of inclination, and stability of passive bipedal robot by the largest Lyapunov exponent. And the Lyapunov exponents of continuous dynamical systems are estimated by numerical methods, which are simple and easy to be applied to the system stability simulation analysis, provide the design basis for passive bipedal robot prototype, and improve design efficiency.

  16. Using intelligent controller to enhance the walking stability of bipedal walking robot

    Science.gov (United States)

    Hsieh, Tsung-Che; Chang, Chia-Der

    2016-07-01

    This paper is to improve the stability issue of the bipedal walking robot. The study of robot's pivot joint constructs the driver system to control the implementation. First, a Proportion-Integral-Derivative (PID) controller is designed by which is used the concept of tuning parameter to achieve the stability of the system. Second, Fuzzy controller and tradition PID controller is used to maintain output. It improved original PID controller efficacy. Finally, Artificial Neuro-Fuzzy Inference System (ANFIS) is utilized which is made the controller to achieve self-studying and modify the effect which is completed by the intelligent controller. It improved bipedal robot's stability control of realization. The result is verified that the walking stability of the bipedal walking robot in Matlab/Simulink. The intelligent controller has achieved the desired position of motor joint and the target stability performance.

  17. Locomotion through Morphosis

    DEFF Research Database (Denmark)

    Larsen, Jørgen Christian

    Robots have been around for more than fifty years, but still they are mostly seen in factorys where they are working in a fixed and controlled environ- ment. Almost since the dawn of robots there have been a hope they some day would be useful in other places than in the factories, however......, this is still not the case. One of the reasons for this is that science does still not fully understand the principles of dynamic locomotion which is a requirement for them to move around in our environment with stairs, obstacles etc. In this thesis the focus will be on the creation of the modular robotic...... in nature can be found and tested. These results shows the poten- tial of LocoKit and are nicely in line with the goal of the project. I future development, LocoKit will be improved in such a way that it allows the user to build even more efficient robots than have been build until now....

  18. Hemodynamic Response of the Supplementary Motor Area during Locomotor Tasks with Upright versus Horizontal Postures in Humans

    Directory of Open Access Journals (Sweden)

    Arito Yozu

    2016-01-01

    Full Text Available To understand cortical mechanisms related to truncal posture control during human locomotion, we investigated hemodynamic responses in the supplementary motor area (SMA with quadrupedal and bipedal gaits using functional near-infrared spectroscopy in 10 healthy adults. The subjects performed three locomotor tasks where the degree of postural instability varied biomechanically, namely, hand-knee quadrupedal crawling (HKQuad task, upright quadrupedalism using bilateral Lofstrand crutches (UpQuad task, and typical upright bipedalism (UpBi task, on a treadmill. We measured the concentration of oxygenated hemoglobin (oxy-Hb during the tasks. The oxy-Hb significantly decreased in the SMA during the HKQuad task, whereas it increased during the UpQuad task. No significant responses were observed during the UpBi task. Based on the degree of oxy-Hb responses, we ranked these locomotor tasks as UpQuad > UpBi > HKQuad. The order of the different tasks did not correspond with postural instability of the tasks. However, qualitative inspection of oxy-Hb time courses showed that oxy-Hb waveform patterns differed between upright posture tasks (peak-plateau-trough pattern for the UpQuad and UpBi tasks and horizontal posture task (downhill pattern for the HKQuad task. Thus, the SMA may contribute to the control of truncal posture accompanying locomotor movements in humans.

  19. How Did the Pelvis and Vertebral Column Become a Functional Unit during the Transition from Occasional to Permanent Bipedalism?

    Science.gov (United States)

    Tardieu, Christine; Hasegawa, Kazuhiro; Haeusler, Martin

    2017-05-01

    The functional linkage between pelvis and spine remained long hidden to science. Here, we recount the history of research that led in 1992 to the discovery of the "angle of sacral incidence" by the team of G. Duval-Beaupère. This angle, formed between a ray from the hip joint center to the superior sacral surface and the perpendicular to the sacral surface, was later called pelvic incidence. Specific to each individual, pelvic incidence is tightly correlated with the degree of lumbar lordosis. It is each individual's "signature" for an efficient sagittal balance since it represents the sum of two positional parameters, sacral slope and pelvic tilt. The simultaneous experimental determination of the trunk line of gravity permitted Duval-Beaupère's team to elucidate the conditions of an efficient sagittal balance of the trunk on the lower limbs. We present an in vivo EOS study of eight spino-pelvic parameters describing the sagittal balance in 131 adults. We observe a chain of correlations between the six angular parameters and discuss the functional significance of these results. We show that pelvic incidence increases and lumbar lordosis develops when the infant learns to walk, leading to a correlation between these parameters. This process of association between pelvis and spine might have acquired a solid genetic basis during hominid evolution by natural selection acting on both pelvis and spine. We suggest that this process of functional integration was only possible in the context of bipedal locomotion becoming permanent and stereotyped, expressed by a relatively invariant, periodic walking cycle. Anat Rec, 300:912-931, 2017. © 2017 Wiley Periodicals, Inc. © 2017 Wiley Periodicals, Inc.

  20. BILL-E: Robotic Platform for Locomotion and Manipulation of Lightweight Space Structures

    Science.gov (United States)

    Jenett, Benjamin; Cheung, Kenneth

    2017-01-01

    We describe a robotic platform for traversing and manipulating a modular 3D lattice structure. The robot is designed to operate within a specifically structured environment, which enables low numbers of degrees of freedom (DOF) compared to robots performing comparable tasks in an unstructured environment. This allows for simple controls, as well as low mass and cost. This approach, designing the robot relative to the local environment in which it operates, results in a type of robot we call a "relative robot." We describe a bipedal robot that can locomote across a periodic lattice structure, as well as being able to handle, manipulate, and transport building block parts that compose the lattice structure. Based on a general inchworm design, the robot has added functionality for traveling over and operating on a host structure.

  1. Serpentine Locomotion Articulated Chain: ANA II

    Directory of Open Access Journals (Sweden)

    A. M. Cardona

    2005-01-01

    Full Text Available When humanity faces challenges in solving problems beyond their technical resources, and has no foundation to solve a problem, engineering must search for an answer developing new concepts and innovative frameworks to excel these limitations and travel beyond our capabilities. This project “Serpentine locomotion articulated chain: ANA II” is a self-contained robot built to evaluate the behavior of the platform being capable of serpentine movements, in a modular chain mechanical design, based on a master/slave architecture.

  2. Tail autotomy affects bipedalism but not sprint performance in a cursorial Mediterranean lizard

    Science.gov (United States)

    Savvides, Pantelis; Stavrou, Maria; Pafilis, Panayiotis; Sfenthourakis, Spyros

    2017-02-01

    Running is essential in all terrestrial animals mainly for finding food and mates and escaping from predators. Lizards employ running in all their everyday functions, among which defense stands out. Besides flight, tail autotomy is another very common antipredatory strategy within most lizard families. The impact of tail loss to sprint performance seems to be species dependent. In some lizard species, tail shedding reduces sprint speed, in other species, increases it, and, in a few species, speed is not affected at all. Here, we aimed to clarify the effect of tail autotomy on the sprint performance of a cursorial lizard with particular adaptations for running, such as bipedalism and spike-like protruding scales (fringes) on the toepads that allow high speed on sandy substrates. We hypothesized that individuals that performed bipedalism, and have more and larger fringes, would achieve higher sprint performance. We also anticipated that tail shedding would affect sprint speed (though we were not able to define in what way because of the unpredictable effects that tail loss has on different species). According to our results, individuals that ran bipedally were faster; limb length and fringe size had limited effects on sprint performance whereas tail autotomy affected quadrupedal running only in females. Nonetheless, tail loss significantly affected bipedalism: the ability for running on hindlimbs was completely lost in all adult individuals and in 72.3% of juveniles.

  3. Guiding locomotion in complex dynamic environments

    Directory of Open Access Journals (Sweden)

    Brett R Fajen

    2013-07-01

    Full Text Available Locomotion in complex dynamic environments is an integral part of many daily activities, including walking in crowded spaces, driving on busy roadways, and playing sports. Many of the tasks that humans perform in such environments involve interactions with moving objects -- that is, they require people to coordinate their own movement with the movements of other objects. A widely adopted framework for research on the detection, avoidance, and interception of moving objects is the bearing angle model, according to which observers move so as to keep the bearing angle of the object constant for interception and varying for obstacle avoidance. The bearing angle model offers a simple, parsimonious account of visual control but has several significant limitations and does not easily scale up to more complex tasks. In this paper, I introduce an alternative account of how humans choose actions and guide locomotion in the presence of moving objects. I show how the new approach addresses the limitations of the bearing angle model and accounts for a variety of behaviors involving moving objects, including (1 choosing whether to pass in front of or behind a moving obstacle, (2 perceiving whether a gap between a pair of moving obstacles is passable, (3 avoiding a collision while passing through single or multiple lanes of traffic, (4 coordinating speed and direction of locomotion during interception, (5 simultaneously intercepting a moving target while avoiding a stationary or moving obstacle, and (6 knowing whether to abandon the chase of a moving target. I also summarize data from recent studies that support the new approach.

  4. Does bipedality predict the group-level manual laterality in mammals?

    Directory of Open Access Journals (Sweden)

    Andrey Giljov

    Full Text Available BACKGROUND: Factors determining patterns of laterality manifestation in mammals remain unclear. In primates, the upright posture favours the expression of manual laterality across species, but may have little influence within a species. Whether the bipedalism acts the same in non-primate mammals is unknown. Our recent findings in bipedal and quadrupedal marsupials suggested that differences in laterality pattern, as well as emergence of manual specialization in evolution might depend on species-specific body posture. Here, we evaluated the hypothesis that the postural characteristics are the key variable shaping the manual laterality expression across mammalian species. METHODOLOGY/PRINCIPAL FINDINGS: We studied forelimb preferences in a most bipedal marsupial, brush-tailed bettong, Bettongia penicillata in four different types of unimanual behavior. The significant left-forelimb preference at the group level was found in all behaviours studied. In unimanual feeding on non-living food, catching live prey and nest-material collecting, all or most subjects were lateralized, and among lateralized bettongs a significant majority displayed left-forelimb bias. Only in unimanual supporting of the body in the tripedal stance the distribution of lateralized and non-lateralized individuals did not differ from chance. Individual preferences were consistent across all types of behaviour. The direction or the strength of forelimb preferences were not affected by the animals' sex. CONCLUSIONS/SIGNIFICANCE: Our findings support the hypothesis that the expression of manual laterality depends on the species-typical postural habit. The interspecies comparison illustrates that in marsupials the increase of bipedality corresponds with the increase of the degree of group-level forelimb preference in a species. Thus, bipedalism can predict pronounced manual laterality at both intra- and interspecific levels in mammals. We also conclude that quadrupedal position in

  5. In Pipe Robot with Hybrid Locomotion System

    Directory of Open Access Journals (Sweden)

    Cristian Miclauş

    2015-06-01

    Full Text Available The first part of the paper covers aspects concerning in pipe robots and their components, such as hybrid locomotion systems and the adapting mechanisms used. The second part describes the inspection robot that was developed, which combines tracked and wheeled locomotion (hybrid locomotion. The end of the paper presents the advantages and disadvantages of the proposed robot.

  6. Climbing, falling and jamming during ant locomotion in confined environments

    CERN Document Server

    Gravish, Nick; Goodisman, Michael A D; Goldman, Daniel I

    2013-01-01

    Locomotion emerges from effective interactions of an individual with its environment. Principles of biological terrestrial locomotion have been discovered on unconfined vertical and horizontal substrates. However a diversity of organisms construct, inhabit, and move within confined spaces. Such animals are faced with locomotor challenges including limited limb range of motion, crowding, and visual sensory deprivation. Little is known about how these organisms accomplish their locomotor tasks, and such environments challenge human-made devices. To gain greater insight into how animals move within confined spaces we study the confined locomotion of the fire ant {\\em Solenopsis invicta}, which constructs subterranean tunnel networks (nests). Laboratory experiments reveal that ants construct tunnels with diameter, D, comparable to bodylength, L=3.5 $\\pm$ 0.5 mm. Ants can move rapidly (> 9 bodylengths/sec) within these environments; their tunnels allow for effective limb, body, and antennae interaction with walls ...

  7. Dynamic sensorimotor interactions in locomotion.

    Science.gov (United States)

    Rossignol, Serge; Dubuc, Réjean; Gossard, Jean-Pierre

    2006-01-01

    Locomotion results from intricate dynamic interactions between a central program and feedback mechanisms. The central program relies fundamentally on a genetically determined spinal circuitry (central pattern generator) capable of generating the basic locomotor pattern and on various descending pathways that can trigger, stop, and steer locomotion. The feedback originates from muscles and skin afferents as well as from special senses (vision, audition, vestibular) and dynamically adapts the locomotor pattern to the requirements of the environment. The dynamic interactions are ensured by modulating transmission in locomotor pathways in a state- and phase-dependent manner. For instance, proprioceptive inputs from extensors can, during stance, adjust the timing and amplitude of muscle activities of the limbs to the speed of locomotion but be silenced during the opposite phase of the cycle. Similarly, skin afferents participate predominantly in the correction of limb and foot placement during stance on uneven terrain, but skin stimuli can evoke different types of responses depending on when they occur within the step cycle. Similarly, stimulation of descending pathways may affect the locomotor pattern in only certain phases of the step cycle. Section ii reviews dynamic sensorimotor interactions mainly through spinal pathways. Section iii describes how similar sensory inputs from the spinal or supraspinal levels can modify locomotion through descending pathways. The sensorimotor interactions occur obviously at several levels of the nervous system. Section iv summarizes presynaptic, interneuronal, and motoneuronal mechanisms that are common at these various levels. Together these mechanisms contribute to the continuous dynamic adjustment of sensorimotor interactions, ensuring that the central program and feedback mechanisms are congruous during locomotion.

  8. Human footprint variation while performing load bearing tasks

    National Research Council Canada - National Science Library

    Wall-Scheffler, Cara M; Wagnild, Janelle; Wagler, Emily

    2015-01-01

    Human footprint fossils have provided essential evidence about the evolution of human bipedalism as well as the social dynamics of the footprint makers, including estimates of speed, sex and group composition...

  9. Blood flow for bone remodelling correlates with locomotion in living and extinct birds.

    Science.gov (United States)

    Allan, Georgina H; Cassey, Phillip; Snelling, Edward P; Maloney, Shane K; Seymour, Roger S

    2014-08-15

    Nutrient arteries enter limb bones through discrete foramina on the shafts. They are required for bone remodelling in response to mechanical loading and dynamic forces imposed by locomotion. The cross-sectional area of the nutrient foramen of the femur represents an index of blood flow rate to the shaft and thus provides insight into the animal's level of activity. Morphometric data on femoral length, mass and foramen size from 100 extant bird species and eight extinct moa species were analysed allometrically and phylogenetically. The nutrient foramen blood flow index (Qi) and femur mass (Mf) increase with body mass (Mb). At 1 kg body mass, cursorial species have approximately 2.1 times higher Qi and 1.9 times heavier Mf than volant species. The scaling of Qi on Mf is independent of the primary mode of locomotion, but the ratio Qi/Mf decreases significantly in larger birds, although absolute Qi increases. The overall avian equation for Qi on Mb is not significantly different from previous data from mammals, but when differences in blood pressure are accounted for, estimated blood flow to the femur is approximately 1.9 times higher in cursorial birds than in mammals, possibly in relation to bipedalism and quadrupedalism, respectively. Femoral bone blood flow in both endothermic groups is estimated to be 50-100 times higher than in ectothermic reptiles. © 2014. Published by The Company of Biologists Ltd.

  10. Elastic actuation for legged locomotion

    Science.gov (United States)

    Cao, Chongjing; Conn, Andrew

    2017-04-01

    The inherent elasticity of dielectric elastomer actuators (DEAs) gives this technology great potential in energy efficient locomotion applications. In this work, a modular double cone DEA is developed with reduced manufacturing and maintenance time costs. This actuator can lift 45 g of mass (5 times its own weight) while producing a stroke of 10.4 mm (23.6% its height). The contribution of the elastic energy stored in antagonistic DEA membranes to the mechanical work output is experimentally investigated by adding delay into the DEA driving voltage. Increasing the delay time in actuation voltage and hence reducing the duty cycle is found to increase the amount of elastic energy being recovered but an upper limit is also noticed. The DEA is then applied to a three-segment leg that is able to move up and down by 17.9 mm (9% its initial height), which demonstrates the feasibility of utilizing this DEA design in legged locomotion.

  11. Comparative analysis between radiographic views for knee osteoarthrosis (bipedal AP versus monopedal AP

    Directory of Open Access Journals (Sweden)

    Rodrigo Pires e Albuquerque

    2013-08-01

    Full Text Available OBJECTIVE: A comparative analysis by applying the criteria of the original classification Ahlbäck in the anteroposterior (AP bipedal knee in extension and anteroposterior (AP monopodal knee in symptomatic knee arthrosis. With this analysis we intend to observe the agreement, any advantage or difference between the incidence and degree of joint involvement between the orthopedic surgeons and radiologists with the referring physician. METHODS: From January 2012 to March 2012, was a prospective study of 60 symptomatic arthrosis knees (60 patients, clinically selected group of outpatient knee and radiographic proposals submitted to the search. Of the 60 patients, 39 were female and 21 male, mean age 64 years (ranging from 50 to 84 years. Of the 60 knees studied, 37 corresponded to the right side and 23 on the left side. Statistical analysis was performed by Kappa statistics, which evaluates the interobserver agreement for qualitative data. RESULTS: According to the scale of Ahlbäck, there was a significant agreement (p < 0.0001 intra-observer in the classification of knee osteoarthritis among the five evaluators. There was a significant agreement (p < 0.0001 with inter-observer referring physician in the incidence of AP monopodal and AP bipedal for the four raters. CONCLUSION: The study found no difference between the incidence in the AP monopodal versus AP bipedal in osteoarthritis of the knee.

  12. Miniaturized sensors to monitor simulated lunar locomotion.

    Science.gov (United States)

    Hanson, Andrea M; Gilkey, Kelly M; Perusek, Gail P; Thorndike, David A; Kutnick, Gilead A; Grodsinsky, Carlos M; Rice, Andrea J; Cavanagh, Peter R

    2011-02-01

    Human activity monitoring is a useful tool in medical monitoring, military applications, athletic coaching, and home healthcare. We propose the use of an accelerometer-based system to track crewmember activity during space missions in reduced gravity environments. It is unclear how the partial gravity environment of the Moorn or Mars will affect human locomotion. Here we test a novel analogue of lunar gravity in combination with a custom wireless activity tracking system. A noninvasive wireless accelerometer-based sensor system, the activity tracking device (ATD), was developed. The system has two sensor units; one footwear-mounted and the other waist-mounted near the midlower back. Subjects (N=16) were recruited to test the system in the enhanced Zero Gravity Locomotion Simulator (eZLS) at NASA Glenn Research Center. Data were used to develop an artificial neural network for activity recognition. The eZLS demonstrated the ability to replicate reduced gravity environments. There was a 98% agreement between the ATD and force plate-derived stride times during running (9.7 km x h(-1)) at both 1 g and 1/6 g. A neural network was designed and successfully trained to identify lunar walking, running, hopping, and loping from ATD measurements with 100% accuracy. The eZLS is a suitable tool for examining locomotor activity at simulated lunar gravity. The accelerometer-based ATD system is capable of monitoring human activity and may be suitable for use during remote, long-duration space missions. A neural network has been developed to use data from the ATD to aid in remote activity monitoring.

  13. Ergonomics of locomotive design in South African Gold and Platinum mines.

    CSIR Research Space (South Africa)

    Smith, JR

    2002-03-01

    Full Text Available and subjective evaluation of the existing fleet to determine the ergonomic aspects affecting human performance and human- machine interaction. The key ergonomics characteristics related to safety and work performance were identified for the mine locomotive..., a practical strategy was devised for the improvement of the current fleet. Aspects covered during the study included: • analysis of the locomotive operator tasks. • identification of the ergonomics aspects and mechanical engineering...

  14. Locomotion in extinct giant kangaroos: were sthenurines hop-less monsters?

    Directory of Open Access Journals (Sweden)

    Christine M Janis

    Full Text Available Sthenurine kangaroos (Marsupialia, Diprotodontia, Macropodoidea were an extinct subfamily within the family Macropodidae (kangaroos and rat-kangaroos. These "short-faced browsers" first appeared in the middle Miocene, and radiated in the Plio-Pleistocene into a diversity of mostly large-bodied forms, more robust than extant forms in their build. The largest (Procoptodon goliah had an estimated body mass of 240 kg, almost three times the size of the largest living kangaroos, and there is speculation whether a kangaroo of this size would be biomechanically capable of hopping locomotion. Previously described aspects of sthenurine anatomy (specialized forelimbs, rigid lumbar spine would limit their ability to perform the characteristic kangaroo pentapedal walking (using the tail as a fifth limb, an essential gait at slower speeds as slow hopping is energetically unfeasible. Analysis of limb bone measurements of sthenurines in comparison with extant macropodoids shows a number of anatomical differences, especially in the large species. The scaling of long bone robusticity indicates that sthenurines are following the "normal" allometric trend for macropodoids, while the large extant kangaroos are relatively gracile. Other morphological differences are indicative of adaptations for a novel type of locomotor behavior in sthenurines: they lacked many specialized features for rapid hopping, and they also had anatomy indicative of supporting their body with an upright trunk (e.g., dorsally tipped ischiae, and of supporting their weight on one leg at a time (e.g., larger hips and knees, stabilized ankle joint. We propose that sthenurines adopted a bipedal striding gait (a gait occasionally observed in extant tree-kangaroos: in the smaller and earlier forms, this gait may have been employed as an alternative to pentapedal locomotion at slower speeds, while in the larger Pleistocene forms this gait may have enabled them to evolve to body sizes where hopping

  15. Locomotion in extinct giant kangaroos: were sthenurines hop-less monsters?

    Science.gov (United States)

    Janis, Christine M; Buttrill, Karalyn; Figueirido, Borja

    2014-01-01

    Sthenurine kangaroos (Marsupialia, Diprotodontia, Macropodoidea) were an extinct subfamily within the family Macropodidae (kangaroos and rat-kangaroos). These "short-faced browsers" first appeared in the middle Miocene, and radiated in the Plio-Pleistocene into a diversity of mostly large-bodied forms, more robust than extant forms in their build. The largest (Procoptodon goliah) had an estimated body mass of 240 kg, almost three times the size of the largest living kangaroos, and there is speculation whether a kangaroo of this size would be biomechanically capable of hopping locomotion. Previously described aspects of sthenurine anatomy (specialized forelimbs, rigid lumbar spine) would limit their ability to perform the characteristic kangaroo pentapedal walking (using the tail as a fifth limb), an essential gait at slower speeds as slow hopping is energetically unfeasible. Analysis of limb bone measurements of sthenurines in comparison with extant macropodoids shows a number of anatomical differences, especially in the large species. The scaling of long bone robusticity indicates that sthenurines are following the "normal" allometric trend for macropodoids, while the large extant kangaroos are relatively gracile. Other morphological differences are indicative of adaptations for a novel type of locomotor behavior in sthenurines: they lacked many specialized features for rapid hopping, and they also had anatomy indicative of supporting their body with an upright trunk (e.g., dorsally tipped ischiae), and of supporting their weight on one leg at a time (e.g., larger hips and knees, stabilized ankle joint). We propose that sthenurines adopted a bipedal striding gait (a gait occasionally observed in extant tree-kangaroos): in the smaller and earlier forms, this gait may have been employed as an alternative to pentapedal locomotion at slower speeds, while in the larger Pleistocene forms this gait may have enabled them to evolve to body sizes where hopping was no longer

  16. Hydrodynamics and control of microbial locomotion

    Science.gov (United States)

    Dunkel, Jorn; Kantsler, Vasily; Polin, Marco; Wioland, Hugo; Goldstein, Raymond

    2014-03-01

    Interactions between swimming cells, surfaces and fluid flow are essential to many microbiological processes, from the formation of biofilms to the fertilization of human egg cells. Yet, relatively little remains known quantitatively about the physical mechanisms that govern the response of bacteria, algae and sperm cells to flow velocity gradients and solid surfaces. A better understanding of cell-surface and cell-flow interactions promises new biological insights and may advance microfluidic techniques for controlling microbial and sperm locomotion, with potential applications in diagnostics and therapeutic protein synthesis. Here, we report new experimental measurements that quantify surface interactions of bacteria, unicellular green algae and mammalian spermatozoa. These experiments show that the subtle interplay of hydrodynamics and surface interactions can stabilize collective bacterial motion, that direct ciliary contact interactions dominate surface scattering of eukaryotic biflagellate algae, and that rheotaxis combined with steric surface interactions provides a robust long-range navigation mechanism for sperm cells.

  17. Locomotive biofuel study : preliminary study on the use and the effects of biodiesel in locomotives.

    Science.gov (United States)

    2014-05-01

    Section 404 of the Passenger Rail Investment and Improvement Act (PRIIA), 2008, mandated that the Federal Railroad : Administration (FRA) undertake a Locomotive Biofuel Study to investigate the feasibility of using biofuel blends as locomotive : engi...

  18. Railroad and locomotive technology roadmap.

    Energy Technology Data Exchange (ETDEWEB)

    Stodolsky, F.; Gaines, L.; Energy Systems

    2003-02-24

    Railroads are important to the U.S. economy. They transport freight efficiently, requiring less energy and emitting fewer pollutants than other modes of surface transportation. While the railroad industry has steadily improved its fuel efficiency--by 16% over the last decade--more can, and needs to, be done. The ability of locomotive manufacturers to conduct research into fuel efficiency and emissions reduction is limited by the small number of locomotives manufactured annually. Each year for the last five years, the two North American locomotive manufacturers--General Electric Transportation Systems and the Electro-Motive Division of General Motors--have together sold about 800 locomotives in the United States. With such a small number of units over which research costs can be spread, outside help is needed to investigate all possible ways to reduce fuel usage and emissions. Because fuel costs represent a significant portion of the total operating costs of a railroad, fuel efficiency has always been an important factor in the design of locomotives and in the operations of a railroad. However, fuel efficiency has recently become even more critical with the introduction of strict emission standards by the U.S. Environmental Protection Agency, to be implemented in stages (Tiers 0, 1, and 2) between 2000 and 2005. Some of the technologies that could be employed to meet the emission standards may negatively affect fuel economy--by as much as 10-15% when emissions are reduced to Tier 1 levels. Lowering fuel economy by that magnitude would have a serious impact on the cost to the consumer of goods shipped by rail, on the competitiveness of the railroad industry, and on this country's dependence on foreign oil. Clearly, a joint government/industry R&D program is needed to help catalyze the development of advanced technologies that will substantially reduce locomotive engine emissions while also improving train system energy efficiency. DOE convened an industry

  19. Neuromechanical Control for Dynamic Bipedal Walking with Reduced Impact Forces

    DEFF Research Database (Denmark)

    Widenka, Johannes; Xiong, Xiaofeng; Matthias Braun, Jan

    2016-01-01

    Human walking emerges from an intricate interaction of nervous and musculoskeletal systems. Inspired by this principle, we integrate neural control and muscle-like mechanisms to achieve neuromechanical control of the biped robot RunBot. As a result, the neuromechanical controller enables Run......Bot to perform more human-like walking and reduce impact force during walking, compared to original neural control. Moreover, it also generates adaptive joint motions of RunBot; thereby allowing it to deal with different terrains...

  20. Modeling limbless locomotion using ADAMS software Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Limbless locomotion has the potential of meeting transportation requirements, particularly in challenging environments. Snakes can traverse a variety of surfaces...

  1. A wider pelvis does not increase locomotor cost in humans, with implications for the evolution of childbirth.

    Directory of Open Access Journals (Sweden)

    Anna G Warrener

    Full Text Available The shape of the human female pelvis is thought to reflect an evolutionary trade-off between two competing demands: a pelvis wide enough to permit the birth of large-brained infants, and narrow enough for efficient bipedal locomotion. This trade-off, known as the obstetrical dilemma, is invoked to explain the relative difficulty of human childbirth and differences in locomotor performance between men and women. The basis for the obstetrical dilemma is a standard static biomechanical model that predicts wider pelves in females increase the metabolic cost of locomotion by decreasing the effective mechanical advantage of the hip abductor muscles for pelvic stabilization during the single-leg support phase of walking and running, requiring these muscles to produce more force. Here we experimentally test this model against a more accurate dynamic model of hip abductor mechanics in men and women. The results show that pelvic width does not predict hip abductor mechanics or locomotor cost in either women or men, and that women and men are equally efficient at both walking and running. Since a wider birth canal does not increase a woman's locomotor cost, and because selection for successful birthing must be strong, other factors affecting maternal pelvic and fetal size should be investigated in order to help explain the prevalence of birth complications caused by a neonate too large to fit through the birth canal.

  2. A Wider Pelvis Does Not Increase Locomotor Cost in Humans, with Implications for the Evolution of Childbirth

    Science.gov (United States)

    Warrener, Anna G.; Lewton, Kristi L.; Pontzer, Herman; Lieberman, Daniel E.

    2015-01-01

    The shape of the human female pelvis is thought to reflect an evolutionary trade-off between two competing demands: a pelvis wide enough to permit the birth of large-brained infants, and narrow enough for efficient bipedal locomotion. This trade-off, known as the obstetrical dilemma, is invoked to explain the relative difficulty of human childbirth and differences in locomotor performance between men and women. The basis for the obstetrical dilemma is a standard static biomechanical model that predicts wider pelves in females increase the metabolic cost of locomotion by decreasing the effective mechanical advantage of the hip abductor muscles for pelvic stabilization during the single-leg support phase of walking and running, requiring these muscles to produce more force. Here we experimentally test this model against a more accurate dynamic model of hip abductor mechanics in men and women. The results show that pelvic width does not predict hip abductor mechanics or locomotor cost in either women or men, and that women and men are equally efficient at both walking and running. Since a wider birth canal does not increase a woman’s locomotor cost, and because selection for successful birthing must be strong, other factors affecting maternal pelvic and fetal size should be investigated in order to help explain the prevalence of birth complications caused by a neonate too large to fit through the birth canal. PMID:25760381

  3. Variable bipedal walking gait with variable leg stiffness

    NARCIS (Netherlands)

    Roozing, W.M.; Visser, L.C.; Carloni, Raffaella

    The Spring-Loaded Inverted Pendulum (SLIP) model has been shown to exhibit many properties of human walking, and therefore has been the starting point for studies on robust, energy-efficient walking for robots. In this paper, the problem of gait variation during walking on the SLIP model is

  4. Assessing endocranial variations in great apes and humans using 3D data from virtual endocasts.

    Science.gov (United States)

    Bienvenu, Thibaut; Guy, Franck; Coudyzer, Walter; Gilissen, Emmanuel; Roualdès, Georges; Vignaud, Patrick; Brunet, Michel

    2011-06-01

    Modern humans are characterized by their large, complex, and specialized brain. Human brain evolution can be addressed through direct evidence provided by fossil hominid endocasts (i.e. paleoneurology), or through indirect evidence of extant species comparative neurology. Here we use the second approach, providing an extant comparative framework for hominid paleoneurological studies. We explore endocranial size and shape differences among great apes and humans, as well as between sexes. We virtually extracted 72 endocasts, sampling all extant great ape species and modern humans, and digitized 37 landmarks on each for 3D generalized Procrustes analysis. All species can be differentiated by their endocranial shape. Among great apes, endocranial shapes vary from short (orangutans) to long (gorillas), perhaps in relation to different facial orientations. Endocranial shape differences among African apes are partly allometric. Major endocranial traits distinguishing humans from great apes are endocranial globularity, reflecting neurological reorganization, and features linked to structural responses to posture and bipedal locomotion. Human endocasts are also characterized by posterior location of foramina rotunda relative to optic canals, which could be correlated to lesser subnasal prognathism compared to living great apes. Species with larger brains (gorillas and humans) display greater sexual dimorphism in endocranial size, while sexual dimorphism in endocranial shape is restricted to gorillas, differences between males and females being at least partly due to allometry. Our study of endocranial variations in extant great apes and humans provides a new comparative dataset for studies of fossil hominid endocasts. Copyright © 2011 Wiley-Liss, Inc.

  5. How locomotion sub-functions can control walking at different speeds?

    Science.gov (United States)

    Ahmad Sharbafi, Maziar; Seyfarth, Andre

    2017-02-28

    Inspired from template models explaining biological locomotory systems and Raibert׳s pioneering legged robots, locomotion can be realized by basic sub-functions: elastic axial leg function, leg swinging and balancing. Combinations of these three can generate different gaits with diverse properties. In this paper we investigate how locomotion sub-functions contribute to stabilize walking at different speeds. Based on this trilogy, we introduce a conceptual model to quantify human locomotion sub-functions in walking. This model can produce stable walking and also predict human locomotion sub-function control during swing phase of walking. Analyzing experimental data based on this modeling shows different control strategies which are employed to increase speed from slow to moderate and moderate to fast gaits. Copyright © 2017 Elsevier Ltd. All rights reserved.

  6. Changes in gravity inhibit lymphocyte locomotion through type I collagen

    Science.gov (United States)

    Pellis, N. R.; Goodwin, T. J.; Risin, D.; McIntyre, B. W.; Pizzini, R. P.; Cooper, D.; Baker, T. L.; Spaulding, G. F.

    1997-01-01

    Immunity relies on the circulation of lymphocytes through many different tissues including blood vessels, lymphatic channels, and lymphoid organs. The ability of lymphocytes to traverse the interstitium in both nonlymphoid and lymphoid tissues can be determined in vitro by assaying their capacity to locomote through Type I collagen. In an attempt to characterize potential causes of microgravity-induced immunosuppression, we investigated the effects of simulated microgravity on human lymphocyte function in vitro using a specialized rotating-wall vessel culture system developed at the Johnson Space Center. This very low shear culture system randomizes gravitational vectors and provides an in vitro approximation of microgravity. In the randomized gravity of the rotating-wall vessel culture system, peripheral blood lymphocytes did not locomote through Type I collagen, whereas static cultures supported normal movement. Although cells remained viable during the entire culture period, peripheral blood lymphocytes transferred to unit gravity (static culture) after 6 h in the rotating-wall vessel culture system were slow to recover and locomote into collagen matrix. After 72 h in the rotating-wall vessel culture system and an additional 72 h in static culture, peripheral blood lymphocytes did not recover their ability to locomote. Loss of locomotory activity in rotating-wall vessel cultures appears to be related to changes in the activation state of the lymphocytes and the expression of adhesion molecules. Culture in the rotating-wall vessel system blunted the ability of peripheral blood lymphocytes to respond to polyclonal activation with phytohemagglutinin. Locomotory response remained intact when peripheral blood lymphocytes were activated by anti-CD3 antibody and interleukin-2 prior to introduction into the rotating-wall vessel culture system. Thus, in addition to the systemic stress factors that may affect immunity, isolated lymphocytes respond to gravitational changes

  7. Performance requirements for locomotive braking systems

    CSIR Research Space (South Africa)

    Vermaak, P

    2000-02-01

    Full Text Available of underground locomotives, excluding those used on high speed main haulages. In addition a survey was carried out on the most widely used types of locomotives and the braking systems. The survey gave an insight into the knowledge of the mine personnel...

  8. Stride lengths, speed and energy costs in walking of Australopithecus afarensis: using evolutionary robotics to predict locomotion of early human ancestors

    OpenAIRE

    Sellers, William I; Cain, Gemma M; Wang, Weijie; Crompton, Robin H

    2005-01-01

    This paper uses techniques from evolutionary robotics to predict the most energy-efficient upright walking gait for the early human relative Australopithecus afarensis, based on the proportions of the 3.2 million year old AL 288-1 ‘Lucy’ skeleton, and matches predictions against the nearly contemporaneous (3.5–3.6 million year old) Laetoli fossil footprint trails. The technique creates gaits de novo and uses genetic algorithm optimization to search for the most efficient patterns of simulated...

  9. Dynamic Locomotion and Whole-Body Control for Compliant Humanoids

    OpenAIRE

    Hopkins, Michael Anthony

    2015-01-01

    With the ability to navigate natural and man-made environments and utilize standard human tools, humanoid robots have the potential to transform emergency response and disaster relief applications by serving as first responders in hazardous scenarios. Such applications will require major advances in humanoid control, enabling robots to traverse difficult, cluttered terrain with both speed and stability. To advance the state of the art, this dissertation presents a complete dynamic locomotion ...

  10. DeepConvLSTM on single accelerometer locomotion recognition

    OpenAIRE

    Sjöstrm, Henrik

    2017-01-01

    This project aims to evaluate the deep neural network architecture Deep-ConvLSTM to classify locomotive human activities using data from a single accelerometer. The evaluation involves comparisons to a simpler convolutional neural network and a hyperparameter evaluation in regards to the networks number of convolutional layers. The benchmark OPPORTUNITY dataset is used for training and evaluation from which triaxial accelerometer data from hips and legs are extracted. The results of the evalu...

  11. Regularity of Center of Pressure Trajectories in Expert Gymnasts during Bipedal Closed-Eyes Quiet Standing

    Directory of Open Access Journals (Sweden)

    Brice Isableu

    2017-06-01

    Full Text Available We compared postural control of expert gymnasts (G to that of non-gymnasts (NG during bipedal closed-eyes quiet standing using conventional and nonlinear dynamical measures of center of foot pressure (COP trajectories. Earlier findings based on COP classical variables showed that gymnasts exhibited a better control of postural balance but only in demanding stances. We examined whether the effect of expertise in Gymnastic can be uncovered in less demanding stances, from the analysis of the dynamic patterns of COP trajectories. Three dependent variables were computed to describe the subject’s postural behavior: the variability of COP displacements (ACoP, the variability of the COP velocities (VCoP and the sample entropy of COP (SEnCoP to quantify COP regularity (i.e., predictability. Conventional analysis of COP trajectories showed that NG and G exhibited similar amount and control of postural sway, as indicated by similar ACoP and VCoP values observed in NG and G, respectively. These results suggest that the specialized balance training received by G may not transfer to less challenging balance conditions such as the bipedal eyes-closed stance condition used in the present experiment. Interestingly, nonlinear dynamical analysis of COP trajectories regarding COP regularity showed that G exhibited more irregular COP fluctuations relative to NG, as indicated by the higher SEnCoP values observed for the G than for the NG. The present results showed that a finer-grained analysis of the dynamic patterns of the COP displacements is required to uncover an effect of gymnastic expertise on postural control in nondemanding postural stance. The present findings shed light on the surplus value in the nonlinear dynamical analysis of COP trajectories to gain further insight into the mechanisms involved in the control of bipedal posture.

  12. A physical model of sensorimotor interactions during locomotion

    Science.gov (United States)

    Klein, Theresa J.; Lewis, M. Anthony

    2012-08-01

    In this paper, we describe the development of a bipedal robot that models the neuromuscular architecture of human walking. The body is based on principles derived from human muscular architecture, using muscles on straps to mimic agonist/antagonist muscle action as well as bifunctional muscles. Load sensors in the straps model Golgi tendon organs. The neural architecture is a central pattern generator (CPG) composed of a half-center oscillator combined with phase-modulated reflexes that is simulated using a spiking neural network. We show that the interaction between the reflex system, body dynamics and CPG results in a walking cycle that is entrained to the dynamics of the system. We also show that the CPG helped stabilize the gait against perturbations relative to a purely reflexive system, and compared the joint trajectories to human walking data. This robot represents a complete physical, or ‘neurorobotic’, model of the system, demonstrating the usefulness of this type of robotics research for investigating the neurophysiological processes underlying walking in humans and animals.

  13. Locomotive track detection for underground

    Science.gov (United States)

    Ma, Zhonglei; Lang, Wenhui; Li, Xiaoming; Wei, Xing

    2017-08-01

    In order to improve the PC-based track detection system, this paper proposes a method to detect linear track for underground locomotive based on DSP + FPGA. Firstly, the analog signal outputted from the camera is sampled by A / D chip. Then the collected digital signal is preprocessed by FPGA. Secondly, the output signal of FPGA is transmitted to DSP via EMIF port. Subsequently, the adaptive threshold edge detection, polar angle and radius constrain based Hough transform are implemented by DSP. Lastly, the detected track information is transmitted to host computer through Ethernet interface. The experimental results show that the system can not only meet the requirements of real-time detection, but also has good robustness.

  14. A bipedal DNA motor that travels back and forth between two DNA origami tiles.

    Science.gov (United States)

    Liber, Miran; Tomov, Toma E; Tsukanov, Roman; Berger, Yaron; Nir, Eyal

    2015-02-04

    In this work, the successful operation of a dynamic DNA device constructed from two DNA origami building blocks is reported. The device includes a bipedal walker that strides back and forth between the two origami tiles. Two different DNA origami tiles are first prepared separately; they are then joined together in a controlled manner by a set of DNA strands to form a stable track in high yield as confirmed by single-molecule fluorescence (SMF). Second, a bipedal DNA motor, initially attached to one of the two origami units and operated by sequential interaction with "fuel" and "antifuel" DNA strands, moves from one origami tile to another and then back again. The operational yield, measured by SMF, was similar to that of a motor operating on a similar track embedded in a single origami tile, confirming that the transfer across the junction from one tile to the other does not result in dissociation that is any more than that of steps on a single tile. These results demonstrate that moving parts can reliably travel from one origami unit to another, and it demonstrates the feasibility of dynamic DNA molecular machines that are made of more than a single origami building block. This study is a step toward the development of motors that can stride over micrometer distances. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  15. Planning and Control of Stable Walking for a 3D Bipedal Robot

    Directory of Open Access Journals (Sweden)

    Ching-Long Shih

    2012-08-01

    Full Text Available This paper presents a time-invariant feedback controller that simultaneously regulates the ZMP (zero-moment point position and the joint configuration of a 3D biped in order to achieve an asymptotically, periodic walking gait for a 3D bipedal robot with feet. The cyclic walking gait is composed of a successive single-support phase and an impulsive impact with full plane-contact between the feet and the ground. The biped robot has 10 DOFs (degrees of freedom in the single-support phase and 10 actuators. In order to avoid the unexpected rotation of the supporting foot, the position of the ZMP in the horizontal plane has to be controlled. It is also desired that the feedback controller tracks a parameterized reference trajectory to achieve walking stability. We use the method of virtual constraints previously implemented for controlling point-feet bipedal robots to create a set of parameterized reference walking trajectories. By creating the hybrid zero dynamics, an orbital stability study with Poincaré map is evaluated in a reduced space. We then design a supplemental event-based feedback controller to enhance walking stability. The walking gait has an average walking speed of 0.76m/sec (or 0.72 body lengths per second in the simulation study.

  16. A Study on Bipedal and Mobile Robot Behavior Through Modeling and Simulation

    Directory of Open Access Journals (Sweden)

    Nirmala Nirmala

    2015-05-01

    Full Text Available The purpose of this work is to study and analyze mobile robot behavior. In performing this, a framework is adopted and developed for mobile and bipedal robot. The robots are design, build, and run as proceed from the development of mechanical structure, electronics and control integration, and control software application. The behavior of those robots are difficult to be observed and analyzed qualitatively. To evaluate the design and behavior quality, modeling and simulation of robot structure and its task capability is performed. The stepwise procedure to robot behavior study is explained. Behavior cases study are experimented to bipedal robots, transporter robot and Autonomous Guided Vehicle (AGV developed at our institution. The experimentation are conducted on those robots by adjusting their dynamic properties and/or surrounding environment. Validation is performed by comparing the simulation result and the real robot execution. The simulation gives a more idealistic behavior execution rather than realistic one. Adjustments are performed to fine tuning simulation's parameters to provide a more realistic performance.

  17. A Novel Sensory Mapping Design for Bipedal Walking on a Sloped Surface

    Directory of Open Access Journals (Sweden)

    Chiao-Min Wu

    2012-10-01

    Full Text Available This paper presents an environment recognition method for bipedal robots using a time-delay neural network. For a robot to walk in a varying terrain, it is desirable that the robot can adapt to any environment encountered in real-time. This paper aims to develop a sensory mapping unit to recognize environment types from the input sensory data based on an artificial neural network approach. With the proposed sensory mapping design, a bipedal walking robot can obtain real-time environment information and select an appropriate walking pattern accordingly. Due to the time-dependent property of sensory data, the sensory mapping is realized by using a time-delay neural network. The sensory data of earlier time sequences combined with current sensory data are sent to the neural network. The proposed method has been implemented on the humanoid robot NAO for verification. Several interesting experiments were carried out to verify the effectiveness of the sensory mapping design. The mapping design is validated for the uphill, downhill and flat surface cases, where three types of environment can be recognized by the NAO robot online.

  18. Biorobotics: using robots to emulate and investigate agile locomotion.

    Science.gov (United States)

    Ijspeert, Auke J

    2014-10-10

    The graceful and agile movements of animals are difficult to analyze and emulate because locomotion is the result of a complex interplay of many components: the central and peripheral nervous systems, the musculoskeletal system, and the environment. The goals of biorobotics are to take inspiration from biological principles to design robots that match the agility of animals, and to use robots as scientific tools to investigate animal adaptive behavior. Used as physical models, biorobots contribute to hypothesis testing in fields such as hydrodynamics, biomechanics, neuroscience, and prosthetics. Their use may contribute to the design of prosthetic devices that more closely take human locomotion principles into account. Copyright © 2014, American Association for the Advancement of Science.

  19. Locomotive Assignment Problem with Heterogeneous Vehicle Fleet and Hiring External Locomotives

    Directory of Open Access Journals (Sweden)

    Dušan Teichmann

    2015-01-01

    Full Text Available This paper focuses on solving the problem of how to assign locomotives to assembled trains optimally. To solve the problem, linear programming is applied. The situation we model in the paper occurs in the conditions of a transport operator that provides rail transport in the Czech Republic. In the paper, an extended locomotive assignment problem is modeled; the transport operator can use different classes of the locomotives to serve individual connections, some connections must be served by a predefined locomotive class, and the locomotives can be allocated to several depots at the beginning. The proposed model also takes into consideration the fact that some connections can be served by the locomotives of external transport companies or operators. The presented model is applied to a real example in order to test its functionality.

  20. 49 CFR 230.101 - Steam locomotive driving journal boxes.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive driving journal boxes. 230.101... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Running Gear § 230.101 Steam locomotive driving journal boxes. (a) Driving journal...

  1. 49 CFR 229.121 - Locomotive cab noise.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Locomotive cab noise. 229.121 Section 229.121... § 229.121 Locomotive cab noise. (a) Performance standards for locomotives. (1) When tested for static noise in accordance with paragraph (a)(3) of this section, all locomotives of each design or model that...

  2. 40 CFR 92.214 - Production locomotives and engines.

    Science.gov (United States)

    2010-07-01

    ... 40 Protection of Environment 20 2010-07-01 2010-07-01 false Production locomotives and engines. 92... (CONTINUED) CONTROL OF AIR POLLUTION FROM LOCOMOTIVES AND LOCOMOTIVE ENGINES Certification Provisions § 92.214 Production locomotives and engines. Any manufacturer or remanufacturer obtaining certification...

  3. 76 FR 2199 - Locomotive Safety Standards

    Science.gov (United States)

    2011-01-12

    ... success and the overall approach taken by FRA. As a result, the Working Group reached consensus on the... conditions when properly maintained, as is the case with rail passenger coaches, passenger MU locomotives...

  4. Optimised traction by PEGASOS locomotive control system

    Energy Technology Data Exchange (ETDEWEB)

    Anon.

    2010-09-15

    Based on long-term experience with electronic speed governors in diesel locomotives, the German company Heinzmann GmbH has continued developing and extending their PEGASOS digital control system for diesel-powered rail vehicles. (orig.)

  5. Development of Underwater Microrobot with Biomimetic Locomotion

    Directory of Open Access Journals (Sweden)

    W. Zhang

    2006-01-01

    Full Text Available Microrobots have powerful applications in biomedical and naval fields. They should have a compact structure, be easy to manufacture, have efficient locomotion, be driven by low voltage and have a simple control system. To meet these purposes, inspired by the leg of stick insects, we designed a novel type of microrobot with biomimetic locomotion with 1-DOF (degree of freedom legs. The locomotion includes two ionic conducting polymer film (ICPF actuators to realize the 2-DOF motion. We developed several microrobots with this locomotion. Firstly, we review a microrobot, named Walker-1, with 1-DOF motion. And then a new microrobot, named Walker-2, utilizing six ICPF actuators, with 3-DOF motion is introduced. It is 47 mm in diameter and 8 mm in height (in static state. It has 0.61 g of dried weight. We compared the two microrobot prototypes, and the result shows that Walker-2 has some advantages, such as more flexible moving motion, good balance, less water resistance, more load-carrying ability and so on. We also compared it with some insect-inspired microrobots and some microrobots with 1-DOF legs, and the result shows that a microrobot with this novel type of locomotion has some advantages. Its structure has fewer actuators and joints, a simpler control system and is compact. The ICPF actuator decides that it can be driven by low voltage (less than 5 V and move in water. A microrobot with this locomotion has powerful applications in biomedical and naval fields.

  6. Central Pattern Generator for Locomotion: Anatomical, Physiological and Pathophysiological Considerations

    Directory of Open Access Journals (Sweden)

    Pierre A. Guertin

    2013-02-01

    Full Text Available This article provides a perspective on major innovations over the past century in research on the spinal cord and, specifically, on specialized spinal circuits involved in the control of rhythmic locomotor pattern generation and modulation. Pioneers such as Charles Sherrington and Thomas Graham Brown have conducted experiments in the early twentieth century that changed our views of the neural control of locomotion. Their seminal work supported subsequently by several decades of evidence has led to the conclusion that walking, flying and swimming are largely controlled by a network of spinal neurons generally referred to as the central pattern generator (CPG for locomotion. It has been subsequently demonstrated across all vertebrate species examined, from lampreys to humans, that this CPG is capable, under some conditions, to self-produce, even in absence of descending or peripheral inputs, basic rhythmic and coordinated locomotor movements. Recent evidence suggests, in turn, that plasticity changes of some CPG elements may contribute to the development of specific pathophysiological conditions associated with impaired locomotion or spontaneous locomotor-like movements. This article constitutes a comprehensive review summarizing key findings on the CPG as well as on its potential role in Restless Leg Syndrome (RLS, Periodic Leg Movement (PLM, and Alternating Leg Muscle Activation (ALMA. Special attention will be paid to the role of the CPG in a recently identified, and uniquely different neurological disorder, called the Uner Tan Syndrome.

  7. The PS locomotive runs again

    CERN Multimedia

    2001-01-01

    Over forty years ago, the PS train entered service to steer the magnets of the accelerator into place... ... a service that was resumed last Tuesday. Left to right: Raymond Brown (CERN), Claude Tholomier (D.B.S.), Marcel Genolin (CERN), Gérard Saumade (D.B.S.), Ingo Ruehl (CERN), Olivier Carlier (D.B.S.), Patrick Poisot (D.B.S.), Christian Recour (D.B.S.). It is more than ten years since people at CERN heard the rumbling of the old PS train's steel wheels. Last Tuesday, the locomotive came back into service to be tested. It is nothing like the monstrous steel engines still running on conventional railways -just a small electric battery-driven vehicle employed on installing the magnets for the PS accelerator more than 40 years ago. To do so, it used the tracks that run round the accelerator. In fact, it is the grandfather of the LEP monorail. After PS was commissioned in 1959, the little train was used more and more rarely. This is because magnets never break down, or hardly ever! In fact, the loc...

  8. The dynamics of quadrupedal locomotion.

    Science.gov (United States)

    Pandy, M G; Kumar, V; Berme, N; Waldron, K J

    1988-08-01

    This paper presents a dynamical analysis of quadrupedal locomotion, with specific reference to an adult Nubian goat. Measurements of ground reaction forces and limb motion are used to assess variations in intersegmental forces, joint moments, and instantaneous power for three discernible gaits: walking, running, and jumping. In each case, inertial effects of the torso are shown to dominate to the extent that lower-extremity contributions may be considered negligible. Footforces generated by the forelimbs exceed those exerted by the hindlimbs; and, in general, ground reactions increase with speed. The shoulder and hip dominate mechanical energy production during walking, while the knee plays a more significant role in running. In both cases, however, the elbow absorbs energy, and by so doing functions primarily as a damping (control) element. As opposed to either walking or running, jumping requires total horizontal retardation of the body's center of mass. In this instance, generating the necessary vertical thrust amounts to energy absorption at all joints of the lower extremities.

  9. Gravitational Effects upon Locomotion Posture

    Science.gov (United States)

    DeWitt, John K.; Bentley, Jason R.; Edwards, W. Brent; Perusek, Gail P.; Samorezov, Sergey

    2008-01-01

    Researchers use actual microgravity (AM) during parabolic flight and simulated microgravity (SM) obtained with horizontal suspension analogs to better understand the effect of gravity upon gait. In both environments, the gravitational force is replaced by an external load (EL) that returns the subject to the treadmill. However, when compared to normal gravity (N), researchers consistently find reduced ground reaction forces (GRF) and subtle kinematic differences (Schaffner et al., 2005). On the International Space Station, the EL is applied by elastic bungees attached to a waist and shoulder harness. While bungees can provide EL approaching body weight (BW), their force-length characteristics coupled with vertical oscillations of the body during gait result in a variable load. However, during locomotion in N, the EL is consistently equal to 100% body weight. Comparisons between AM and N have shown that during running, GRF are decreased in AM (Schaffner et al, 2005). Kinematic evaluations in the past have focussed on joint range of motion rather than joint posture at specific instances of the gait cycle. The reduced GRF in microgravity may be a result of differing hip, knee, and ankle positions during contact. The purpose of this investigation was to compare joint angles of the lower extremities during walking and running in AM, SM, and N. We hypothesized that in AM and SM, joints would be more flexed at heel strike (HS), mid-stance (MS) and toe-off (TO) than in N.

  10. Does elevated osteopontin level play an important role in the development of scoliosis in bipedal mice?

    Science.gov (United States)

    Xie, Ning; Li, Mo; Wu, Tao; Liu, Jun; Wang, Binbin; Tang, Feng

    2015-07-01

    Previous studies implied indirectly that an elevated osteopontin (OPN) level might play a key role in the pathomechanism of adolescent idiopathic scoliosis. Nonetheless, up to now, no direct evidence was proposed to determine this issue. The aim was to determine the role of OPN in the pathomechanism of scoliosis. This was an experimental study to investigate the role of OPN in a bipedal mouse scoliosis model. All procedures were performed under the approval and supervision of the Institutional Animal Care and Use Committee of our university. A new bipedal mouse model with elevated OPN level was established in this study. Amputation of forelimbs and tail was performed on 80 male C3H/HeJ mice at the age of 3 weeks. Then, these mice were randomly divided into two groups: Group A consisted of 40 mice treated with OPN 40 mg/kg daily and Group B consisted of the remaining 40 mice treated with saline. Then, 40 quadruped mice with saline were included in Group C. Body length, X-rays, and computed tomographic scans were obtained at the twentieth week. Then, scoliosis incidence, curve magnitude, and circulating OPN level were compared among groups. Osteopontin level was significantly higher in Group A compared with that in Groups B and C. Spine deformity was identified in 37 mice in Group A, 21 mice in Group B, and 5 mice in Group C. The average Cobb angle was 29.8° in Group A, 20.9° in Group B, and 17.5° in Group C. Although no significant difference of body length was found, significant statistical difference was noted in terms of scoliosis incidence and curve magnitude, among the three groups. The results of the present study indicated that the elevated OPN level might play an important role in the etiopathogenesis of scoliosis, that is, it not only raises the risk for scoliosis in bipedal mice but also contributes to curve progression. Copyright © 2015 Elsevier Inc. All rights reserved.

  11. DNA bipedal motor walking dynamics: an experimental and theoretical study of the dependency on step size.

    Science.gov (United States)

    Khara, Dinesh C; Schreck, John S; Tomov, Toma E; Berger, Yaron; Ouldridge, Thomas E; Doye, Jonathan P K; Nir, Eyal

    2018-02-16

    We present a detailed coarse-grained computer simulation and single molecule fluorescence study of the walking dynamics and mechanism of a DNA bipedal motor striding on a DNA origami. In particular, we study the dependency of the walking efficiency and stepping kinetics on step size. The simulations accurately capture and explain three different experimental observations. These include a description of the maximum possible step size, a decrease in the walking efficiency over short distances and a dependency of the efficiency on the walking direction with respect to the origami track. The former two observations were not expected and are non-trivial. Based on this study, we suggest three design modifications to improve future DNA walkers. Our study demonstrates the ability of the oxDNA model to resolve the dynamics of complex DNA machines, and its usefulness as an engineering tool for the design of DNA machines that operate in the three spatial dimensions.

  12. Fear, respiratory tract and effluvia: origin of bipedism Miedo, tracto respiratorio y efluvios: origen del bipedismo

    Directory of Open Access Journals (Sweden)

    William Alvarez Gaviria

    1998-02-01

    Full Text Available A discussion is presented on the different theories that try to explain how bipedestation was acquired along evolution. Another theory is proposed, namely that bipedism was related with fear and the olfactory system that allowed to perceive odors revealing threats to survival. Se hace un recorrido por las diferentes teorías propuestas para explicar cómo, a lo largo de la evolución, se llegó a la bipedestación y se propone que ésta debió estar, más bien, relacionada con el miedo y el órgano de la olfacción que permitía percibir olores reveladores de amenazas a la supervivencia.

  13. Extracting kinematic parameters for monkey bipedal walking from cortical neuronal ensemble activity

    Directory of Open Access Journals (Sweden)

    Nathan Fitzsimmons

    2009-03-01

    Full Text Available The ability to walk may be critically impacted as the result of neurological injury or disease. While recent advances in brain-machine interfaces (BMIs have demonstrated the feasibility of upper-limb neuroprostheses, BMIs have not been evaluated as a means to restore walking. Here, we demonstrate that chronic recordings from ensembles of cortical neurons can be used to predict the kinematics of bipedal walking in rhesus macaques – both offline and in real-time. Linear decoders extracted 3D coordinates of leg joints and leg muscle EMGs from the activity of hundreds of cortical neurons. As more complex patterns of walking were produced by varying the gait speed and direction, larger neuronal populations were needed to accurately extract walking patterns. Extraction was further improved using a switching decoder which designated a submodel for each walking paradigm. We propose that BMIs may one day allow severely paralyzed patients to walk again.

  14. Diesel-hydraulic locomotive becomes a diesel-electric hybrid locomotive; Dieselhydraulische Lokomotive wird dieselelektrische Hybridlokomotive

    Energy Technology Data Exchange (ETDEWEB)

    Behmann, Uwe

    2013-01-15

    The operational partial load times cause a unnecessarily high fuel consumption and additional environmental pollutions in applications of shunting locomotives. High fuel consumption and additional environmental pollutions can be avoided by hybrid locomotives using a small-scale diesel engine with a generator only for the periodic charging of a large traction battery.

  15. Design and Implementation of actuated ankles on a planar bipedal robot

    NARCIS (Netherlands)

    Franken, M.C.J.; Dertien, Edwin Christian; Stramigioli, Stefano

    2008-01-01

    The Control Engineering Group at the University of Twente is involved in research directed towards the realization of an energy-efficient humanoid robot. A prototype robot, named Dribbel, has been constructed and is used to study and analyze energy efficient locomotion based on passive dynamic

  16. Stability of Periodic Locomotion in Potential Flow

    CERN Document Server

    Jing, Fangxu

    2013-01-01

    Most aquatic vertebrates swim by lateral flapping of their bodies and caudal fins. While much effort has been devoted to understanding the flapping kinematics and its influence on the swimming efficiency, little is known about the stability (or lack of) of periodic swimming. In this paper, we examine the stability of periodic locomotion due to sideways flapping in unbounded potential flow. It is believed that stability limits maneuverability and body designs/flapping motions that are adapted for stable swimming are not suitable for high maneuverability and vice versa. Here, we consider a simplified model where the swimmer is a planar elliptic body undergoing prescribed periodic heaving and pitching. We show that periodic locomotion can be achieved due to the resulting hydrodynamic forces, and its value depends on several parameters including the aspect ratio of the body, the amplitudes and phases of the prescribed flapping. We obtain closed-form solutions for the locomotion and efficiency for small flapping a...

  17. Effect of expertise in shooting and Taekwondo on bipedal and unipedal postural control isolated or concurrent with a reaction-time task.

    Science.gov (United States)

    Negahban, Hossein; Aryan, Najmolhoda; Mazaheri, Masood; Norasteh, Ali Asghar; Sanjari, Mohammad Ali

    2013-06-01

    It was hypothesized that training in 'static balance' or 'dynamic balance' sports has differential effects on postural control and its attention demands during quiet standing. In order to test this hypothesis, two groups of female athletes practicing shooting, as a 'static balance' sport, and Taekwondo, as a 'dynamic balance' sport, and a control group of non-physically active females voluntarily participated in this study. Postural control was assessed during bipedal and unipedal stance with and without performing a Go/No-go reaction time task. Visual and/or support surface conditions were manipulated in bipedal and unipedal stances in order to modify postural difficulty. Mixed model analysis of variance was used to determine the effects of dual tasking on postural and cognitive performance. Similar pattern of results were found in bipedal and unipedal stances, with Taekwondo practitioners displaying larger sway, shooters displaying lower sway and non-athletes displaying sway characteristics intermediate to Taekwondo and shooting athletes. Larger effect was found in bipedal stance. Single to dual-task comparison of postural control showed no significant effect of mental task on sway velocity in shooters, indicating less cognitive effort invested in balance control during bipedal stance. We suggest that expertise in shooting has a more pronounced effect on decreased sway in static balance conditions. Furthermore, shooters invest less attention in postures that are more specific to their training, i.e. bipedal stance. Copyright © 2012 Elsevier B.V. All rights reserved.

  18. A model for nematode locomotion in soil

    Science.gov (United States)

    Hunt, H. William; Wall, Diana H.; DeCrappeo, Nicole; Brenner, John S.

    2001-01-01

    Locomotion of nematodes in soil is important for both practical and theoretical reasons. We constructed a model for rate of locomotion. The first model component is a simple simulation of nematode movement among finite cells by both random and directed behaviours. Optimisation procedures were used to fit the simulation output to data from published experiments on movement along columns of soil or washed sand, and thus to estimate the values of the model's movement coefficients. The coefficients then provided an objective means to compare rates of locomotion among studies done under different experimental conditions. The second component of the model is an equation to predict the movement coefficients as a function of controlling factors that have been addressed experimentally: soil texture, bulk density, water potential, temperature, trophic group of nematode, presence of an attractant or physical gradient and the duration of the experiment. Parameters of the equation were estimated by optimisation to achieve a good fit to the estimated movement coefficients. Bulk density, which has been reported in a minority of published studies, is predicted to have an important effect on rate of locomotion, at least in fine-textured soils. Soil sieving, which appears to be a universal practice in laboratory studies of nematode movement, is predicted to negatively affect locomotion. Slower movement in finer textured soils would be expected to increase isolation among local populations, and thus to promote species richness. Future additions to the model that might improve its utility include representing heterogeneity within populations in rate of movement, development of gradients of chemical attractants, trade-offs between random and directed components of movement, species differences in optimal temperature and water potential, and interactions among factors controlling locomotion.

  19. Analysis of fuel cell hybrid locomotives

    Science.gov (United States)

    Miller, Arnold R.; Peters, John; Smith, Brian E.; Velev, Omourtag A.

    Led by Vehicle Projects LLC, an international industry-government consortium is developing a 109 t, 1.2 MW road-switcher locomotive for commercial and military railway applications. As part of the feasibility and conceptual-design analysis, a study has been made of the potential benefits of a hybrid power plant in which fuel cells comprise the prime mover and a battery or flywheel provides auxiliary power. The potential benefits of a hybrid power plant are: (i) enhancement of transient power and hence tractive effort; (ii) regenerative braking; (iii) reduction of capital cost. Generally, the tractive effort of a locomotive at low speed is limited by wheel adhesion and not by available power. Enhanced transient power is therefore unlikely to benefit a switcher locomotive, but could assist applications that require high acceleration, e.g. subway trains with all axles powered. In most cases, the value of regeneration in locomotives is minimal. For low-speed applications such as switchers, the available kinetic energy and the effectiveness of traction motors as generators are both minimal. For high-speed heavy applications such as freight, the ability of the auxiliary power device to absorb a significant portion of the available kinetic energy is low. Moreover, the hybrid power plant suffers a double efficiency penalty, namely, losses occur in both absorbing and then releasing energy from the auxiliary device, which result in a net storage efficiency of no more than 50% for present battery technology. Capital cost in some applications may be reduced. Based on an observed locomotive duty cycle, a cost model shows that a hybrid power plant for a switcher may indeed reduce capital cost. Offsetting this potential benefit are the increased complexity, weight and volume of the power plant, as well as 20-40% increased fuel consumption that results from lower efficiency. Based on this analysis, the consortium has decided to develop a pure fuel cell road-switcher locomotive

  20. Locomotive monitoring system using wireless sensor networks

    CSIR Research Space (South Africa)

    Croucamp, PL

    2014-07-01

    Full Text Available Conference on Industrial Informatics (INDIN), 27-30 July 2014 Locomotive monitoring system using wireless sensor networks P. L. Croucamp1, S. Rimer1 and C. Kruger2 1Department of Electrical and Electronic Engineering University of Johannesburg... Johannesburg, South Africa Email: suvendic@uj.ac.za 2Advanced Sensor Networks, Meraka. CSIR Pretoria, South Africa Email: ckruger1@csir.co.za Abstract Theft of cables used for powering a locomotive not only stops the train from functioning but also...

  1. DESIGN IMPROVEMENT OF THE LOCOMOTIVE RUNNING GEARS

    Directory of Open Access Journals (Sweden)

    S. V. Myamlin

    2013-09-01

    Full Text Available Purpose. To determine the dynamic qualities of the mainline freight locomotives characterizing the safe motion in tangent and curved track sections at all operational speeds, one needs a whole set of studies, which includes a selection of the design scheme, development of the corresponding mathematical model of the locomotive spatial fluctuations, construction of the computer calculation program, conducting of the theoretical and then experimental studies of the new designs. In this case, one should compare the results with existing designs. One of the necessary conditions for the qualitative improvement of the traction rolling stock is to define the parameters of its running gears. Among the issues related to this problem, an important place is occupied by the task of determining the locomotive dynamic properties on the stage of projection, taking into account the selected technical solutions in the running gear design. Methodology. The mathematical modeling studies are carried out by the numerical integration method of the dynamic loading for the mainline locomotive using the software package «Dynamics of Rail Vehicles » («DYNRAIL». Findings. As a result of research for the improvement of locomotive running gear design it can be seen that the creation of the modern locomotive requires from engineers and scientists the realization of scientific and technical solutions. The solutions enhancing design speed with simultaneous improvement of the traction, braking and dynamic qualities to provide a simple and reliable design, especially the running gear, reducing the costs for maintenance and repair, low initial cost and operating costs for the whole service life, high traction force when starting, which is as close as possible to the ultimate force of adhesion, the ability to work in multiple traction mode and sufficient design speed. Practical Value. The generalization of theoretical, scientific and methodological, experimental studies aimed

  2. Designing a zero emissions power switch locomotive

    Energy Technology Data Exchange (ETDEWEB)

    Shapiro, J.; Hines, J. [National Instruments, Austin, TX (United States)

    2009-07-01

    In addition to providing electric power and drinking water in manned spacecraft, fuel cell power plants have provided safe, clean electric power to hospitals, universities and other facilities since the early 1990s. This paper described a zero emissions hydrogen and battery-powered hybrid switching locomotive designed for use in rail, port and military base applications. Designed in partnership with a consortium, the prototype hybrid switching locomotive is comprised of a number of proven commercial technologies and includes a control system developed by National Instruments. New applications for hydrogen fuel cell use in industrial vehicles were also discussed. The new design was scheduled for field testing at the end of 2008.

  3. Locomotion and muscle mass measures in a murine model of collagen-induced arthritis

    Directory of Open Access Journals (Sweden)

    Hartog Anita

    2009-06-01

    Full Text Available Abstract Background Rheumatoid arthritis (RA is characterized by chronic poly-arthritis, synovial hyperplasia, erosive synovitis, progressive cartilage and bone destruction accompanied by a loss of body cell mass. This loss of cell mass, known as rheumatoid cachexia, predominates in the skeletal muscle and can in part be explained by a decreased physical activity. The murine collagen induced arthritis (CIA model has been proven to be a useful model in RA research since it shares many immunological and pathological features with human RA. The present study explored the interactions between arthritis development, locomotion and muscle mass in the CIA model. Methods CIA was induced in male DBA/1 mice. Locomotion was registered at different time points by a camera and evaluated by a computerized tracing system. Arthritis severity was detected by the traditionally used semi-quantitative clinical scores. The muscle mass of the hind-legs was detected at the end of the study by weighing. A methotrexate (MTX intervention group was included to study the applicability of the locomotion and muscle mass for testing effectiveness of interventions in more detail. Results There is a strong correlation between clinical arthritis and locomotion. The correlations between muscle mass and locomotion or clinical arthritis were less pronounced. MTX intervention resulted in an improvement of disease severity accompanied by an increase in locomotion and muscle mass. Conclusion The present data demonstrate that registration of locomotion followed by a computerized evaluation of the movements is a simple non invasive quantitative method to define disease severity and evaluate effectiveness of therapeutic agents in the CIA model.

  4. Contribution of each leg to the control of unperturbed bipedal stance in lower limb amputees: new insights using entropy.

    Directory of Open Access Journals (Sweden)

    Petra Hlavackova

    Full Text Available The present study was designed to assess the relative contribution of each leg to unperturbed bipedal posture in lower limb amputees. To achieve this goal, eight unilateral traumatic trans-femoral amputees (TFA were asked to stand as still as possible on a plantar pressure data acquisition system with their eyes closed. Four dependent variables were computed to describe the subject's postural behavior: (1 body weight distribution, (2 amplitude, (3 velocity and (4 regularity of centre of foot pressure (CoP trajectories under the amputated (A leg and the non-amputated (NA leg. Results showed a larger body weight distribution applied to the NA leg than to the A leg and a more regular CoP profiles (lower sample entropy values with greater amplitude and velocity under the NA leg than under the A leg. Taken together, these findings suggest that the NA leg and the A leg do not equally contribute to the control of unperturbed bipedal posture in TFA. The observation that TFA do actively control unperturbed bipedal posture with their NA leg could be viewed as an adaptive process to the loss of the lower leg afferents and efferents because of the unilateral lower-limb amputation. From a methodological point of view, these results demonstrate the suitability of computing bilateral CoP trajectories regularity for the assessment of lateralized postural control under pathological conditions.

  5. Noncontact Capacitive Sensing-Based Locomotion Transition Recognition for Amputees With Robotic Transtibial Prostheses.

    Science.gov (United States)

    Zheng, Enhao; Wang, Qining

    2017-02-01

    Recent advancement of robotic transtibial prostheses can restore human ankle dynamics in different terrains. Automatic locomotion transitions of the prosthesis guarantee the amputee's safety and smooth motion. In this paper, we present a noncontact capacitive sensing-based approach for recognizing locomotion transitions of amputees with robotic transtibial prostheses. The proposed sensing system is designed with flexible printed circuit boards which solves the walking instability brought by our previous system when using robotic prosthesis and improves the recognition performance. Six transtibial amputees were recruited and performed tasks of ten locomotion transitions with the robotic prosthesis that we recently constructed. The capacitive sensing system was integrated on the prosthesis and worked in combination with on-prosthesis mechanical sensors. With the cascaded classification method, the proposed system achieved 95.8% average recognition accuracy by support vector machine (SVM) classifier and 94.9% accuracy by quadratic discriminant analysis (QDA) classifier. It could accurately recognize the upcoming locomotion modes from the stance phase of the transition steps. In addition, we proved that adding capacitance signals could significantly reduce recognition errors of the robotic prosthesis in locomotion transition tasks. Our study suggests that the fusion of capacitive sensing system and mechanical sensors is a promising alternative for controlling the robotic transtibial prosthesis.

  6. Passive mechanics in jellyfish-like locomotion

    Science.gov (United States)

    Wilson, Megan; Eldredge, Jeff

    2008-11-01

    The aim of this work is to identify possible benefits of passive flexibility in biologically-inspired locomotion. Substantial energy savings are likely achieved in natural locomotion by allowing a mix of actively controlled and passively responsive deformation. The jellyfish is a useful target of study, due to its relatively simple structure and the availability of recent kinematics and flow-field measurements. In this investigation, the jellyfish consists of a two-dimensional articulated system of rigid bodies linked by hinges. The kinematics -- expressed via the hinge angles -- are adapted from experimentally measured motion. The free swimming system is explored via high-fidelity numerical simulation with a viscous vortex particle method with coupled body dynamics. The computational tool allows the arbitrary designation of individual hinges as ``active'' or ``passive,'' to introduce a mix of flexibility into the system. In some cases, replacing an active hinge with a passive spring can enhance the mean swimming speed, thus reducing the power requirements of the system. Varying the stiffness and damping coefficients of the spring yield different locomotive results. The numerical solution is used to compute the finite-time Lyapunov exponents (FTLE) throughout the field. The FTLE fields reveal manifolds in the flow that act as transport barriers, uncovering otherwise unseen geometric characteristics of the flow field that add new insight into the locomotion mechanics.

  7. Locomotive emissions. Reductions using modular aftertreatment solutions

    Energy Technology Data Exchange (ETDEWEB)

    Kotrba, Adam; Zheng, Guanyu [Tenneco Inc., Grass Lake, MI (United States). Emission Control Center

    2011-11-15

    In the near future, significant changes will be introduced to the emissions produced by locomotives in the EU and the US. An analysis carried out by Tenneco investigates the opportunities for modifying engines and installing aftertreatment systems to meet the requirements of future emissions legislation. (orig.)

  8. Modelling of dynamically stable AR-601M robot locomotion in Simulink

    Directory of Open Access Journals (Sweden)

    Khusainov Ramil

    2016-01-01

    Full Text Available Humanoid robots will gradually play an important role in our daily lives. Currently, research on anthropomorphic robots and biped locomotion is one of the most important problems in the field of mobile robotics, and the development of reliable control algorithms for them is a challenging task. In this research two algorithms for stable walking of Russian anthropomorphic robot AR-601M with 41 Degrees of Freedom (DoF are investigated. To achieve a human-like dynamically stable locomotion 6 DoF in each robot leg are controlled with Virtual Height Inverted Pendulum and Preview control methods.

  9. Obstacle Avoidance Behaviour during Locomotion: Strategy Changes as a Result of Visual Field Limitations

    NARCIS (Netherlands)

    Jansen, S.E.M.

    2012-01-01

    In order to walk through structured surroundings without colliding with any obstacles or parts of that environment, humans rely for the most part on the visual system. Therefore, impairment in the acquisition of visual information poses a threat to efficient and save locomotion through structured

  10. The Fibularis (Peroneus Tertius Muscle in Humans: A Meta-Analysis of Anatomical Studies with Clinical and Evolutionary Implications

    Directory of Open Access Journals (Sweden)

    Kaissar Yammine

    2017-01-01

    Full Text Available Being considered an exclusive human structure for a long time, fibularis tertius (FT is believed to have a secondary function of foot dorsiflexion and eversion. This study is an attempt to approach the issue from an anatomical perspective. A systematic literature search identified 35 studies (7601 legs which met the inclusion criteria. The weighted results of FT presence were as follows: an “adult cadaveric” frequency of 93.2% and a clinical frequency of 80%. The most common FT origin and insertion sites were the distal half of fibula and the base of the 5th metatarsal, respectively. In 95% of cases, an accessory fibular muscle was detected when FT was lacking. We demonstrated that the discrepancy found between the adult cadaveric and clinical frequency values would point out a probable bias in interpreting previous kinesiological results. On an evolutionary level, comparative anatomy demonstrated a very low FT prevalence among monkeys while reaching a frequency of 30% in gorillas, the only non-human apes having an almost exclusive terrestrial locomotion. The consistent prevalence among humans and the presence of similar functional muscles when it is missing would support an essential role of FT during the phylogenetic development of the erect bipedal posture and probably during gait.

  11. 49 CFR 229.207 - New locomotive crashworthiness design standards and changes to existing FRA-approved locomotive...

    Science.gov (United States)

    2010-10-01

    ... and changes to existing FRA-approved locomotive crashworthiness design standards. 229.207 Section 229... Design Requirements § 229.207 New locomotive crashworthiness design standards and changes to existing FRA... changes to existing FRA-approved locomotive crashworthiness design standards, including AAR S-580...

  12. 49 CFR 1242.60 - Locomotive fuel, electric power purchased/produced for motive power and servicing locomotives...

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 9 2010-10-01 2010-10-01 false Locomotive fuel, electric power purchased/produced for motive power and servicing locomotives (accounts XX-51-67, XX-51-68 and XX-51-69). 1242.60 Section...-Transportation § 1242.60 Locomotive fuel, electric power purchased/produced for motive power and servicing...

  13. Discrete-State-Based Vision Navigation Control Algorithm for One Bipedal Robot

    Directory of Open Access Journals (Sweden)

    Dunwen Wei

    2015-01-01

    Full Text Available Navigation with the specific objective can be defined by specifying desired timed trajectory. The concept of desired direction field is proposed to deal with such navigation problem. To lay down a principled discussion of the accuracy and efficiency of navigation algorithms, strictly quantitative definitions of tracking error, actuator effect, and time efficiency are established. In this paper, one vision navigation control method based on desired direction field is proposed. This proposed method uses discrete image sequences to form discrete state space, which is especially suitable for bipedal walking robots with single camera walking on a free-barrier plane surface to track the specific objective without overshoot. The shortest path method (SPM is proposed to design such direction field with the highest time efficiency. However, one improved control method called canonical piecewise-linear function (PLF is proposed. In order to restrain the noise disturbance from the camera sensor, the band width control method is presented to significantly decrease the error influence. The robustness and efficiency of the proposed algorithm are illustrated through a number of computer simulations considering the error from camera sensor. Simulation results show that the robustness and efficiency can be balanced by choosing the proper controlling value of band width.

  14. Studying the structural dynamics of bipedal DNA motors with single-molecule fluorescence spectroscopy.

    Science.gov (United States)

    Masoud, Rula; Tsukanov, Roman; Tomov, Toma E; Plavner, Noa; Liber, Miran; Nir, Eyal

    2012-07-24

    We present a test case example of a detailed single-molecule fluorescence study of one of the most sophisticated and complex DNA devices introduced to date, a recently published autonomous bipedal DNA motor. We used the diffusion-based single-molecule Förster resonance energy transfer technique, coupled to alternating laser excitation (sm-FRET-ALEX), to monitor the motor assembly and operation. The study included verification of the formation of the correct structures, and of the correct motor operation, determination of the formation and stepping reaction yields, and identification of side products. Finally, the mechanisms of the motor assembly and operation were elucidated by measuring the reaction kinetics profile of track-walker binding and of lifting of the walker's leg upon fuel addition. The profiles revealed a fast phase, in which about half of the reaction was completed, followed by a slow phase which adds somewhat to the yield, reflecting the incomplete motor assembly and operation identified in the equilibrium experiments. Although further study is needed to fully understand the reasons for the incomplete assembly and operation, this work demonstrates that single-molecule fluorescence, based on its ability to provide detailed in situ structural dynamics information, inaccessible for traditional methods, constitutes an excellent tool for chaperoning the development of DNA-based technology.

  15. 49 CFR 210.9 - Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars. 210.9 Section 210.9 Transportation Other Regulations... locomotive, rail car, or consist of a locomotive and rail cars. A locomotive, rail car, or consist of a...

  16. Biomechanical Analysis of Treadmill Locomotion on the International Space Station

    Science.gov (United States)

    De Witt, J. K.; Fincke, R. S.; Guilliams, M. E.; Ploutz-Snyder, L. L.

    2011-01-01

    Treadmill locomotion exercise is an important aspect of ISS exercise countermeasures. It is widely believed that an optimized treadmill exercise protocol could offer benefits to cardiovascular and bone health. If training heart rate is high enough, treadmill exercise is expected to lead to improvements in aerobic fitness. If impact or bone loading forces are high enough, treadmill exercise may be expected to contribute to improved bone outcomes. Ground-based research suggests that joint loads increase with increased running speed. However, it is unknown if increases in locomotion speed results in similar increases in joint loads in microgravity. Although data exist regarding the biomechanics of running and walking in microgravity, a majority were collected during parabolic flight or during investigations utilizing a microgravity analog. The Second Generation Treadmill (T2) has been in use on the International Space Station (ISS) and records the ground reaction forces (GRF) produced by crewmembers during exercise. Biomechanical analyses will aid in understanding potential differences in typical gait motion and allow for modeling of the human body to determine joint and muscle forces during exercise. By understanding these mechanisms, more appropriate exercise prescriptions can be developed that address deficiencies. The objective of this evaluation is to collect biomechanical data from crewmembers during treadmill exercise prior to and during flight. The goal is to determine if locomotive biomechanics differ between normal and microgravity environments and to determine how combinations of subject load and speed influence joint loading during in-flight treadmill exercise. Further, the data will be used to characterize any differences in specific bone and muscle loading during locomotion in these two gravitational conditions. This project maps to the HRP Integrated Research Plan risks including Risk of Bone Fracture (Gap B15), Risk of Early Onset Osteoporosis Due to

  17. Locomotive Schedule Optimization for Da-qin Heavy Haul Railway

    Directory of Open Access Journals (Sweden)

    Ruiye Su

    2015-01-01

    Full Text Available The main difference between locomotive schedule of heavy haul railways and that of regular rail transportation is the number of locomotives utilized for one train. One heavy-loaded train usually has more than one locomotive, but a regular train only has one. This paper develops an optimization model for the multilocomotive scheduling problem (MLSP through analyzing the current locomotive schedule of Da-qin Railway. The objective function of our paper is to minimize the total number of utilized locomotives. The MLSP is nondeterministic polynomial (NP hard. Therefore, we convert the multilocomotive traction problem into a single-locomotive traction problem. Then, the single-locomotive traction problem (SLTP can be converted into an assignment problem. The Hungarian algorithm is applied to solve the model and obtain the optimal locomotive schedule. We use the variance of detention time of locomotives at stations to evaluate the stability of locomotive schedule. In order to evaluate the effectiveness of the proposed optimization model, case studies for 20 kt and 30 kt heavy-loaded combined trains on Da-qin Railway are both conducted. Compared to the current schedules, the optimal schedules from the proposed models can save 62 and 47 locomotives for 20 kt and 30 kt heavy-loaded combined trains, respectively. Therefore, the effectiveness of the proposed model and its solution algorithm are both valid.

  18. Differences in gaze anticipation for locomotion with and without vision.

    Science.gov (United States)

    Authié, Colas N; Hilt, Pauline M; N'Guyen, Steve; Berthoz, Alain; Bennequin, Daniel

    2015-01-01

    Previous experimental studies have shown a spontaneous anticipation of locomotor trajectory by the head and gaze direction during human locomotion. This anticipatory behavior could serve several functions: an optimal selection of visual information, for instance through landmarks and optic flow, as well as trajectory planning and motor control. This would imply that anticipation remains in darkness but with different characteristics. We asked 10 participants to walk along two predefined complex trajectories (limaçon and figure eight) without any cue on the trajectory to follow. Two visual conditions were used: (i) in light and (ii) in complete darkness with eyes open. The whole body kinematics were recorded by motion capture, along with the participant's right eye movements. We showed that in darkness and in light, horizontal gaze anticipates the orientation of the head which itself anticipates the trajectory direction. However, the horizontal angular anticipation decreases by a half in darkness for both gaze and head. In both visual conditions we observed an eye nystagmus with similar properties (frequency and amplitude). The main difference comes from the fact that in light, there is a shift of the orientations of the eye nystagmus and the head in the direction of the trajectory. These results suggest that a fundamental function of gaze is to represent self motion, stabilize the perception of space during locomotion, and to simulate the future trajectory, regardless of the vision condition.

  19. Differences in gaze anticipation for locomotion with and without vision

    Directory of Open Access Journals (Sweden)

    Colas Nils Authié

    2015-06-01

    Full Text Available Previous experimental studies have shown a spontaneous anticipation of locomotor trajectory by the head and gaze direction during human locomotion. This anticipatory behavior could serve several functions: an optimal selection of visual information, for instance through landmarks and optic flow, as well as trajectory planning and motor control. This would imply that anticipation remains in darkness but with different characteristics.We asked ten participants to walk along two predefined complex trajectories (limacon and figure eight without any cue on the trajectory to follow. Two visual conditions were used: (i in light and (ii in complete darkness with eyes open. The whole body kinematics were recorded by motion capture, along with the participant's right eye movements.We showed that in darkness and in light, horizontal gaze anticipates the orientation of the head which itself anticipates the trajectory direction. However, the horizontal angular anticipation decreases by a half in darkness for both gaze and head. In both visual conditions we observed an eye nystagmus with similar properties (frequency and amplitude. The main difference comes from the fact that in light, there is a shift of the orientations of the eye nystagmus and the head in the direction of the trajectory.These results suggest that a fundamental function of gaze is to represent self motion, stabilize the perception of space during locomotion, and to simulate the future trajectory, regardless of the vision condition.

  20. Differences in gaze anticipation for locomotion with and without vision

    Science.gov (United States)

    Authié, Colas N.; Hilt, Pauline M.; N'Guyen, Steve; Berthoz, Alain; Bennequin, Daniel

    2015-01-01

    Previous experimental studies have shown a spontaneous anticipation of locomotor trajectory by the head and gaze direction during human locomotion. This anticipatory behavior could serve several functions: an optimal selection of visual information, for instance through landmarks and optic flow, as well as trajectory planning and motor control. This would imply that anticipation remains in darkness but with different characteristics. We asked 10 participants to walk along two predefined complex trajectories (limaçon and figure eight) without any cue on the trajectory to follow. Two visual conditions were used: (i) in light and (ii) in complete darkness with eyes open. The whole body kinematics were recorded by motion capture, along with the participant's right eye movements. We showed that in darkness and in light, horizontal gaze anticipates the orientation of the head which itself anticipates the trajectory direction. However, the horizontal angular anticipation decreases by a half in darkness for both gaze and head. In both visual conditions we observed an eye nystagmus with similar properties (frequency and amplitude). The main difference comes from the fact that in light, there is a shift of the orientations of the eye nystagmus and the head in the direction of the trajectory. These results suggest that a fundamental function of gaze is to represent self motion, stabilize the perception of space during locomotion, and to simulate the future trajectory, regardless of the vision condition. PMID:26106313

  1. The role of plantigrady and heel-strike in the mechanics and energetics of human walking with implications for the evolution of the human foot.

    Science.gov (United States)

    Webber, James T; Raichlen, David A

    2016-12-01

    Human bipedal locomotion is characterized by a habitual heel-strike (HS) plantigrade gait, yet the significance of walking foot-posture is not well understood. To date, researchers have not fully investigated the costs of non-heel-strike (NHS) walking. Therefore, we examined walking speed, walk-to-run transition speed, estimated locomotor costs (lower limb muscle volume activated during walking), impact transient (rapid increase in ground force at touchdown) and effective limb length (ELL) in subjects (n=14) who walked at self-selected speeds using HS and NHS gaits. HS walking increases ELL compared with NHS walking since the center of pressure translates anteriorly from heel touchdown to toe-off. NHS gaits led to decreased absolute walking speeds (P=0.012) and walk-to-run transition speeds (P=0.0025), and increased estimated locomotor energy costs (Pmaximum walking speeds in HS gaits are linked to the increased ELL compared with NHS gaits. However, HS walking significantly increases impact transient values at all speeds (P<0.0001). These trade-offs may be key to understanding the functional benefits of HS walking. Given the current debate over the locomotor mechanics of early hominins and the range of foot landing postures used by nonhuman apes, we suggest the consistent use of HS gaits provides key locomotor advantages to striding bipeds and may have appeared early in hominin evolution. © 2016. Published by The Company of Biologists Ltd.

  2. Different performances in static and dynamic imagery and real locomotion. An exploratory trial.

    Directory of Open Access Journals (Sweden)

    Augusto eFusco

    2014-10-01

    Full Text Available Motor imagery is a mental representation of an action without its physical execution. Recently, the simultaneous movement of the body has been added to the mental simulation. This refers to dynamic motor imagery (dMI. This study was aimed at analyzing the temporal features for static and dMI in different locomotor conditions (natural walking, NW, light running, LR, lateral walking, LW, backward walking, BW, and whether these performances were more related to all the given conditions or present only in walking. We have been also evaluated the steps performed in the dMI in comparison with the ones performed by real locomotion. Twenty healthy participants (29.3 ± 5.1 y. old were asked to move towards a visualized target located at 10mt. In dMI, no significant temporal differences respect the actual locomotion were found for all the given tasks (NW: p=0.058, LR: p=0.636, BW: p=0.096; LW: p=0,487. Significant temporal differences between static imagery and actual movements were found for LR (p<0.001 and LW (p<0.001, due to an underestimation of time needed to achieve the target in imagined locomotion. Significant differences in terms of number of steps among tasks were found for LW (p<0.001 and BW (p=0.036, whereas neither in NW (p=0.124 nor LR (p=0.391 between dMI and real locomotion.Our results confirmed that motor imagery is a task-dependent process, with walking being temporally closer than other locomotor conditions. Moreover, the time records of dynamic motor imagery are nearer to the ones of actual locomotion respect than the ones of static motor imagery. Keywords: Walking, dynamic motor imagery, human locomotion, chronometry.

  3. On the rules for aquatic locomotion

    Science.gov (United States)

    Saadat, M.; Fish, F. E.; Domel, A. G.; Di Santo, V.; Lauder, G. V.; Haj-Hariri, H.

    2017-08-01

    We present unifying rules governing the efficient locomotion of swimming fish and marine mammals. Using scaling and dimensional analysis, supported by new experimental data, we show that efficient locomotion occurs when the values of the Strouhal (St) number St (=f A /U ) and A*(=A /L ) , two nondimensional numbers that relate forward speed U , tail-beat amplitude A , tail-beat frequency f , and the length of the swimmer L are bound to the tight ranges of 0.2-0.4 and 0.1-0.3, respectively. The tight range of 0.2-0.4 for the St number has previously been associated with optimal thrust generation. We show that the St number alone is insufficient to achieve optimal aquatic locomotion, and an additional condition on A* is needed. More importantly, we show that when swimming at minimal power consumption, the Strouhal number of a cruising swimmer is predetermined solely by the shape and drag characteristics of the swimmer. We show that diverse species of fish and cetaceans cruise indeed with the St number and A* predicted by our theory. Our findings provide a physical explanation as to why fast aquatic swimmers cruise with a relatively constant tail-beat amplitude of approximately 20% of the body length, and their swimming speed is nearly proportional to their tail-beat frequency.

  4. Kinematic adaptations to tripedal locomotion in dogs.

    Science.gov (United States)

    Goldner, B; Fuchs, A; Nolte, I; Schilling, N

    2015-05-01

    Limb amputation often represents the only treatment option for canine patients with certain diseases or injuries of the appendicular system. Previous studies have investigated adaptations to tripedal locomotion in dogs but there is a lack of understanding of biomechanical compensatory mechanisms. This study evaluated the kinematic differences between quadrupedal and tripedal locomotion in nine healthy dogs running on a treadmill. The loss of the right pelvic limb was simulated using an Ehmer sling. Kinematic gait analysis included spatio-temporal comparisons of limb, joint and segment angles of the remaining pelvic and both thoracic limbs. The following key parameters were compared between quadrupedal and tripedal conditions: angles at touch-down and lift-off, minimum and maximum joint angles, plus range of motion. Significant differences in angular excursion were identified in several joints of each limb during both stance and swing phases. The most pronounced differences concerned the remaining pelvic limb, followed by the contralateral thoracic limb and, to a lesser degree, the ipsilateral thoracic limb. The thoracic limbs were, in general, more retracted, consistent with pelvic limb unloading and previous observations of bodyweight re-distribution in amputees. Proximal limb segments showed more distinct changes than distal ones. Particularly, the persistently greater anteversion of the pelvis probably affects the axial system. Overall, tripedal locomotion requires concerted kinematic adjustments of both the appendicular and axial systems, and consequently preventive, therapeutic and rehabilitative care of canine amputees should involve the whole musculoskeletal apparatus. Copyright © 2015 Elsevier Ltd. All rights reserved.

  5. Persistence of motor-equivalent postural fluctuations during bipedal quiet standing.

    Directory of Open Access Journals (Sweden)

    Julius Verrel

    Full Text Available Theoretical and empirical work indicates that the central nervous system is able to stabilize motor performance by selectively suppressing task-relevant variability (TRV, while allowing task-equivalent variability (TEV to occur. During unperturbed bipedal standing, it has previously been observed that, for task variables such as the whole-body center of mass (CoM, TEV exceeds TRV in amplitude. However, selective control (and correction of TRV should also lead to different temporal characteristics, with TEV exhibiting higher temporal persistence compared to TRV. The present study was specifically designed to test this prediction. Kinematics of prolonged quiet standing (5 minutes was measured in fourteen healthy young participants, with eyes closed. Using the uncontrolled manifold analysis, postural variability in six sagittal joint angles was decomposed into TEV and TRV with respect to four task variables: (1 center of mass (CoM position, (2 head position, (3 trunk orientation and (4 head orientation. Persistence of fluctuations within the two variability components was quantified by the time-lagged auto-correlation, with eight time lags between 1 and 128 seconds. The pattern of results differed between task variables. For three of the four task variables (CoM position, head position, trunk orientation, TEV significantly exceeded TRV over the entire 300 s-period.The autocorrelation analysis confirmed our main hypothesis for CoM position and head position: at intermediate and longer time delays, TEV exhibited higher persistence than TRV. Trunk orientation showed a similar trend, while head orientation did not show a systematic difference between TEV and TRV persistence. The combination of temporal and task-equivalent analyses in the present study allow a refined characterization of the dynamic control processes underlying the stabilization of upright standing. The results confirm the prediction, derived from computational motor control, that task

  6. Locomotor-like leg movements evoked by rhythmic arm movements in humans.

    Directory of Open Access Journals (Sweden)

    Francesca Sylos-Labini

    Full Text Available Motion of the upper limbs is often coupled to that of the lower limbs in human bipedal locomotion. It is unclear, however, whether the functional coupling between upper and lower limbs is bi-directional, i.e. whether arm movements can affect the lumbosacral locomotor circuitry. Here we tested the effects of voluntary rhythmic arm movements on the lower limbs. Participants lay horizontally on their side with each leg suspended in an unloading exoskeleton. They moved their arms on an overhead treadmill as if they walked on their hands. Hand-walking in the antero-posterior direction resulted in significant locomotor-like movements of the legs in 58% of the participants. We further investigated quantitatively the responses in a subset of the responsive subjects. We found that the electromyographic (EMG activity of proximal leg muscles was modulated over each cycle with a timing similar to that of normal locomotion. The frequency of kinematic and EMG oscillations in the legs typically differed from that of arm oscillations. The effect of hand-walking was direction specific since medio-lateral arm movements did not evoke appreciably leg air-stepping. Using externally imposed trunk movements and biomechanical modelling, we ruled out that the leg movements associated with hand-walking were mainly due to the mechanical transmission of trunk oscillations. EMG activity in hamstring muscles associated with hand-walking often continued when the leg movements were transiently blocked by the experimenter or following the termination of arm movements. The present results reinforce the idea that there exists a functional neural coupling between arm and legs.

  7. Shape variation in the human pelvis and limb skeleton: Implications for obstetric adaptation.

    Science.gov (United States)

    Kurki, Helen K; Decrausaz, Sarah-Louise

    2016-04-01

    Under the obstetrical dilemma (OD) hypothesis, selection acts on the human female pelvis to ensure a sufficiently sized obstetric canal for birthing a large-brained, broad shouldered neonate, while bipedal locomotion selects for a narrower and smaller pelvis. Despite this female-specific stabilizing selection, variability of linear dimensions of the pelvic canal and overall size are not reduced in females, suggesting shape may instead be variable among females of a population. Female canal shape has been shown to vary among populations, while male canal shape does not. Within this context, we examine within-population canal shape variation in comparison with that of noncanal aspects of the pelvis and the limbs. Nine skeletal samples (total female n = 101, male n = 117) representing diverse body sizes and shapes were included. Principal components analysis was applied to size-adjusted variables of each skeletal region. A multivariate variance was calculated using the weighted PC scores for all components in each model and F-ratios used to assess differences in within-population variances between sexes and skeletal regions. Within both sexes, multivariate canal shape variance is significantly greater than noncanal pelvis and limb variances, while limb variance is greater than noncanal pelvis variance in some populations. Multivariate shape variation is not consistently different between the sexes in any of the skeletal regions. Diverse selective pressures, including obstetrics, locomotion, load carrying, and others may act on canal shape, as well as genetic drift and plasticity, thus increasing variation in morphospace while protecting obstetric sufficiency. © 2015 Wiley Periodicals, Inc.

  8. The value of applying a melatonin antagonist (Luzindole) in improving the success rate of the bipedal rat scoliosis model.

    Science.gov (United States)

    Yang, Shuo; Zheng, Chaojun; Jiang, Jianyuan; Lu, Feizhou; Xia, Xinlei; Zhu, Wei; Jin, Xiang; Ma, Xiaosheng

    2017-04-04

    An ideal animal model has always been the key to research the pathogenesis and treatment of adolescent idiopathic scoliosis (AIS), while available methods have obvious disadvantages. The deficiency of melatonin has been proved relating to AIS. In this research, we intended to apply Luzindole, the melatonin antagonist, in bipedal rat model, for the block of combination of melatonin and its receptor, to inhibit the melatonin effect, and then to understand whether this method can effectively improve the scoliosis rate of bipedal rat model, and investigate the role of melatonin in scoliosis. To investigate the feasibility of improving the success rate of bipedal rat scoliosis model via intraperitoneal injection of melatonin antagonist (Luzindole). A total of 60 3-weeks-old Sprague-Dawley rats were included in this study, and were divided into 3 groups (A, B and C). Each group included 20 rats. Osteotomy of the bilateral proximal humerus and proximal tailbone was performed in group A and group B; intraperitoneal injection of Luzindole (0.2 mg/kg) was performed in group A and group C. X-rays were taken before the surgery, 1 month after the surgery, 3 months after the surgery, and 6 months after the surgery, to calculate the Cobb's angle of the spine (>10° was considered scoliosis). The weight of every rat was also measured at the same time. Rats were euthanized 6 months after surgery to determine the calmodulin level in thrombocytes. The rate of scoliosis in group A (14/20) was significantly higher than those in group B (6/20) and group C (0/20) (P scoliosis model. Meanwhile, this study indicates that a decreased melatonin level is not the primary cause of scoliosis, but that it may increase the likelihood and severity of scoliosis.

  9. Neurobiology of Caenorhabditis elegans Locomotion: Where Do We Stand?

    Science.gov (United States)

    Gjorgjieva, Julijana; Biron, David; Haspel, Gal

    2014-01-01

    Animals use a nervous system for locomotion in some stage of their life cycle. The nematode Caenorhabditis elegans, a major animal model for almost all fields of experimental biology, has long been used for detailed studies of genetic and physiological locomotion mechanisms. Of its 959 somatic cells, 302 are neurons that are identifiable by lineage, location, morphology, and neurochemistry in every adult hermaphrodite. Of those, 75 motoneurons innervate body wall muscles that provide the thrust during locomotion. In this Overview, we concentrate on the generation of either forward- or backward-directed motion during crawling and swimming. We describe locomotion behavior, the parts constituting the locomotion system, and the relevant neuronal connectivity. Because it is not yet fully understood how these components combine to generate locomotion, we discuss competing hypotheses and models. PMID:26955070

  10. Design of Mine Locomotive System Based on CAN Bus

    Directory of Open Access Journals (Sweden)

    Li Yuanhong

    2017-01-01

    Full Text Available Based on CAN bus, this paper studies the system control and management system of locomotive in mine, analyzes the working principle of locomotive system, gives the CAN bus scheme, hardware circuit design and CAN communication protocol, and implements long-distance, high-reliability communication function and remote monitoring function. Experiments show that the auxiliary system based on CAN bus control easier, operation more secure, as well as improving the control performance and service life of the electric locomotive.

  11. Advanced aftertreatment systems for locomotive applications; Moderne Abgasnachbehandlungssysteme fuer Lokomotiven

    Energy Technology Data Exchange (ETDEWEB)

    Park, Paul [Caterpillar Inc., Peoria, IL (United States); Bruestle, Claus [Emitec Inc., Rochester Hill, MI (United States)

    2013-07-15

    Tier 4 legislation for locomotives, starting in 2015, will require significant reductions in particulate matter and nitrogen oxide tail pipe emissions. To reduce nitrogen oxide emissions of line-haul locomotives at least to the level of Tier 4, Caterpillar has developed an aftertreatment system. Here, for the first time an SCR system was used for diesel locomotive engines with an urea dosing system. (orig.)

  12. Axial dynamics during locomotion in vertebrates: lesson from the salamander

    OpenAIRE

    GOSSARD, JEAN-PIERRE; Dubuc, Réjean; Kolta, Arlette; Cabelguen, Jean-Marie; Ijspeert, Auke; Lamarque, Stéphanie; Ryczko, Dimitri

    2010-01-01

    Much of what we know about the flexibility of the locomotor networks in vertebrates is derived from studies examining the adaptation of limb movements during stepping in various conditions. However, the body movements play important roles during locomotion: they produce the thrust during undulatory locomotion and they help to increase the stride length during legged locomotion. In this chapter, we review our current knowledge about the flexibility in the neuronal circuits controlling the body...

  13. 49 CFR 230.20 - Alteration and repair report for steam locomotive boilers.

    Science.gov (United States)

    2010-10-01

    ... boilers. (a) Alterations. When an alteration is made to a steam locomotive boiler, the steam locomotive... steam locomotive boiler, the steam locomotive owner and/or operator shall file with the FRA Regional... the boiler. Whenever welded or riveted repairs are performed on stayed portions of a steam locomotive...

  14. A comparative neuroanatomical study of the red nucleus of the cat, macaque and human.

    Directory of Open Access Journals (Sweden)

    Satoru Onodera

    Full Text Available BACKGROUND: The human red nucleus (Nr is comparatively less well-studied than that of cats or monkeys. Given the functional importance of reticular and midbrain structures in control of movement and locomotion as well as from an evolutionary perspective, we investigated the nature and extent of any differences in Nr projections to the olivary complex in quadrupedal and bipedal species. Using neuroanatomical tract-tracing techniques we developed a "neural sheet" hypothesis allowing us to propose how rubro-olivary relations differ among the three species. METHODS AND FINDINGS: Wheat germ agglutinin-horseradish peroxidase staining supports findings that the cat's nucleus accessories medialis of Bechtrew (NB projects mainly to the lateral bend of the principal olive. We clarified boundaries among nucleus of Darkschewitsch (ND, NB and parvicellular red nucleus (pNr of the cat's neural sheet. The macaque's ND-medial accessory olivary projection is rostro-caudally organized and the dorsomedial and ventrolateral parts of the macaque's pNr may project to the principal olive's rostral and caudal dorsal lamella; in cat it projects as well to pNr. Myelin- and Nissl-stained sections show that a well-developed dorsomedial part of the human Nr consists of densely packed cells, deriving small myelinated fibers that continue into the medial central tegmental tract. CONCLUSIONS: Based on these findings we suggest there are distinct bipedal-quadrupedal differences for Nr projections to the olivary complex. We propose the Nr of cats and monkeys comprise the ND, NB and pNr in a zonal sheet-like structure, retaining clear nuclear boundaries and an isolated, well-developed mNr. The human NB may be distinguished from its more specialised ND (ND lies alongside a well-developed pNr in the human central gray. Phylogenetically, the NB may have been translocated into a roll-shaped Nr in the reticular formation, the dorsomedial portion of which might correspond to the cat

  15. A contribution about ferrofluid based flow manipulation and locomotion systems

    Energy Technology Data Exchange (ETDEWEB)

    Zimmermann, K; Zeidis, I; Bohm, V; Popp, J [TU Ilmenau, Fak. f. Maschinenbau, FG Technische Mechanik, Max-Planck-Ring 12, 98693 Ilmenau (Germany)], E-mail: klaus.zimmermann@tu-ilmenau.de, E-mail: jana.popp@tu-ilmenau.de

    2009-02-01

    With the background of developing apedal bionic inspired locomotion systems for future application fields like autonomous (swarm) robots, medical engineering and inspection systems, this article presents a selection of locomotion systems with bifluidic flow control using ferrofluid. By controlling the change of shape, position and pressure of the ferrofluid in a secondary low viscous fluid by magnetic fields locomotion of objects or the ferrofluid itself can be realised. The locomotion of an object is caused in the first example by a ferrofluid generated flow of the secondary fluid and in the second and third case by the direct alteration of the ferrofluid position.

  16. Terrestrial locomotion-where do we stand, where are we going? An introduction to the symposium.

    Science.gov (United States)

    Blob, Richard W; Higham, Timothy E

    2014-12-01

    Locomotion is fundamental to the survival of many animal species, and terrestrial environments are one of the primary habitats through which a wide range of animals (including humans) must move. Many recent efforts have been made to broaden the approaches and systems used to understand how terrestrial locomotion is executed and modulated. This symposium highlights these efforts and seeks to identify new directions for the study of this diverse behavior. Studies focusing on the structural and functional foundations of terrestrial locomotion, terrestrial locomotor dynamics, and terrestrial locomotor diversity point toward several promising areas for future work. These include: the development, application, and refinement of computational and robotic models; the integration of approaches to clarify which of multiple layers of selection and biological organization influence locomotor performance; increasing the taxonomic, environmental, and behavioral range of study systems to promote new research syntheses and questions; and expansion of studies from laboratory settings to examinations in the field and in the context of ontogenetic and evolutionary time. With new, integrative data from diverse systems in natural settings, new opportunities will emerge for understanding how locomotion contributes to the survival and fitness of terrestrial animals. © The Author 2014. Published by Oxford University Press on behalf of the Society for Integrative and Comparative Biology. All rights reserved. For permissions please email: journals.permissions@oup.com.

  17. Comparison of the effect of selected muscle groups fatigue on postural control during bipedal stance in healthy young women.

    Science.gov (United States)

    Shirazi, Zahra Rojhani; Jahromi, Fatemeh Nikhalat

    2013-09-01

    The maintenance of balance is an essential requirement for the performance of daily tasks and sporting activities and muscular fatigue is a factor to impair postural control, so this study was done to compare the effect of selected muscle groups fatigue on postural control during bipedal stance in healthy subjects. Fifteen healthy female students (24.3 ± 2.6 years) completed three testing session with a break period of at least 2 days. During each session, postural control was assessed during two 30-s trials of bipedal stance with eyes close before and after the fatigue protocol. Fatigue protocols were performed by 60% of their unfatigued Maximum Voluntary Contraction of unilateral ankle plantar flexors, bilateral lumbar extensors and bilateral neck extensors. One of the three fatigue protocols was performed on each session. The result showed that fatigue had a significant effect on COP velocity and it increase COP velocity but there was not found any difference in postural sway between muscle groups. Localized muscle fatigue caused deficits in postural control regardless of the location of fatigue. Authors suggest the possibility of the contributions of central mechanisms to postural deficits due to fatigue and it seems that difference was not between muscle groups due to central fatigue.

  18. Optimal locomotion of mechanical rectifier systems

    Science.gov (United States)

    Blair, Justin T.

    Vehicles utilizing animal locomotion mechanisms may possess increased performance parameters and the ability to overcome more difficult terrain than conventional wheel or propeller driven vehicles. The essential mechanism underlying animal locomotion can be viewed as mechanical rectification that converts periodic body movements to thrust force through interactions with the environment. This dissertation defines a general class of mechanical rectifiers as multi-body systems equipped with such thrust generation mechanisms. A general model is developed from the Euler-Lagrange equation and simplified by assuming small body oscillations around a given nominal posture. The model reveals that the rectifying dynamics can be captured by a bilinear (but not linear) term of body shape variables. An optimal gait problem is formulated for the bilinear rectifier model as a minimization of a quadratic cost function over the set of periodic functions subject to a constraint on the average locomotion velocity. We prove that a globally optimal solution is given by a harmonic gait that can be found by generalized eigenvalue computation with a line search over cycle frequencies. We verify the solution method through case studies of a two dimensional chain of links for which snake-like undulations and jellyfish-like flapping gaits are found to be optimal, and obtain analytical insights into determinants of optimal gaits from a simple disk-mass rectifier system. Lastly, we develop a dynamic model for batoid swimming featuring a 6 degree-of-freedom main body (position and orientation), with independent wing deformation (described as the motion of many discrete points in the body-fixed coordinate frame), and calculate various gaits. Multiple wing shapes and optimality criteria are considered, such as the maximum thrust to deflection ratio or minimum input power, and the resulting gaits are compared.

  19. Intraspecific variation in aerobic and anaerobic locomotion

    DEFF Research Database (Denmark)

    Svendsen, Jon Christian; Tirsgård, Bjørn; Cordero, Gerardo A.

    2015-01-01

    Intraspecific variation and trade-off in aerobic and anaerobic traits remain poorly understood in aquatic locomotion. Using gilthead sea bream (Sparus aurata) and Trinidadian guppy (Poecilia reticulata), both axial swimmers, this study tested four hypotheses: (1) gait transition from steady...... to unsteady (i.e., burst-assisted) swimming is associated with anaerobic metabolism evidenced as excess post exercise oxygen consumption (EPOC); (2) variation in swimming performance (critical swimming speed; U crit) correlates with metabolic scope (MS) or anaerobic capacity (i.e., maximum EPOC); (3...

  20. Nonlinear dynamics stability measurements of locomotion in healthy greyhounds.

    Science.gov (United States)

    Marghitu, D B; Kincaid, S A; Rumph, P F

    1996-11-01

    associated with the application to animal and human locomotion. The clinician can visually distinguish the normal gait pattern from abnormal patterns to assist in the diagnosis of musculoskeletal abnormalities (diseases).

  1. The Human Pelvis: Variation in Structure and Function During Gait.

    Science.gov (United States)

    Lewis, Cara L; Laudicina, Natalie M; Khuu, Anne; Loverro, Kari L

    2017-04-01

    The shift to habitual bipedalism 4-6 million years ago in the hominin lineage created a morphologically and functionally different human pelvis compared to our closest living relatives, the chimpanzees. Evolutionary changes to the shape of the pelvis were necessary for the transition to habitual bipedalism in humans. These changes in the bony anatomy resulted in an altered role of muscle function, influencing bipedal gait. Additionally, there are normal sex-specific variations in the pelvis as well as abnormal variations in the acetabulum. During gait, the pelvis moves in the three planes to produce smooth and efficient motion. Subtle sex-specific differences in these motions may facilitate economical gait despite differences in pelvic structure. The motions of the pelvis and hip may also be altered in the presence of abnormal acetabular structure, especially with acetabular dysplasia. Anat Rec, 300:633-642, 2017. © 2017 Wiley Periodicals, Inc. © 2017 Wiley Periodicals, Inc.

  2. Bilateral Asymmetry in the Human Pelvis.

    Science.gov (United States)

    Kurki, Helen K

    2017-04-01

    Asymmetry of the human axial skeleton has received much less attention that of the limb skeleton. Pelvic morphology is subject to multiple selective factors, including bipedal locomotion and obstetrics, among others, as well as environmental factors such as biomechanical loading. How these various factors influence or restrict asymmetry of the pelvis is unknown and few studies have investigated levels and patterns of pelvic asymmetry. This study examines percentage directional (%DA) and absolute (%AA) asymmetry in 14 bilaterally paired dimensions of the pelvic canal, non-canal pelvis, and femur in female (n = 111) and male (n = 126) skeletons from nine geographically dispersed skeletal samples. Directional asymmetries were uniformly low for all measures and lacked any consistent patterning across the variables, while %AA was highest in the pelvic canal, particularly the posterior aspects. Few sex differences and no population differences were found for %DA and %AA; however the latter was correlated with coefficients of variation across the 14 variables in both sexes. While sample mean %DA were low, standard deviations of the canal variables were high and the majority of individuals in both sexes displayed %DA values >±0.5, suggesting asymmetry is common, if not directionally consistent. Biomechanical loading of the pelvic girdle may influence asymmetry of both the canal and non-canal aspects of the pelvis; however it is unlikely that these asymmetries negatively affect obstetric function, given the prevalence for %DA found in this study. Anat Rec, 300:653-665, 2017. © 2017 Wiley Periodicals, Inc. © 2017 Wiley Periodicals, Inc.

  3. The respiratory basis of locomotion in Drosophila.

    Science.gov (United States)

    Lehmann, Fritz-Olaf; Schützner, Peter

    2010-05-01

    The respiratory system of insects has evolved to satisfy the oxygen supply during rest and energetically demanding processes such as locomotion. Flapping flight in particular is considered a key trait in insect evolution and requires an increase in metabolic activity of 10-15-fold the resting metabolism. Two major trade-offs are associated with the extensive development of the tracheal system and the function of spiracles in insects: the risk of desiccation because body water may leave the tracheal system when spiracles open for gas exchange and the risk of toxic tracheal oxygen levels at low metabolic activity. In resting animals there is an ongoing debate on the function and evolution of spiracle opening behavior, focusing mainly on discontinuous gas exchange patterns. During locomotion, large insects typically satisfy the increased respiratory requirements by various forms of ventilation, whereas in small insects such as Drosophila diffusive processes are thought to be sufficient. Recent data, however, have shown that during flight even small insects employ ventilatory mechanisms, potentially helping to balance respiratory currents inside the tracheal system. This review broadly summarizes our current knowledge on breathing strategies and spiracle function in the genus Drosophila, highlighting the gas exchange strategies in resting, running and flying animals. Copyright 2009 Elsevier Ltd. All rights reserved.

  4. Reversibility in locomotion in granular media

    Science.gov (United States)

    Savoie, William; Goldman, Daniel

    2013-11-01

    A recent study of a self-deforming robot [Hatton et al., PRL, 2013] demonstrated that slow movement in dry granular media resembles locomotion in low Re fluids, in part because inertia is dominated by friction. The study indicated that granular swimming was kinematically reversible, a surprise because yielding in granular flow is irreversible. To investigate if reciprocal motions lead to net displacements in granular swimmers, in laboratory experiments, we study the locomotion of a robotic ``scallop'' consisting of a square body with two flipper-like limbs controlled to flap forward and backward symmetrically (a flap cycle). The body is constrained by linear bearings to allow motion in only one dimension. We vary the the flapping frequency f, the body/flipper burial depth d, and the number of flaps N in a deep bed of 6 mm diameter plastic spheres. Over a range of f and d, the N = 1 cycle produces net translation of the body; however for large N, a cycle produces no net translation. We conclude that symmetric strokes in granular swimming are irreversible at the onset of self-deformation, but become asymptotically reversible. work supported by NSF and ARL.

  5. Natural Translating Locomotion Modulates Cortical Activity at Action Observation

    Directory of Open Access Journals (Sweden)

    Thierry Pozzo

    2017-11-01

    Full Text Available The present study verified if the translational component of locomotion modulated cortical activity recorded at action observation. Previous studies focusing on visual processing of biological motion mainly presented point light walker that were fixed on a spot, thus removing the net translation toward a goal that yet remains a critical feature of locomotor behavior. We hypothesized that if biological motion recognition relies on the transformation of seeing in doing and its expected sensory consequences, a significant effect of translation compared to centered displays on sensorimotor cortical activity is expected. To this aim, we explored whether EEG activity in the theta (4–8 Hz, alpha (8–12 Hz, beta 1 (14–20 Hz and beta 2 (20–32 Hz frequency bands exhibited selectivity as participants viewed four types of stimuli: a centered walker, a centered scrambled, a translating walker and a translating scrambled. We found higher theta synchronizations for observed stimulus with familiar shape. Higher power decreases in the beta 1 and beta 2 bands, indicating a stronger motor resonance was elicited by translating compared to centered stimuli. Finally, beta bands modulation in Superior Parietal areas showed that the translational component of locomotion induced greater motor resonance than human shape. Using a Multinomial Logistic Regression classifier we found that Dorsal-Parietal and Inferior-Frontal regions of interest (ROIs, constituting the core of action-observation system, were the only areas capable to discriminate all the four conditions, as reflected by beta activities. Our findings suggest that the embodiment elicited by an observed scenario is strongly mediated by horizontal body displacement.

  6. Economic assessment of coal-burning locomotives: Topical report

    Energy Technology Data Exchange (ETDEWEB)

    1986-02-01

    The General Electric Company embarked upon a study to evaluate various alternatives for the design and manufacture a coal fired locomotive considering various prime movers, but retaining the electric drive transmission. The initial study was supported by the Burlington-Northern and Norfolk-Southern railroads, and included the following alternatives: coal fired diesel locomotive; direct fired gas turbine locomotives; direct fired gas turbine locomotive with steam injection; raw coal gasifier gas turbine locomotive; and raw coal fluid bed steam turbine locomotive. All alternatives use the electric drive transmission and were selected for final evaluation. The first three would use a coal water slurry as a fuel, which must be produced by new processing plants. Therefore, use of a slurry would require a significant plant capital investment. The last two would use classified run-of-the-mine (ROM) coal with much less capital expenditure. Coal fueling stations would be required but are significantly lower in capital cost than a coal slurry plant. For any coal fired locomotive to be commercially viable, it must pass the following criteria: be technically feasible and environmentally acceptable; meet railroads' financial expectations; and offer an attractive return to the locomotive manufacturer. These three criteria are reviewed in the report.

  7. [Transdisciplinary Approach for Sarcopenia. Sarcopenia and Locomotive syndrome].

    Science.gov (United States)

    Endo, Naoto

    2014-10-01

    Locomotive syndrome refers to a condition under which the elderly has transfer-difficulties by problems of the locomotive organs. Sarcopenia and osteoporosis are a cause of care requirement and bedridden status. To evaluate and manage these disabled elderly with osteoporosis or sarcopenia, multidisciplinary approach is important.

  8. THE DYNAMICS AND TRACTION ENERGY METRICS LOCOMOTIVE VL40

    Directory of Open Access Journals (Sweden)

    S. V. Pylypenko

    2008-03-01

    Full Text Available In the article the results of dynamic running and traction-energy tests of the electric locomotive VL40U are presented. In accordance with the test results a conclusion about the suitability of electric locomotive of such a type for operation with trains containing up to 15 passenger coaches inclusive is made.

  9. Combining Bio-inspired Sensing with Bio-inspired Locomotion

    DEFF Research Database (Denmark)

    Shaikh, Danish; Hallam, John; Christensen-Dalsgaard, Jakob

    In this paper we present a preliminary Braitenberg vehicle–like approach to combine bio-inspired audition with bio-inspired quadruped locomotion in simulation. Locomotion gaits of the salamander–like robot Salamandra robotica are modified by a lizard’s peripheral auditory system model...

  10. Architectures of soft robotic locomotion enabled by simple mechanical principles

    Science.gov (United States)

    Zhu, Liangliang; Cao, Yunteng; Liu, Yilun; Yang, Zhe; Chen, Xi

    In nature, a variety of limbless locomotion patterns flourish from the small or basic life form (Escherichia coli, the amoeba, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and snakes). Many bioinspired soft robots based on locomotion have been developed in the past decades. In this work, based on the kinematics and dynamics of two representative locomotion modes (i.e., worm-like crawling and snake-like slithering), we propose a broad set of innovative designs for soft mobile robots through simple mechanical principles. Inspired by and go beyond existing biological systems, these designs include 1-D (dimensional), 2-D, and 3-D robotic locomotion patterns enabled by simple actuation of continuous beams. We report herein over 20 locomotion modes achieving various locomotion functions, including crawling, rising, running, creeping, squirming, slithering, swimming, jumping, turning, turning over, helix rolling, wheeling, etc. Some of them are able to reach high speed, high efficiency, and overcome obstacles. All these locomotion strategies and functions can be integrated into a simple beam model. The proposed simple and robust models are adaptive for severe and complex environments. These elegant designs for diverse robotic locomotion patterns are expected to underpin future deployments of soft robots and to inspire series of advanced designs.

  11. The SF4 bogie for Vectron {sup copyright} locomotives

    Energy Technology Data Exchange (ETDEWEB)

    Paar, Roland [Siemens AG Oesterreich, Graz (Austria)

    2012-05-15

    The SF4 bogie was developed for use in the new electric Vectron {sup copyright} locomotives built by Siemens. Based on time-tested solution concepts and proven components, the non order-related development resulted in a bogie that is well equipped for future requirements in the dynamic European locomotive market. (orig.)

  12. Locomotive emissions measurements for various blends of biodiesel fuel.

    Science.gov (United States)

    2014-12-01

    The objective of this project was to assess the effects of various blends of biodiesel on locomotive engine exhaust emissions. The : emission tests were conducted on two locomotive models, a Tier 2 EMD SD70ACe and a Tier 1 Plus GE Dash9-44CW, using t...

  13. Underwater locomotion strategy by a benthic pennate diatom Navicula sp.

    Science.gov (United States)

    Wang, Jiadao; Cao, Shan; Du, Chuan; Chen, Darong

    2013-10-01

    The mechanism of diatom locomotion has been widely researched but still remains a hypothesis. There are several questionable points on the prevailing model proposed by Edgar, and some of the observed phenomena cannot be completely explained by this model. In this paper, we undertook detailed investigations of cell structures, locomotion, secreted mucilage, and bending deformation for a benthic pennate diatom Navicula species. According to these broad evidences, an updated locomotion model is proposed. For Navicula sp., locomotion is realized via two or more pseudopods or stalks protruded out of the frustules. The adhesion can be produced due to the pull-off of one pseudopod or stalk from the substratum through extracellular polymeric substances. And the positive pressure is generated to balance the adhesion because of the push-down of another pseudopod or stalk onto the substratum. Because of the positive pressure, friction is generated, acting as a driving force of locomotion, and the other pseudopod or stalk can detach from the substratum, resulting in the locomotion. Furthermore, this model is validated by the force evaluation and can better explain observed phenomena. This updated model would provide a novel aspect on underwater locomotion strategy, hence can be useful in terms of artificial underwater locomotion devices.

  14. The how and why of arm swing during human walking.

    NARCIS (Netherlands)

    Meyns, P.; Bruijn, S.M.; Duysens, J.E.J.

    2013-01-01

    Humans walk bipedally, and thus, it is unclear why they swing their arms. In this paper, we will review the mechanisms and functions of arm swinging in human gait. First, we discuss the potential advantages of having swinging arms. Second, we go into the detail on the debate whether arm swing is

  15. The how and why of arm swing during human walking

    NARCIS (Netherlands)

    Meyns, Pieter; Bruijn, Sjoerd M.; Duysens, Jacques

    Humans walk bipedally, and thus, it is unclear why they swing their arms. In this paper, we will review the mechanisms and functions of arm swinging in human gait. First, we discuss the potential advantages of having swinging arms. Second, we go into the detail on the debate whether arm swing is

  16. Reduction and identification for hybrid dynamical models of terrestrial locomotion

    Science.gov (United States)

    Burden, Samuel A.; Sastry, S. Shankar

    2013-06-01

    The study of terrestrial locomotion has compelling applications ranging from design of legged robots to development of novel prosthetic devices. From a first-principles perspective, the dynamics of legged locomotion seem overwhelmingly complex as nonlinear rigid body dynamics couple to a granular substrate through viscoelastic limbs. However, a surfeit of empirical data demonstrates that animals use a small fraction of their available degrees-of-freedom during locomotion on regular terrain, suggesting that a reduced-order model can accurately describe the dynamical variation observed during steady-state locomotion. Exploiting this emergent phenomena has the potential to dramatically simplify design and control of micro-scale legged robots. We propose a paradigm for studying dynamic terrestrial locomotion using empirically-validated reduced{order models.

  17. The phylogenetic position of the musky rat-kangaroo and the evolution of bipedal hopping in kangaroos (Macropodidae: Diprotodontia).

    Science.gov (United States)

    Burk, A; Westerman, M; Springer, M

    1998-09-01

    Kangaroos and their relatives (family Macropodidae) are divided into the subfamilies Macropodinae (kangaroos, wallabies, pademelons) and Potoroinae (rat-kangaroos, potoroos, bettongs). The musky rat-kangaroo, Hypsiprymnodon moschatus, is traditionally allied with other potoroines, based primarily on the basis of osteological characters and aspects of the female reproductive system. Unlike other macropodids, however, which are capable of bipedal hopping, Hypsiprymnodon is a quadrupedal bounder and lacks several derived features of the pes and tarsus that are presumably adaptations for bipedal hopping. Other derived features, such as a complex stomach, loss of P2 with the eruption of P3, and reduction of litter size to one, are also lacking in Hypsiprymnodon but occur in all other macropodids. Thus, available evidence suggests that Hypsiprymnodon either is part of a monophyletic Potoroinae or is a sister taxon to other living macropodids. To test these hypotheses, we sequenced 1,170 bp base pairs of the mitochondrial genome for 16 macropodids. Maximum parsimony, minimum evolution, maximum likelihood, and quartet puzzling all support the hypothesis that macropodines and potoroines are united to the exclusion of Hypsiprymnodon. This hypothesis implies that characters such as bipedal hopping evolved only once in macropodid evolution. Aside from Hypsiprymnodon, the remaining macropodids separate into the traditional Macropodinae and Potoroinae. Macropodines further separate into two clades: one containing the New Guinean forest wallabies Dorcopsis and Dorcopsulus, and one consisting of the genera Macropus, Setonix, Thylogale, Onychogalea, Wallabia, Dendrolagus, Peradorcas, and Lagorchestes. Among potoroines, there is moderate support for the association of Bettongia and Aepyprymnus to the exclusion of Potorous. Divergence times were estimated by using 12S ribosomal RNA transversions. At the base of the macropodid radiation, Hypsiprymnodon diverged from other macropodids

  18. Cholinergic Mechanisms in Spinal Locomotion - Potential Target for Rehabilitation Approaches

    Directory of Open Access Journals (Sweden)

    L M Jordan

    2014-11-01

    Full Text Available Previous experiments implicate cholinergic brainstem and spinal systems in the control of locomotion. Our results demonstrate that the endogenous cholinergic propriospinal system, acting via M2 and M3 muscarinic receptors, is capable of consistently producing well-coordinated locomotor activity in the in vitro neonatal preparation, placing it in a position to contribute to normal locomotion and to provide a basis for recovery of locomotor capability in the absence of descending pathways. Tests of these suggestions, however, reveal that the spinal cholinergic system plays little if any role in the induction of locomotion, because MLR-evoked locomotion in decerebrate cats is not prevented by cholinergic antagonists. Furthermore, it is not required for the development of stepping movements after spinal cord injury, because cholinergic agonists do not facilitate the appearance of locomotion after spinal cord injury, unlike the dramatic locomotion-promoting effects of clonidine, a noradrenergic α-2 agonist. Furthermore, cholinergic antagonists actually improve locomotor activity after spinal cord injury, suggesting that plastic changes in the spinal cholinergic system interfere with locomotion rather than facilitating it. Changes that have been observed in the cholinergic innervation of motoneurons after spinal cord injury do not decrease motoneuron excitability, as expected. Instead, the development of a hyper-cholinergic state after spinal cord injury appears to enhance motoneuron output and suppress locomotion. A cholinergic suppression of afferent input from the limb after spinal cord injury is also evident from our data, and this may contribute to the ability of cholinergic antagonists to improve locomotion. Not only is a role for the spinal cholinergic system in supressing locomotion after SCI suggested by our results, but an obligatory contribution of a brainstem cholinergic relay to reticulospinal locomotor command systems is not confirmed

  19. Helical Locomotion in a Granular Medium

    Science.gov (United States)

    Darbois Texier, Baptiste; Ibarra, Alejandro; Melo, Francisco

    2017-08-01

    The physical mechanisms that bring about the propulsion of a rotating helix in a granular medium are considered. A propulsive motion along the axis of the rotating helix is induced by both symmetry breaking due to the helical shape, and the anisotropic frictional forces undergone by all segments of the helix in the medium. Helix dynamics is studied as a function of helix rotation speed and its geometrical parameters. The effect of the granular pressure and the applied external load were also investigated. A theoretical model is developed based on the anisotropic frictional force experienced by a slender body moving in a granular material, to account for the translation speed of the helix. A good agreement with experimental data is obtained, which allows for predicting the helix design to propel optimally within granular media. These results pave the way for the development of an efficient sand robot operating according to this mode of locomotion.

  20. Embodied Sensorimotor Interaction for Hexapod Locomotion

    DEFF Research Database (Denmark)

    Ambe, Yuichi; Aoi, Shinya; Nachstedt, Timo

    2016-01-01

    Among a large number of possible gaits, only particular patterns appear in insect locomotion and insects transit the gaits continuously depending on speed in contrast to the distinct gaits in some quadrupeds. The mechanism of how they choose these particular gaits and change them continuously...... is still unclear. Recent studies in biology suggest that a functional motor output during walking is formed by the interaction between central pattern generators (CPGs) and sensory feedbacks. In this paper, we investigate the dynamics of a hexapod robot model whose legs are driven by distributed...... oscillators with a local sensory feedback from neuromechanical point of view. This feedback changes the oscillation period of the oscillator depending solely on the timing of the contact between the foot and the ground. The results of dynamic simulations and real robot experiments show that due to the local...

  1. Soft Snakes: Construction, Locomotion, and Control

    Science.gov (United States)

    Branyan, Callie; Courier, Taylor; Fleming, Chloe; Remaley, Jacquelin; Hatton, Ross; Menguc, Yigit

    We fabricated modular bidirectional silicone pneumatic actuators to build a soft snake robot, applying geometric models of serpenoid swimmers to identify theoretically optimal gaits to realize serpentine locomotion. With the introduction of magnetic connections and elliptical cross-sections in fiber-reinforced modules, we can vary the number of continuum segments in the snake body to achieve more supple serpentine motion in a granular media. The performance of these gaits is observed using a motion capture system and efficiency is assessed in terms of pressure input and net displacement. These gaits are optimized using our geometric soap-bubble method of gait optimization, demonstrating the applicability of this tool to soft robot control and coordination.

  2. Coupling of cytoskeleton functions for fibroblast locomotion

    DEFF Research Database (Denmark)

    Couchman, J R; Lenn, M; Rees, D A

    1985-01-01

    locomotion showed many significant correlations between different parts of the cell despite much irregularity in individual displacements over the time scale of the order of one second. These broke down when external perturbations caused changes in shape or direction. Partial energy deprivation caused...... from other Laboratories, we propose the following cytoskeleton functions. (i) Protrusive activity, probably based on solation--gelation cycles of the actin based cytoskeleton and membrane recycling which provides cellular and membrane components for streaming through the cell body to the leading edge......; this is Ca++ sensitive but relatively energy insensitive. (ii) Constraining activity on the cell membrane and on certain organelles to maintain shape and so facilitate directionality and the drawing along of the trailing body; this is Ca++ insensitive but relatively energy sensitive. (iii) Channeling...

  3. The Effects of Obstacle Type and Locomotion Form on Path Selection in Rugby Players.

    Science.gov (United States)

    Pfaff, Lana M; Cinelli, Michael E

    2017-12-21

    The current study investigated whether path selection of athletes specifically trained to fit through gaps is affected by the location of human obstacle and the form of locomotion. Female rugby players were instructed to walk, walk with the ball, or run with the ball along a path toward a goal while avoiding three obstacles (three vertical poles or two vertical poles and a confederate) placed halfway along the path, creating two equal apertures of 80 cm. Regardless of the form of locomotion, rugby players chose paths furthest from the confederate, suggesting that confederate location affects path selection. Furthermore, medial-lateral spatial requirements were more variable when participants were walking without the ball than while moving with the ball. Avoidance behaviors, but not path selection, appear to be impacted and minimized during sport-specific movements.

  4. Autonomous undulatory serpentine locomotion utilizing body dynamics of a fluidic soft robot.

    Science.gov (United States)

    Onal, Cagdas D; Rus, Daniela

    2013-06-01

    Soft robotics offers the unique promise of creating inherently safe and adaptive systems. These systems bring man-made machines closer to the natural capabilities of biological systems. An important requirement to enable self-contained soft mobile robots is an on-board power source. In this paper, we present an approach to create a bio-inspired soft robotic snake that can undulate in a similar way to its biological counterpart using pressure for actuation power, without human intervention. With this approach, we develop an autonomous soft snake robot with on-board actuation, power, computation and control capabilities. The robot consists of four bidirectional fluidic elastomer actuators in series to create a traveling curvature wave from head to tail along its body. Passive wheels between segments generate the necessary frictional anisotropy for forward locomotion. It takes 14 h to build the soft robotic snake, which can attain an average locomotion speed of 19 mm s(-1).

  5. Discrimination of locomotion direction in impoverished displays of walkers by macaque monkeys.

    Science.gov (United States)

    Vangeneugden, Joris; Vancleef, Kathleen; Jaeggli, Tobias; VanGool, Luc; Vogels, Rufin

    2009-04-28

    A vast literature exists on human biological motion perception in impoverished displays, e.g., point-light walkers. Less is known about the perception of impoverished biological motion displays in macaques. We trained 3 macaques in the discrimination of facing direction (left versus right) and forward versus backward walking using motion-capture-based locomotion displays (treadmill walking) in which the body features were represented by cylinder-like primitives. The displays did not contain translatory motion. Discriminating forward versus backward locomotion requires motion information while the facing-direction/view task can be solved using motion and/or form. All monkeys required lengthy training to learn the forward-backward task, while the view task was learned more quickly. Once acquired, the discriminations were specific to walking and stimulus format but generalized across actors. Although the view task could be solved using form cues, there was a small impact of motion. Performance in the forward-backward task was highly susceptible to degradations of spatiotemporal stimulus coherence and motion information. These results indicate that rhesus monkeys require extensive training in order to use the intrinsic motion cues related to forward versus backward locomotion and imply that extrapolation of observations concerning human perception of impoverished biological motion displays onto monkey perception needs to be made cautiously.

  6. An Adaptive Classification Strategy for Reliable Locomotion Mode Recognition

    Directory of Open Access Journals (Sweden)

    Ming Liu

    2017-09-01

    Full Text Available Algorithms for locomotion mode recognition (LMR based on surface electromyography and mechanical sensors have recently been developed and could be used for the neural control of powered prosthetic legs. However, the variations in input signals, caused by physical changes at the sensor interface and human physiological changes, may threaten the reliability of these algorithms. This study aimed to investigate the effectiveness of applying adaptive pattern classifiers for LMR. Three adaptive classifiers, i.e., entropy-based adaptation (EBA, LearnIng From Testing data (LIFT, and Transductive Support Vector Machine (TSVM, were compared and offline evaluated using data collected from two able-bodied subjects and one transfemoral amputee. The offline analysis indicated that the adaptive classifier could effectively maintain or restore the performance of the LMR algorithm when gradual signal variations occurred. EBA and LIFT were recommended because of their better performance and higher computational efficiency. Finally, the EBA was implemented for real-time human-in-the-loop prosthesis control. The online evaluation showed that the applied EBA effectively adapted to changes in input signals across sessions and yielded more reliable prosthesis control over time, compared with the LMR without adaptation. The developed novel adaptive strategy may further enhance the reliability of neurally-controlled prosthetic legs.

  7. A study to explore locomotion patterns in partial gravity environments

    Science.gov (United States)

    Rajulu, Sudhakar L.; Klute, Glenn K.; Moore, Nathan R.

    1992-01-01

    An effort is made to ascertain the factors affecting stability during locomotion in lunar and Martian gravity environments, as well as to establish criteria for the enhancement of stability and traction. The effects of changing both the speed and the pattern of locomotion under three different gravity conditions were investigated. As gravity level increased, vertical and horizontal forces significantly declined; similarities were noted across gravity levels, however, with respect to locomotion speed and pattern changes, where increasing speed enhanced both vertical and horizontal forces. With decreasing gravity, the ratio of horizontal to vertical forces increased significantly.

  8. 49 CFR 230.108 - Steam locomotive leading and trailing trucks.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive leading and trailing trucks. 230... RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Trucks, Frames and Equalizing System § 230.108 Steam locomotive leading...

  9. [Evolutionary history of human locomotor system--from walking to long-distance running].

    Science.gov (United States)

    Viranta-Kovanen, Suvi

    2015-01-01

    Bipedality evolved in hominids more than 4 million years ago. Bipedals were a diverse group including the lineage of obligatory walkers that finally lead to humans. Important anatomical changes in this group were: enhanced lumbar lordosis, shortening of the ilium, and emphasize on the parasagittal movements. Long-distance running evolved much later and it was associated with well-developed plantar arches, strengthening of muscles supporting the erect trunk, and decoupling of the pectoral girdle and head. In addition to anatomical changes, humans have many physiological adaptations to long-distance running. It is likely that the ability to run long-distance has been important for the survival of our species.

  10. Physical fitness, nutritional habits and daily locomotive action of 12 ...

    African Journals Online (AJOL)

    The overweight and obese child is not physically active, has a sedentary way of ... physical fitness, daily nutritional habits and locomotive behaviour among pupils with .... unhealthy stimulations in terms of food intake when watching television.

  11. Review of codes, standards, and regulations for natural gas locomotives.

    Science.gov (United States)

    2014-06-01

    This report identified, collected, and summarized relevant international codes, standards, and regulations with potential : applicability to the use of natural gas as a locomotive fuel. Few international or country-specific codes, standards, and regu...

  12. Breathing and locomotion: comparative anatomy, morphology and function.

    Science.gov (United States)

    Klein, Wilfried; Codd, Jonathan R

    2010-08-31

    Using specialized respiratory structures such as gills, lungs and or a tracheal system, animals take up oxygen and release carbon dioxide. The efficiency of gas exchange, however, may be constrained by the morphology of the respiratory organ itself as well as by other aspects of an animal's physiology such as feeding, circulation or locomotion. Herein we discuss some aspects of the functional link between the respiratory and locomotor systems, such as gill morphology of sharks as a factor limiting maximum aerobic scope, respiratory constraints among legless lizards, lung morphology of testudines, trade-offs between locomotion and respiration among birds, reconstruction of the respiratory system of sauropods, respiration of mice during locomotion as well as some aspects of gas exchange among insects. Data covering such a broad spectrum of interactions between the locomotor and respiratory systems shall allow us to place breathing and locomotion into a wider context of evolution of oxygen. Copyright (c) 2010 Elsevier B.V. All rights reserved.

  13. Vibrational Locomotion Enabling Subsurface Exploration of Unconsolidated Regolith Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The idea of vibrational locomotion is based on vibrational-fluidization in ISRU reactor systems, which has proven very effective for regolith mixing. The vibrating...

  14. 40 CFR 1033.230 - Grouping locomotives into engine families.

    Science.gov (United States)

    2010-07-01

    ..., naturally aspirated, Roots blown). (11) The general performance characteristics of the turbocharger or... calculated emission rates differ, such as locomotives with and without energy-saving design features. For the...

  15. Technology implications of a cognitive task analysis for locomotive engineers

    Science.gov (United States)

    2009-01-01

    This report documents the results of a cognitive task analysis (CTA) that examined the cognitive demands and activities of locomotive engineers in todays environment and the changes in cognitive demands and activities that are likely to arise with...

  16. Design of Mine Locomotive System Based on CAN Bus

    OpenAIRE

    Li Yuanhong; Zhang Quanzhu; Zhang Wenshan

    2017-01-01

    Based on CAN bus, this paper studies the system control and management system of locomotive in mine, analyzes the working principle of locomotive system, gives the CAN bus scheme, hardware circuit design and CAN communication protocol, and implements long-distance, high-reliability communication function and remote monitoring function. Experiments show that the auxiliary system based on CAN bus control easier, operation more secure, as well as improving the control performance and service lif...

  17. Crawling beneath the free surface: Water snail locomotion

    OpenAIRE

    Lee, Sungyon; Bush, John W. M.; Hosoi, A. E.; Lauga, Eric

    2008-01-01

    Land snails move via adhesive locomotion. Through muscular contraction and expansion of their foot, they transmit waves of shear stress through a thin layer of mucus onto a solid substrate. Since a free surface cannot support shear stress, adhesive locomotion is not a viable propulsion mechanism for water snails that travel inverted beneath the free surface. Nevertheless, the motion of the freshwater snail, Sorbeoconcha physidae, is reminiscent of that of its terrestrial counterparts, being g...

  18. Developmental evidence for obstetric adaptation of the human female pelvis.

    Science.gov (United States)

    Huseynov, Alik; Zollikofer, Christoph P E; Coudyzer, Walter; Gascho, Dominic; Kellenberger, Christian; Hinzpeter, Ricarda; Ponce de León, Marcia S

    2016-05-10

    The bony pelvis of adult humans exhibits marked sexual dimorphism, which is traditionally interpreted in the framework of the "obstetrical dilemma" hypothesis: Giving birth to large-brained/large-bodied babies requires a wide pelvis, whereas efficient bipedal locomotion requires a narrow pelvis. This hypothesis has been challenged recently on biomechanical, metabolic, and biocultural grounds, so that it remains unclear which factors are responsible for sex-specific differences in adult pelvic morphology. Here we address this issue from a developmental perspective. We use methods of biomedical imaging and geometric morphometrics to analyze changes in pelvic morphology from late fetal stages to adulthood in a known-age/known-sex forensic/clinical sample. Results show that, until puberty, female and male pelves exhibit only moderate sexual dimorphism and follow largely similar developmental trajectories. With the onset of puberty, however, the female trajectory diverges substantially from the common course, resulting in rapid expansion of obstetrically relevant pelvic dimensions up to the age of 25-30 y. From 40 y onward females resume a mode of pelvic development similar to males, resulting in significant reduction of obstetric dimensions. This complex developmental trajectory is likely linked to the pubertal rise and premenopausal fall of estradiol levels and results in the obstetrically most adequate pelvic morphology during the time of maximum female fertility. The evidence that hormones mediate female pelvic development and morphology supports the view that solutions of the obstetrical dilemma depend not only on selection and adaptation but also on developmental plasticity as a response to ecological/nutritional factors during a female's lifetime.

  19. Limited locomotive ability relaxed selective constraints on molluscs mitochondrial genomes.

    Science.gov (United States)

    Sun, Shao'e; Li, Qi; Kong, Lingfeng; Yu, Hong

    2017-09-06

    Mollusca are the second largest phylum in the animal kingdom with different types of locomotion. Some molluscs are poor-migrating, while others are free-moving or fast-swimming. Most of the energy required for locomotion is provided by mitochondria via oxidative phosphorylation. Here, we conduct a comparative genomic analysis of 256 molluscs complete mitochondrial genomes and evaluate the role of energetic functional constraints on the protein-coding genes, providing a new insight into mitochondrial DNA (mtDNA) evolution. The weakly locomotive molluscs, compared to strongly locomotive molluscs, show significantly higher Ka/Ks ratio, which suggest they accumulated more nonsynonymous mutations in mtDNA and have experienced more relaxed evolutionary constraints. Eleven protein-coding genes (CoxI, CoxII, ATP6, Cytb, ND1-6, ND4L) show significant difference for Ka/Ks ratios between the strongly and weakly locomotive groups. The relaxation of selective constraints on Atp8 arise in the common ancestor of bivalves, and the further relaxation occurred in marine bivalves lineage. Our study thus demonstrates that selective constraints relevant to locomotive ability play an essential role in evolution of molluscs mtDNA.

  20. Sustained Treatment with Insulin Detemir in Mice Alters Brain Activity and Locomotion.

    Directory of Open Access Journals (Sweden)

    Tina Sartorius

    Full Text Available Recent studies have identified unique brain effects of insulin detemir (Levemir®. Due to its pharmacologic properties, insulin detemir may reach higher concentrations in the brain than regular insulin. This might explain the observed increased brain stimulation after acute insulin detemir application but it remained unclear whether chronic insulin detemir treatment causes alterations in brain activity as a consequence of overstimulation.In mice, we examined insulin detemir's prolonged brain exposure by continuous subcutaneous (s.c. application using either micro-osmotic pumps or daily s.c. injections and performed continuous radiotelemetric electrocorticography and locomotion recordings.Acute intracerebroventricular injection of insulin detemir activated cortical and locomotor activity significantly more than regular insulin in equimolar doses (0.94 and 5.63 mU in total, suggesting an enhanced acute impact on brain networks. However, given continuously s.c., insulin detemir significantly reduced cortical activity (theta: 21.3±6.1% vs. 73.0±8.1%, P<0.001 and failed to maintain locomotion, while regular insulin resulted in an increase of both parameters.The data suggest that permanently-increased insulin detemir levels in the brain convert its hyperstimulatory effects and finally mediate impairments in brain activity and locomotion. This observation might be considered when human studies with insulin detemir are designed to target the brain in order to optimize treatment regimens.

  1. Photogrammetry: a Non-Invasive and Objective Method for Detecting Locomotion Problems in Broiler Chickens

    Directory of Open Access Journals (Sweden)

    AS Mendes

    Full Text Available ABSTRACT Locomotion problems in broiler chickens can cause economic losses of up to 40% of the total revenues due to carcass condemnation and downgrading at processing. Leg disorders, such as femoral lesions, tibial dyschondroplasia, and spondylolisthesis, substantially impact the welfare of chickens as these disorders can prevent birds from reaching the feeders and drinkers, thus reducing feed and water intake. The most important issues related to broiler welfare reported in the last two decades are their growing sensitivity to metabolic and locomotion problems due to the fast growth rates and inactivity. Traditional methods for the determination of gait score include the manual scoring of animal behavior in the broiler house. Recorded video images can also be used for manual scoring of chicken gait score. However, scoring of some animal-based information by human experts and manual methods remain difficult, time consuming and expensive when implemented at farm level. In an effort to objectively detect leg disorders, this study aimed at validating the photogrammetry technique as a non-invasive method for identifying locomotion problems in broilers. Photogrammetry allows determining the geometric properties of broilers from digital photos that are processed and analyzed using a computer software. Results obtained using photogrammetry were tested for their correlation with those obtained by accepted methodologies, including gait score and macroscopic examination of femoral degeneration and tibial dyschondroplasia. The photogrammetry results agreed with the results of the afore mentioned accepted methods.

  2. Incidental sounds of locomotion in animal cognition.

    Science.gov (United States)

    Larsson, Matz

    2012-01-01

    The highly synchronized formations that characterize schooling in fish and the flight of certain bird groups have frequently been explained as reducing energy expenditure. I present an alternative, or complimentary, hypothesis that synchronization of group movements may improve hearing perception. Although incidental sounds produced as a by-product of locomotion (ISOL) will be an almost constant presence to most animals, the impact on perception and cognition has been little discussed. A consequence of ISOL may be masking of critical sound signals in the surroundings. Birds in flight may generate significant noise; some produce wing beats that are readily heard on the ground at some distance from the source. Synchronization of group movements might reduce auditory masking through periods of relative silence and facilitate auditory grouping processes. Respiratory locomotor coupling and intermittent flight may be other means of reducing masking and improving hearing perception. A distinct border between ISOL and communicative signals is difficult to delineate. ISOL seems to be used by schooling fish as an aid to staying in formation and avoiding collisions. Bird and bat flocks may use ISOL in an analogous way. ISOL and interaction with animal perception, cognition, and synchronized behavior provide an interesting area for future study.

  3. Serpentine locomotion through elastic energy release

    Science.gov (United States)

    Movchan, N. V.

    2017-01-01

    A model for serpentine locomotion is derived from a novel perspective based on concepts from configurational mechanics. The motion is realized through the release of the elastic energy of a deformable rod, sliding inside a frictionless channel, which represents a snake moving against lateral restraints. A new formulation is presented, correcting previous results and including situations never analysed so far, as in the cases when the serpent's body lies only partially inside the restraining channel or when the body has a muscle relaxation localized in a small zone. Micromechanical considerations show that propulsion is the result of reactions tangential to the frictionless constraint and acting on the snake's body, a counter-intuitive feature in mechanics. It is also experimentally demonstrated that the propulsive force driving serpentine motion can be directly measured on a designed apparatus in which flexible bars sweep a frictionless channel. Experiments fully confirm the theoretical modelling, so that the presented results open the way to exploration of effects, such as variability in the bending stiffness or channel geometry or friction, on the propulsive force of snake models made up of elastic rods. PMID:28566512

  4. Visualizing the spinal neuronal dynamics of locomotion

    Science.gov (United States)

    Subramanian, Kalpathi R.; Bashor, D. P.; Miller, M. T.; Foster, J. A.

    2004-06-01

    Modern imaging and simulation techniques have enhanced system-level understanding of neural function. In this article, we present an application of interactive visualization to understanding neuronal dynamics causing locomotion of a single hip joint, based on pattern generator output of the spinal cord. Our earlier work visualized cell-level responses of multiple neuronal populations. However, the spatial relationships were abstract, making communication with colleagues difficult. We propose two approaches to overcome this: (1) building a 3D anatomical model of the spinal cord with neurons distributed inside, animated by the simulation and (2) adding limb movements predicted by neuronal activity. The new system was tested using a cat walking central pattern generator driving a pair of opposed spinal motoneuron pools. Output of opposing motoneuron pools was combined into a single metric, called "Net Neural Drive", which generated angular limb movement in proportion to its magnitude. Net neural drive constitutes a new description of limb movement control. The combination of spatial and temporal information in the visualizations elegantly conveys the neural activity of the output elements (motoneurons), as well as the resulting movement. The new system encompasses five biological levels of organization from ion channels to observed behavior. The system is easily scalable, and provides an efficient interactive platform for rapid hypothesis testing.

  5. Water surface locomotion in tropical canopy ants.

    Science.gov (United States)

    Yanoviak, S P; Frederick, D N

    2014-06-15

    Upon falling onto the water surface, most terrestrial arthropods helplessly struggle and are quickly eaten by aquatic predators. Exceptions to this outcome mostly occur among riparian taxa that escape by walking or swimming at the water surface. Here we document sustained, directional, neustonic locomotion (i.e. surface swimming) in tropical arboreal ants. We dropped 35 species of ants into natural and artificial aquatic settings in Peru and Panama to assess their swimming ability. Ten species showed directed surface swimming at speeds >3 body lengths s(-1), with some swimming at absolute speeds >10 cm s(-1). Ten other species exhibited partial swimming ability characterized by relatively slow but directed movement. The remaining species showed no locomotory control at the surface. The phylogenetic distribution of swimming among ant genera indicates parallel evolution and a trend toward negative association with directed aerial descent behavior. Experiments with workers of Odontomachus bauri showed that they escape from the water by directing their swimming toward dark emergent objects (i.e. skototaxis). Analyses of high-speed video images indicate that Pachycondyla spp. and O. bauri use a modified alternating tripod gait when swimming; they generate thrust at the water surface via synchronized treading and rowing motions of the contralateral fore and mid legs, respectively, while the hind legs provide roll stability. These results expand the list of facultatively neustonic terrestrial taxa to include various species of tropical arboreal ants. © 2014. Published by The Company of Biologists Ltd.

  6. Modeling and analysis of individual with lower extremity amputation locomotion using prosthetic feet and running-specific prostheses.

    Science.gov (United States)

    Murai, Akihiko; Hobara, Hiroaki; Hashizume, Satoru; Kobayashi, Yoshiyuki; Tada, Mitsunori

    2017-07-01

    Prostheses have enabled individuals with lower extremity amputation (ILEAs) to accomplish many daily activities. Prosthetic feet allow ILEA to locomote and improves their quality of life. Carbon-fiber running-specific prostheses (RSPs) with energy storing capabilities support ILEAs to perform sprinting by partly providing spring-like properties in their amputated legs. Previous studies declare the spring-like RSP behavior and stiffness regulation during ILEA sprinting using RSP, though little is known about the behavior of the whole system that is a complex combination of human body and prostheses. This paper models this combined system with human and prosthetic foot and RSP using the digital human technology, then, analyzes the ILEA walking using the prosthetic foot and sprinting using RSP. We develop models that are combinations of human and prostheses by individualizing a linkage structure and inertial parameters of the digital human model. Then, locomotion of ILEA is analyzed based on measurements with optical motion capture system and force plates, and kinematics and dynamics computation. This modeling and computational technique can be applied to the locomotion of ILEA as well as a human motion using tools, and expanded to an analysis and improvement of system involving human.

  7. Advanced underground Vehicle Power and Control: The locomotive Research Platform

    Energy Technology Data Exchange (ETDEWEB)

    Vehicle Projects LLC

    2003-01-28

    Develop a fuelcell mine locomotive with metal-hydride hydrogen storage. Test the locomotive for fundamental limitations preventing successful commercialization of hydride fuelcells in underground mining. During Phase 1 of the DOE-EERE sponsored project, FPI and its partner SNL, completed work on the development of a 14.4 kW fuelcell power plant and metal-hydride energy storage. An existing battery-electric locomotive with similar power requirements, minus the battery module, was used as the base vehicle. In March 2001, Atlas Copco Wagner of Portland, OR, installed the fuelcell power plant into the base vehicle and initiated integration of the system into the vehicle. The entire vehicle returned to Sandia in May 2001 for further development and integration. Initial system power-up took place in December 2001. A revision to the original contract, Phase 2, at the request of DOE Golden Field Office, established Vehicle Projects LLC as the new prime contractor,. Phase 2 allowed industry partners to conduct surface tests, incorporate enhancements to the original design by SNL, perform an extensive risk and safety analysis, and test the fuelcell locomotive underground under representative production mine conditions. During the surface tests one of the fuelcell stacks exhibited reduced power output resulting in having to replace both fuelcell stacks. The new stacks were manufactured with new and improved technology resulting in an increase of the gross power output from 14.4 kW to 17 kW. Further work by CANMET and Hatch Associates, an engineering consulting firm specializing in safety analysis for the mining industry, both under subcontract to Vehicle Projects LLC, established minimum requirements for underground testing. CANMET upgraded the Programmable Logic Control (PLC) software used to monitor and control the fuelcell power plant, taking into account locomotive operator's needs. Battery Electric, a South Africa manufacturer, designed and manufactured (at no cost

  8. INFORMATION-MEASURING TEST SYSTEM OF DIESEL LOCOMOTIVE HYDRAULIC TRANSMISSIONS

    Directory of Open Access Journals (Sweden)

    I. V. Zhukovytskyy

    2015-08-01

    Full Text Available Purpose. The article describes the process of developing the information-measuring test system of diesel locomotives hydraulic transmission, which gives the possibility to obtain baseline data to conduct further studies for the determination of the technical condition of diesel locomotives hydraulic transmission. The improvement of factory technology of post-repair tests of hydraulic transmissions by automating the existing hydraulic transmission test stands according to the specifications of the diesel locomotive repair enterprises was analyzed. It is achieved based on a detailed review of existing foreign information-measuring test systems for hydraulic transmission of diesel locomotives, BelAZ earthmover, aircraft tug, slag car, truck, BelAZ wheel dozer, some brands of tractors, etc. The problem for creation the information-measuring test systems for diesel locomotive hydraulic transmission is being solved, starting in the first place from the possibility of automation of the existing test stand of diesel locomotives hydraulic transmission at Dnipropetrovsk Diesel Locomotive Repair Plant "Promteplovoz". Methodology. In the work the researchers proposed the method to create a microprocessor automated system of diesel locomotives hydraulic transmission stand testing in the locomotive plant conditions. It acts by justifying the selection of the necessary sensors, as well as the application of the necessary hardware and software for information-measuring systems. Findings. Based on the conducted analysis there was grounded the necessity of improvement the plant hydraulic transmission stand testing by creating a microprocessor testing system, supported by the experience of developing such systems abroad. Further research should be aimed to improve the accuracy and frequency of data collection by adopting the more modern and reliable sensors in tandem with the use of filtering software for electromagnetic and other interference. Originality. The

  9. Problems of locomotive wheel wear in fleet replacement

    Directory of Open Access Journals (Sweden)

    L.P. Lingaytis

    2013-08-01

    Full Text Available Purpose. To conduct a research and find out the causes of defects appearing on the wheel thread of freight locomotives 2М62 and SIEMENS ER20CF. Methodology. To find the ways to solve this problem comparing the locomotive designs and their operating conditions. Findings. After examining the nature of the wheel wear the main difference was found: in locomotives of the 2M62 line wears the wheel flange, and in the locomotives SIEMENS ER20CF – the tread surface. After installation on the 2M62 locomotive the lubrication system of flanges their wear rate significantly decreased. On the new freight locomotives SIEMENS ER20CF the flange lubrication systems of the wheel set have been already installed at the factory, however the wheel thread is wearing. As for locomotives 2M62, and on locomotives SIEMENS ER20CF most wear profile skating wheels of the first wheel set. On both locomotive lines the 2М62 and the SIEMENS ER20CF the tread profile of the first wheel set most of all is subject to the wear. After reaching the 170 000 km run, the tread surface of some wheels begins to crumble. There was a suspicion that the reason for crumb formation of the wheel surface may be insufficient or excessive wheel hardness or its chemical composition. In order to confirm or deny this suspicion the following studies were conducted: the examination of the rim surface, the study of the wheel metal hardness and the document analysis of the wheel production and their comparison with the results of wheel hardness measurement. Practical value. The technical condition of locomotives is one of the bases of safety and reliability of the rolling stock. The reduction of the wheel wear significantly reduces the operating costs of railway transport. After study completion it was found that there was no evidence to suggest that the ratio of the wheel-rail hardness could be the cause of the wheel surface crumbling.

  10. Hybrid Locomotion Evaluation for a Novel Amphibious Spherical Robot

    Directory of Open Access Journals (Sweden)

    Huiming Xing

    2018-01-01

    Full Text Available We describe the novel, multiply gaited, vectored water-jet, hybrid locomotion-capable, amphibious spherical robot III (termed ASR-III featuring a wheel-legged, water-jet composite driving system incorporating a lifting and supporting wheel mechanism (LSWM and mechanical legs with a water-jet thruster. The LSWM allows the ASR-III to support the body and slide flexibly on smooth (flat terrain. The composite driving system facilitates two on-land locomotion modes (sliding and walking and underwater locomotion mode with vectored thrusters, improving adaptability to the amphibious environment. Sliding locomotion improves the stability and maneuverability of ASR-III on smooth flat terrain, whereas walking locomotion allows ASR-III to conquer rough terrain. We used both forward and reverse kinematic models to evaluate the walking and sliding gait efficiency. The robot can also realize underwater locomotion with four vectored water-jet thrusters, and is capable of forward motion, heading angle control and depth control. We evaluated LSWM efficiency and the sliding velocities associated with varying extensions of the LSWM. To explore gait stability and mobility, we performed on-land experiments on smooth flat terrain to define the optimal stride length and frequency. We also evaluated the efficacy of waypoint tracking when the sliding gait was employed, using a closed-loop proportional-integral-derivative (PID control mechanism. Moreover, experiments of forward locomotion, heading angle control and depth control were conducted to verify the underwater performance of ASR-III. Comparison of the previous robot and ASR-III demonstrated the ASR-III had better amphibious motion performance.

  11. Locomotive syndrome in the elderly: translation, cultural adaptation, and Brazilian validation of the tool 25-Question Geriatric Locomotive Function Scale

    Directory of Open Access Journals (Sweden)

    Daniela Regina Brandão Tavares

    Full Text Available ABSTRACT Objective: The term Locomotive Syndrome refers to conditions in which the elderly are at high risk of inability to ambulate due to problems in locomotor system. For Locomotive Syndrome screening, the 25-Question Geriatric Locomotive Function Scale was created. The objective here was to translate, adapt culturally to Brazil, and study the psychometric properties of 25-Question Geriatric Locomotive Function Scale. Method: The translation and cultural adaptation of 25-Question Geriatric Locomotive Function Scale were carried out, thus resulting in GLFS 25-P, whose psychometric properties were analyzed in a sample of 100 elderly subjects. Sociodemographic data on pain, falls, self-perceived health and basic and instrumental functionalities were determined. GLFS 25-P was applied three times: in one same day by two interviewers, and after 15 days, again by the first interviewer. Result: GLFS 25-P showed a high internal consistency value according to Cronbach's alpha coefficient (0.942, and excellent reproducibility, according to intraclass correlation, with interobserver and intraobserver values of 97.6% and 98.4%, respectively (p < 0.01. Agreements for each item of the instrument were considerable (between 0.248 and 0.673, according to Kappa statistic. In its validation, according to the Pearson's coefficient, regular and good correlations were obtained for the basic (BADL and instrumental (IADL activities of daily living, respectively (p < 0.01. Statistically significant associations with chronic pain (p < 0.001, falls (p = 0.02 and self-perceived health (p < 0.001 were found. A multivariate analysis showed a significantly higher risk of Locomotive Syndrome in the presence of chronic pain (OR 15.92, 95% CI 3.08–82.27 and with a worse self-perceived health (OR 0.23, 95% CI 0.07–0.79. Conclusion: GLFS 25-P proved to be a reliable and valid tool in Locomotive Syndrome screening for the elderly population.

  12. System design of a large fuel cell hybrid locomotive

    Science.gov (United States)

    Miller, A. R.; Hess, K. S.; Barnes, D. L.; Erickson, T. L.

    Fuel cell power for locomotives combines the environmental benefits of a catenary-electric locomotive with the higher overall energy efficiency and lower infrastructure costs of a diesel-electric. A North American consortium, a public-private partnership, is developing a prototype hydrogen-fueled fuel cell-battery hybrid switcher locomotive for urban and military-base rail applications. Switcher locomotives are used in rail yards for assembling and disassembling trains and moving trains from one point to another. At 127 tonnes (280,000 lb), continuous power of 250 kW from its (proton exchange membrane) PEM fuel cell prime mover, and transient power well in excess of 1 MW, the hybrid locomotive will be the heaviest and most powerful fuel cell land vehicle yet. This fast-paced project calls for completion of the vehicle itself near the end of 2007. Several technical challenges not found in the development of smaller vehicles arise when designing and developing such a large fuel cell vehicle. Weight, center of gravity, packaging, and safety were design factors leading to, among other features, the roof location of the lightweight 350 bar compressed hydrogen storage system. Harsh operating conditions, especially shock loads during coupling to railcars, require component mounting systems capable of absorbing high energy. Vehicle scale-up by increasing mass, density, or power presents new challenges primarily related to issues of system layout, hydrogen storage, heat transfer, and shock loads.

  13. Obstacle Avoidance in Groping Locomotion of a Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Masahiro Ohka

    2008-11-01

    Full Text Available This paper describes the development of an autonomous obstacle-avoidance method that operates in conjunction with groping locomotion on the humanoid robot Bonten-Maru II. Present studies on groping locomotion consist of basic research in which humanoid robot recognizes its surroundings by touching and groping with its arm on the flat surface of a wall. The robot responds to the surroundings by performing corrections to its orientation and locomotion direction. During groping locomotion, however, the existence of obstacles within the correction area creates the possibility of collisions. The objective of this paper is to develop an autonomous method to avoid obstacles in the correction area by applying suitable algorithms to the humanoid robot's control system. In order to recognize its surroundings, six-axis force sensors were attached to both robotic arms as end effectors for force control. The proposed algorithm refers to the rotation angle of the humanoid robot's leg joints due to trajectory generation. The algorithm relates to the groping locomotion via the measured groping angle and motions of arms. Using Bonten-Maru II, groping experiments were conducted on a wall's surface to obtain wall orientation data. By employing these data, the humanoid robot performed the proposed method autonomously to avoid an obstacle present in the correction area. Results indicate that the humanoid robot can recognize the existence of an obstacle and avoid it by generating suitable trajectories in its legs.

  14. A hybrid locomotive for demonstration and investigation on energetics

    Energy Technology Data Exchange (ETDEWEB)

    Jeunesse, A.; Thiounn, M. [SNCF, Paris (France)

    2006-07-01

    The French National Railway Company (SNCF) is currently conducting a demonstration program to test and evaluate new energy production, conversion, and storage technologies and their applications in order to create more energy-efficient environmentally-friendly railway systems. The program is currently examining on-board energy storage, energy efficiency, emissions-reduction technologies and methods of retrofitting existing locomotives. This paper described a hybrid locomotive project conducted by the SNCF called LHyDIE, a demonstration hybrid engine that uses an autonomous traction system built based on a shunting locomotive. The hybrid system recycles braking energy on-board to increase total energy efficiency, and is able to use energy from diesel engines, fuel cells, and transformers. The buffer storage system included a battery, ultra-capacitors, and a flywheel. Details of modelling studies conducted to demonstrate the hybrid system were included. 1 tab., 9 figs.

  15. Experimental modal analysis of an electric locomotive body

    Directory of Open Access Journals (Sweden)

    Manea Ion

    2017-01-01

    Full Text Available The study of the structural dynamics is essential for understanding and assessing of any engineering product performance, knowledge of dynamic structural response being fundamental to ensuring a sustainable and safe product functioning. From all techniques for structural response assessment, the experimental modal analysis (EMA provides one of the most comprehensive tools for collecting the experimental data, relevant for structure investigation and assessing of the structural response under normal or imposed operating conditions. Once identified the structure in terms of modal model, it can begin to its optimization to face new challenges or functioning tasks. The article presents an experimental modal analysis application, performed on a LEMA 6000kW electric locomotive body on the production cycle of SC Softronic Craiova. The application was made to validate the dynamic finite elements model realised in order to certify the crashworthiness locomotive design and to evaluate the body interaction with bogie and track to avoid the locomotive structural resonance phenomena.

  16. Optimally controlled optomechanical work cycle for a molecular locomotive

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Z S [Institute of Modern Physics, Fudan University, Shanghai 200433 (China)

    2005-11-30

    This work seeks to apply the laser optimal control technique to light-driven molecular motors. Taking a recently proposed molecular locomotive as a model system, a control loop is developed specifically for it, and concrete schemes for experimentally closing the loop are devised. A list of unique control objectives is rigorously formulated from the nanomachinery perspective, and corresponding optimization is made feasible by an innovative application of the established technique of closed-loop learning control. The optimization may be pursued for individual laser operational steps as well as for the overall nanolocomotion performance of the entire work cycle. The locomotive optimal control, capable of co-adapting the laser procedure and the periodically driven molecular dynamics, essentially leads to an optimally performing optomechanical work cycle for the locomotive beyond any model-based pre-designed version. These findings reveal a great potential of laser optimally controlled nanowork cycles in the emerging field of nanomachinery.

  17. Scaling in Theropod Dinosaurs: Femoral Bone Strength and Locomotion II

    Science.gov (United States)

    Lee, Scott

    2015-03-01

    In the second paper1 of this series, the effect of transverse femoral stresses due to locomotion in theropod dinosaurs of different sizes was examined for the case of an unchanging leg geometry. Students are invariably thrilled to learn about theropod dinosaurs, and this activity applies the concepts of torque and stress to the issue of theropod locomotion. In this paper, our model calculation of Ref. 1 is extended to incorporate the fact that larger animals run with straighter legs. As in Ref. 1, students use geometric data for the femora of theropod dinosaurs to analyze their locomotion abilities. This can either be an in-class activity or given as a homework problem. Larger theropods are found to be less athletic in their movements than smaller theropods since the stresses in the femora of large theropods are closer to breaking their legs than smaller theropods.

  18. Quantifying coordination between the head and the trunk during locomotion

    Science.gov (United States)

    Mulavara, Ajitkumar P.

    This study developed unique measures of coordination between the head and the trunk during the combined tasks of locomotion and gaze fixation of visual targets. These measures will be used to determine the effects of long-duration space flight on sensorimotor function. This will enable evaluation of the efficacy of countermeasures and postflight rehabilitation programs. Indices were proposed as composite measures reflecting the functional aspects of the control system involved in gaze fixation during locomotion. The stiffness index (Nm/deg) was calculated as the ratio between the change in the magnitude of the net relative moments to the change in magnitude of the relative angular motion. The viscosity index (Nm-sec/deg) was calculated as the ratio between the change in the magnitude of the net relative moments to the change in magnitude of the relative angular velocity. These coordination measures were used to evaluate the normal dynamic pattern of coordination between the head and the trunk with respect to the events occurring in a gait cycle. The indices were evaluated for three discrete speeds of locomotion for the same gaze fixation task and for three discrete gaze fixation tasks at the same speed of locomotion. The indices were found to be repeatable measures reflecting inter-segmental coordination strategies while performing an activity of daily living. These indices showed that the coordination of the head with respect to the trunk was significantly different between the events of heel strike and swing phases during the gait cycle. These indices showed no significant differences between the different gaze fixation tasks. The speed of locomotion had a significant effect on the magnitude of these indices. The results indicate that the CNS dynamically modulates head motion with respect to the trunk dependent on the events occurring during the gait cycle. This modulation is appropriate for stabilizing gaze during locomotion. The results support the hypothesis

  19. Tree climbing and human evolution

    Science.gov (United States)

    Venkataraman, Vivek V.; Kraft, Thomas S.; Dominy, Nathaniel J.

    2013-01-01

    Paleoanthropologists have long argued—often contentiously—about the climbing abilities of early hominins and whether a foot adapted to terrestrial bipedalism constrained regular access to trees. However, some modern humans climb tall trees routinely in pursuit of honey, fruit, and game, often without the aid of tools or support systems. Mortality and morbidity associated with facultative arboreality is expected to favor behaviors and anatomies that facilitate safe and efficient climbing. Here we show that Twa hunter–gatherers use extraordinary ankle dorsiflexion (>45°) during climbing, similar to the degree observed in wild chimpanzees. Although we did not detect a skeletal signature of dorsiflexion in museum specimens of climbing hunter–gatherers from the Ituri forest, we did find that climbing by the Twa is associated with longer fibers in the gastrocnemius muscle relative to those of neighboring, nonclimbing agriculturalists. This result suggests that a more excursive calf muscle facilitates climbing with a bipedally adapted ankle and foot by positioning the climber closer to the tree, and it might be among the mechanisms that allow hunter–gatherers to access the canopy safely. Given that we did not find a skeletal correlate for this observed behavior, our results imply that derived aspects of the hominin ankle associated with bipedalism remain compatible with vertical climbing and arboreal resource acquisition. Our findings challenge the persistent arboreal–terrestrial dichotomy that has informed behavioral reconstructions of fossil hominins and highlight the value of using modern humans as models for inferring the limits of hominin arboreality. PMID:23277565

  20. Shape Ontogeny of the Distal Femur in the Hominidae with Implications for the Evolution of Bipedality.

    Directory of Open Access Journals (Sweden)

    Melissa Tallman

    Full Text Available Heterochrony has been invoked to explain differences in the morphology of modern humans as compared to other great apes. The distal femur is one area where heterochrony has been hypothesized to explain morphological differentiation among Plio-Pleistocene hominins. This hypothesis is evaluated here using geometric morphometric data to describe the ontogenetic shape trajectories of extant hominine distal femora and place Plio-Pleistocene hominins within that context. Results of multivariate statistical analyses showed that in both Homo and Gorilla, the shape of the distal femur changes significantly over the course of development, whereas that of Pan changes very little. Development of the distal femur of Homo is characterized by an elongation of the condyles, and a greater degree of enlargement of the medial condyle relative to the lateral condyle, whereas Gorilla are characterized by a greater degree of enlargement of the lateral condyle, relative to the medial. Early Homo and Australopithecus africanus fossils fell on the modern human ontogenetic shape trajectory and were most similar to either adult or adolescent modern humans while specimens of Australopithecus afarensis were more similar to Gorilla/Pan. These results indicate that shape differences among the distal femora of Plio-Pleistocene hominins and humans cannot be accounted for by heterochrony alone; heterochrony could explain a transition from the distal femoral shape of early Homo/A. africanus to modern Homo, but not a transition from A. afarensis to Homo. That change could be the result of genetic or epigenetic factors.

  1. Shape Ontogeny of the Distal Femur in the Hominidae with Implications for the Evolution of Bipedality.

    Science.gov (United States)

    Tallman, Melissa

    2016-01-01

    Heterochrony has been invoked to explain differences in the morphology of modern humans as compared to other great apes. The distal femur is one area where heterochrony has been hypothesized to explain morphological differentiation among Plio-Pleistocene hominins. This hypothesis is evaluated here using geometric morphometric data to describe the ontogenetic shape trajectories of extant hominine distal femora and place Plio-Pleistocene hominins within that context. Results of multivariate statistical analyses showed that in both Homo and Gorilla, the shape of the distal femur changes significantly over the course of development, whereas that of Pan changes very little. Development of the distal femur of Homo is characterized by an elongation of the condyles, and a greater degree of enlargement of the medial condyle relative to the lateral condyle, whereas Gorilla are characterized by a greater degree of enlargement of the lateral condyle, relative to the medial. Early Homo and Australopithecus africanus fossils fell on the modern human ontogenetic shape trajectory and were most similar to either adult or adolescent modern humans while specimens of Australopithecus afarensis were more similar to Gorilla/Pan. These results indicate that shape differences among the distal femora of Plio-Pleistocene hominins and humans cannot be accounted for by heterochrony alone; heterochrony could explain a transition from the distal femoral shape of early Homo/A. africanus to modern Homo, but not a transition from A. afarensis to Homo. That change could be the result of genetic or epigenetic factors.

  2. Shape Ontogeny of the Distal Femur in the Hominidae with Implications for the Evolution of Bipedality

    Science.gov (United States)

    Tallman, Melissa

    2016-01-01

    Heterochrony has been invoked to explain differences in the morphology of modern humans as compared to other great apes. The distal femur is one area where heterochrony has been hypothesized to explain morphological differentiation among Plio-Pleistocene hominins. This hypothesis is evaluated here using geometric morphometric data to describe the ontogenetic shape trajectories of extant hominine distal femora and place Plio-Pleistocene hominins within that context. Results of multivariate statistical analyses showed that in both Homo and Gorilla, the shape of the distal femur changes significantly over the course of development, whereas that of Pan changes very little. Development of the distal femur of Homo is characterized by an elongation of the condyles, and a greater degree of enlargement of the medial condyle relative to the lateral condyle, whereas Gorilla are characterized by a greater degree of enlargement of the lateral condyle, relative to the medial. Early Homo and Australopithecus africanus fossils fell on the modern human ontogenetic shape trajectory and were most similar to either adult or adolescent modern humans while specimens of Australopithecus afarensis were more similar to Gorilla/Pan. These results indicate that shape differences among the distal femora of Plio-Pleistocene hominins and humans cannot be accounted for by heterochrony alone; heterochrony could explain a transition from the distal femoral shape of early Homo/A. africanus to modern Homo, but not a transition from A. afarensis to Homo. That change could be the result of genetic or epigenetic factors. PMID:26886416

  3. Towards efficient and robust control of bipedal walking : basic models of posture and rhythmic movement

    NARCIS (Netherlands)

    Verdaasdonk, B.W.

    2008-01-01

    Walking is a very important function of the human movement apparatus. The question how walking is controlled by the central nervous system is yet to be answered. A number of reasons lead us to believe that neural oscillators in the spinal cord, termed Central Pattern Generators (CPGs), have a major

  4. Software analysis for modeling the parameters of shunting locomotives chassis

    Directory of Open Access Journals (Sweden)

    Falendysh Anatoliy

    2017-01-01

    Full Text Available The article provides an overview of software designed to perform the simulation of structures, calculate their states, and respond to the effects of loads applied to any of the points in the model. In this case, we are interested in the possibility of modeling the locomotive chassis frames, with the possibility of determining the weakest points of their construction, determination of the remaining life of the structure. For this purpose, the article presents a developed model for calculating the frame of the diesel locomotive chassis, taking into account technical, economic and other parameters.

  5. Musculoskeletal modelling of an ostrich (Struthio camelus pelvic limb: influence of limb orientation on muscular capacity during locomotion

    Directory of Open Access Journals (Sweden)

    John R. Hutchinson

    2015-06-01

    Full Text Available We developed a three-dimensional, biomechanical computer model of the 36 major pelvic limb muscle groups in an ostrich (Struthio camelus to investigate muscle function in this, the largest of extant birds and model organism for many studies of locomotor mechanics, body size, anatomy and evolution. Combined with experimental data, we use this model to test two main hypotheses. We first query whether ostriches use limb orientations (joint angles that optimize the moment-generating capacities of their muscles during walking or running. Next, we test whether ostriches use limb orientations at mid-stance that keep their extensor muscles near maximal, and flexor muscles near minimal, moment arms. Our two hypotheses relate to the control priorities that a large bipedal animal might evolve under biomechanical constraints to achieve more effective static weight support. We find that ostriches do not use limb orientations to optimize the moment-generating capacities or moment arms of their muscles. We infer that dynamic properties of muscles or tendons might be better candidates for locomotor optimization. Regardless, general principles explaining why species choose particular joint orientations during locomotion are lacking, raising the question of whether such general principles exist or if clades evolve different patterns (e.g., weighting of muscle force–length or force–velocity properties in selecting postures. This leaves theoretical studies of muscle moment arms estimated for extinct animals at an impasse until studies of extant taxa answer these questions. Finally, we compare our model’s results against those of two prior studies of ostrich limb muscle moment arms, finding general agreement for many muscles. Some flexor and extensor muscles exhibit self-stabilization patterns (posture-dependent switches between flexor/extensor action that ostriches may use to coordinate their locomotion. However, some conspicuous areas of disagreement in our

  6. Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots

    Energy Technology Data Exchange (ETDEWEB)

    Bauer, Fabian; Römer, Ulrich, E-mail: ulrich.roemer@kit.edu; Fidlin, Alexander; Seemann, Wolfgang [Institute of Engineering Mechanics, Karlsruhe Institute of Technology (Germany)

    2016-11-15

    This paper presents a method to optimize the energy efficiency of walking bipedal robots by more than 80 % in a speed range from 0.3 to 2.3 m/s using elastic couplings—mechanical springs with movement speed independent parameters. The considered planar robot consists of a trunk, two two-segmented legs, two actuators in the hip joints, two actuators in the knee joints and an elastic coupling between the shanks. It is modeled as underactuated system to make use of its natural dynamics and feedback controlled via input–output linearization. A numerical optimization of the joint angle trajectories as well as the elastic couplings is performed to minimize the average energy expenditure over the whole speed range. The elastic couplings increase the swing leg motion’s natural frequency thus making smaller steps more efficient which reduce the impact loss at the touchdown of the swing leg. The process of energy turnover is investigated in detail for the robot with and without elastic coupling between the shanks. Furthermore, the influences of the elastic couplings’ topology and of joint friction are analyzed. It is shown that the optimization of the robot’s motion and elastic coupling towards energy efficiency leads to a slightly slower convergence rate of the controller, yet no loss of stability, but a lower sensitivity with respect to disturbances. The optimal elastic coupling discovered via numerical optimization is a linear torsion spring with transmissions between the shanks. A design proposal for this elastic coupling—which does not affect the robot’s trunk and parallel shank motion and can be used to enhance an existing robot—is given for planar as well as spatial robots.

  7. DNA Bipedal Motor Achieves a Large Number of Steps Due to Operation Using Microfluidics-Based Interface.

    Science.gov (United States)

    Tomov, Toma E; Tsukanov, Roman; Glick, Yair; Berger, Yaron; Liber, Miran; Avrahami, Dorit; Gerber, Doron; Nir, Eyal

    2017-04-25

    Realization of bioinspired molecular machines that can perform many and diverse operations in response to external chemical commands is a major goal in nanotechnology, but current molecular machines respond to only a few sequential commands. Lack of effective methods for introduction and removal of command compounds and low efficiencies of the reactions involved are major reasons for the limited performance. We introduce here a user interface based on a microfluidics device and single-molecule fluorescence spectroscopy that allows efficient introduction and removal of chemical commands and enables detailed study of the reaction mechanisms involved in the operation of synthetic molecular machines. The microfluidics provided 64 consecutive DNA strand commands to a DNA-based motor system immobilized inside the microfluidics, driving a bipedal walker to perform 32 steps on a DNA origami track. The microfluidics enabled removal of redundant strands, resulting in a 6-fold increase in processivity relative to an identical motor operated without strand removal and significantly more operations than previously reported for user-controlled DNA nanomachines. In the motor operated without strand removal, redundant strands interfere with motor operation and reduce its performance. The microfluidics also enabled computer control of motor direction and speed. Furthermore, analysis of the reaction kinetics and motor performance in the absence of redundant strands, made possible by the microfluidics, enabled accurate modeling of the walker processivity. This enabled identification of dynamic boundaries and provided an explanation, based on the "trap state" mechanism, for why the motor did not perform an even larger number of steps. This understanding is very important for the development of future motors with significantly improved performance. Our universal interface enables two-way communication between user and molecular machine and, relying on concepts similar to that of solid

  8. Sensory Re-Weighting in Human Bipedal Postural Control: The Effects of Experimentally-Induced Plantar Pain.

    Directory of Open Access Journals (Sweden)

    Antoine Pradels

    Full Text Available The present study was designed to assess the effects of experimentally-induced plantar pain on the displacement of centre of foot pressure during unperturbed upright stance in different sensory conditions of availability and/or reliability of visual input and somatosensory input from the vestibular system and neck. To achieve this goal, fourteen young healthy adults were asked to stand as still as possible in three sensory conditions: (1 No-vision, (2 Vision, and (3 No-vision - Head tilted backward, during two experimental conditions: (1 a No-pain condition, and (2 a condition when a painful stimulation was applied to the plantar surfaces of both feet (Plantar-pain condition. Centre of foot pressure (CoP displacements were recorded using a force platform. Results showed that (1 experimentally-induced plantar pain increased CoP displacements in the absence of vision (No-vision condition, (2 this deleterious effect was more accentuated when somatosensory information from the vestibular and neck was altered (No-vision - Head tilted backward condition and (3 this deleterious effect was suppressed when visual information was available (Vision condition. From a fundamental point of view, these results lend support to the sensory re-weighting hypothesis whereby the central nervous system dynamically and selectively adjusts the relative contributions of sensory inputs (i.e. the sensory weightings in order to maintain balance when one or more sensory channels are altered by the task (novel or challenging, environmental or individual conditions. From a clinical point of view, the present findings further suggest that prevention and treatment of plantar pain may be relevant for the preservation or improvement of balance control, particularly in situations (or individuals in which information provided by the visual, neck proprioceptive and vestibular systems is unavailable or disrupted.

  9. How the unique configuration of the human head may enhance flavor perception capabilities: an evolutionary perspective

    Directory of Open Access Journals (Sweden)

    Daniel E Lieberman

    2014-07-01

    the 90° orientation of the neck relative to the long axes of the nasal and oral cavities (Figure 1. This shift in the orientation was almost certainly selected for because of the evolution of bipedalism, which appears to be the key derived feature that distinguishes early hominins from other apes. Although bipedalism likely evolved as an adaption for hominins to locomote and forage efficiently, a vertically oriented neck requires expired air to turn approximately 90° to get from the nasopharynx to the external nares [reviewed in 3]. Consequently, a larger percentage of expired air in bipedal hominins is directed toward the superior margin of the nasal cavity, hence to the olfactory epithelium. The third derived adaptation of humans that may aid retronasal olfaction is enhanced turbulence in the nasal cavity. Turbulent flow generates more resistance than laminar flow but likely increases the ability for odorants to bind to olfactory neurons by slowing airflow rates, causing a higher percentage of odorants to circulate repeatedly in vortices along the margins of the olfactory epithelium, and by eliminating the boundary zone of inert air that occurs during pure laminar flow [2]. Retronasal airflow turbulence in humans is likely increased by the 90° turn that expired air must take to enter the nasal cavity, by shortening of the nasal cavity from the loss of a snout, and by valve-like discontinuities in cross sectional area between the nasal cavity, the internal nares, and the nasopharynx. Some of these features evolved in the first bipedal hominins, but others such as midfacial shortening evolved in the genus Homo. Although enhanced turbulence in the nose may benefit olfaction, it most likely evolved as an adaptation to enhance the ability to control the humidity and temperature of both inspired and expired air during vigorous physical activity in hot, arid conditions [reviewed in 3]. The final adaptation that may improve retronasal olfaction is the unique

  10. 49 CFR 210.29 - Operation standards (moving locomotives and rail cars).

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Operation standards (moving locomotives and rail... REGULATIONS Inspection and Testing § 210.29 Operation standards (moving locomotives and rail cars). The operation standards for the noise emission levels of moving locomotives, rail cars, or consists of...

  11. Small-scale soft-bodied robot with multimodal locomotion

    Science.gov (United States)

    Hu, Wenqi; Lum, Guo Zhan; Mastrangeli, Massimo; Sitti, Metin

    2018-02-01

    Untethered small-scale (from several millimetres down to a few micrometres in all dimensions) robots that can non-invasively access confined, enclosed spaces may enable applications in microfactories such as the construction of tissue scaffolds by robotic assembly, in bioengineering such as single-cell manipulation and biosensing, and in healthcare such as targeted drug delivery and minimally invasive surgery. Existing small-scale robots, however, have very limited mobility because they are unable to negotiate obstacles and changes in texture or material in unstructured environments. Of these small-scale robots, soft robots have greater potential to realize high mobility via multimodal locomotion, because such machines have higher degrees of freedom than their rigid counterparts. Here we demonstrate magneto-elastic soft millimetre-scale robots that can swim inside and on the surface of liquids, climb liquid menisci, roll and walk on solid surfaces, jump over obstacles, and crawl within narrow tunnels. These robots can transit reversibly between different liquid and solid terrains, as well as switch between locomotive modes. They can additionally execute pick-and-place and cargo-release tasks. We also present theoretical models to explain how the robots move. Like the large-scale robots that can be used to study locomotion, these soft small-scale robots could be used to study soft-bodied locomotion produced by small organisms.

  12. Steam Locomotives: a forgotten era | Hattingh | Scientia Militaria ...

    African Journals Online (AJOL)

    Scientia Militaria: South African Journal of Military Studies. Journal Home · ABOUT · Advanced Search · Current Issue · Archives · Journal Home > Vol 16, No 4 (1986) >. Log in or Register to get access to full text downloads. Username, Password, Remember me, or Register. Steam Locomotives: a forgotten era. J A Hattingh ...

  13. A Field Test of Festinger's Substitute Locomotion Theory.

    Science.gov (United States)

    Stewart, Lea P.; Gudykunst, William B.

    1986-01-01

    Provides evidence for rejecting Festinger's Substitute Locomotion Theory of organizational communication. Demonstrates a clear difference between formal and informal channels of upward communication. Indicates that high mobility individuals communicate significantly more with their supervisors than low mobility individuals and that males…

  14. Energetic Extremes in Aquatic Locomotion by Coral Reef Fishes

    Science.gov (United States)

    Fulton, Christopher J.; Johansen, Jacob L.; Steffensen, John F.

    2013-01-01

    Underwater locomotion is challenging due to the high friction and resistance imposed on a body moving through water and energy lost in the wake during undulatory propulsion. While aquatic organisms have evolved streamlined shapes to overcome such resistance, underwater locomotion has long been considered a costly exercise. Recent evidence for a range of swimming vertebrates, however, has suggested that flapping paired appendages around a rigid body may be an extremely efficient means of aquatic locomotion. Using intermittent flow-through respirometry, we found exceptional energetic performance in the Bluelined wrasse Stethojulis bandanensis, which maintains tuna-like optimum cruising speeds (up to 1 metre s−1) while using 40% less energy than expected for their body size. Displaying an exceptional aerobic scope (22-fold above resting), streamlined rigid-body posture, and wing-like fins that generate lift-based thrust, S. bandanensis literally flies underwater to efficiently maintain high optimum swimming speeds. Extreme energetic performance may be key to the colonization of highly variable environments, such as the wave-swept habitats where S. bandanensis and other wing-finned species tend to occur. Challenging preconceived notions of how best to power aquatic locomotion, biomimicry of such lift-based fin movements could yield dramatic reductions in the power needed to propel underwater vehicles at high speed. PMID:23326566

  15. Energy Efficiency of Robot Locomotion Increases Proportional to Weight

    DEFF Research Database (Denmark)

    Larsen, Jørgen Christian; Støy, Kasper

    2011-01-01

    The task of producing steady, stable and energy efficient locomotion in legged robots with the ability to walk in un- known terrain have for many years been a big challenge in robotics. This work is focusing on how different robots build from the modular robotic system, LocoKit by Larsen et. la [3...

  16. Energy Efficiency of Robot Locomotion Increases Proportional to Weight

    DEFF Research Database (Denmark)

    Larsen, J. C.; Stoy, K.

    2011-01-01

    The task of producing steady, stable and energy efficient locomotion in legged robots with the ability to walk in unknown terrain have for many years been a big challenge in robotics. This work is focusing on how different robots build from the modular robotic system, LocoKit by Larsen et al. [1...

  17. Effect of rubber flooring on cow locomotion and gene expression

    Science.gov (United States)

    The aim of this study was to evaluate the effect of 2 dairy cow housing systems on cow locomotion and expression of genes associated with lameness, during the dry and peri-parturient period. Cows were assigned to free-stall housing with either rubber (RUB; n=13) or concrete (CON; n=14) at the feed-f...

  18. Cooling system operation efficiency of locomotive diesel engine

    Science.gov (United States)

    Ovcharenko, Sergey; Balagin, Oleg; Balagin, Dmitry

    2017-10-01

    A theoretical model for the calculation of the heat parameters of locomotive diesel engine cooling system in case of using heating agent bypass between the circuits is represented. The influence of the cooling fluid on the bypass from “hot” circuit to the “cold” circuit at different ambient air temperature is studied.

  19. Drosophila melanogaster (fruit fly) locomotion during a sounding rocket flight

    Science.gov (United States)

    Miller, Mark S.; Keller, Tony S.

    2008-05-01

    The locomotor activity of young Drosophila melanogaster (fruit fly) was studied during a Nike-Orion sounding rocket flight, which included a short-duration microgravity exposure. An infrared monitoring system was used to determine the activity level, instantaneous velocity, and continuous velocity of 240 (120 male, 120 female) fruit flies. Individual flies were placed in chambers that limit their motion to walking. Chambers were oriented both vertically and horizontally with respect to the rocket's longitudinal axis. Significant changes in Drosophila locomotion patterns were observed throughout the sounding rocket flight, including launch, microgravity exposure, payload re-entry, and after ocean impact. During the microgravity portion of the flight (3.8 min), large increases in all locomotion measurements for both sexes were observed, with some measurements doubling compared to pad (1 G) data. Initial effects of microgravity were probably delayed due to large accelerations from the payload despining immediately before entering microgravity. The results indicate that short-duration microgravity exposure has a large effect on locomotor activity for both males and females, at least for a short period of time. The locomotion increases may explain the increased male aging observed during long-duration exposure to microgravity. Studies focusing on long-duration microgravity exposure are needed to confirm these findings, and the relationship of increased aging and locomotion.

  20. Control and omni-directional locomotion of a crawling quadruped

    NARCIS (Netherlands)

    Dresscher, Douwe; van der Coelen, Michiel; Broenink, Johannes F.; Stramigioli, Stefano

    2014-01-01

    Traversing unstructured environments, (statically stable) legged robots could be applied effectively but, they face two main problems: the high complexity of the system and the low speed of locomotion. To address the complexity of the controller, we apply a control layer that abstracts the legged

  1. Energetic extremes in aquatic locomotion by coral reef fishes.

    Directory of Open Access Journals (Sweden)

    Christopher J Fulton

    Full Text Available Underwater locomotion is challenging due to the high friction and resistance imposed on a body moving through water and energy lost in the wake during undulatory propulsion. While aquatic organisms have evolved streamlined shapes to overcome such resistance, underwater locomotion has long been considered a costly exercise. Recent evidence for a range of swimming vertebrates, however, has suggested that flapping paired appendages around a rigid body may be an extremely efficient means of aquatic locomotion. Using intermittent flow-through respirometry, we found exceptional energetic performance in the Bluelined wrasse Stethojulis bandanensis, which maintains tuna-like optimum cruising speeds (up to 1 metre s(-1 while using 40% less energy than expected for their body size. Displaying an exceptional aerobic scope (22-fold above resting, streamlined rigid-body posture, and wing-like fins that generate lift-based thrust, S. bandanensis literally flies underwater to efficiently maintain high optimum swimming speeds. Extreme energetic performance may be key to the colonization of highly variable environments, such as the wave-swept habitats where S. bandanensis and other wing-finned species tend to occur. Challenging preconceived notions of how best to power aquatic locomotion, biomimicry of such lift-based fin movements could yield dramatic reductions in the power needed to propel underwater vehicles at high speed.

  2. Scaling in Theropod Dinosaurs: Femoral Bone Strength and Locomotion II

    Science.gov (United States)

    Lee, Scott

    2015-01-01

    In the second paper of this series, the effect of transverse femoral stresses due to locomotion in theropod dinosaurs of different sizes was examined for the case of an unchanging leg geometry. Students are invariably thrilled to learn about theropod dinosaurs, and this activity applies the concepts of torque and stress to the issue of theropod…

  3. Scaling in Theropod Dinosaurs: Femoral Bone Strength and Locomotion

    Science.gov (United States)

    Lee, Scott

    2015-01-01

    In our first article on scaling in theropod dinosaurs, the longitudinal stress in the leg bones due to supporting the weight of the animal was studied and found not to control the dimensions of the femur. As a continuation of our study of elasticity in dinosaur bones, we now examine the transverse stress in the femur due to locomotion and find…

  4. Vectron DE. The fuel-saving diesel-electric locomotive

    Energy Technology Data Exchange (ETDEWEB)

    Foesel, Ulrich [Siemens AG, Erlangen (Germany). IC RL LOC PPM; Schurr, Juergen [Siemens AG, Erlangen (Germany). IC RL LOC EN AL3; Baltes, Joerg [Siemens AG, Munich (Germany). IC RL LOC EN AL3

    2012-11-15

    Vectron DE is the successor to the successful Eurorunner series. Taking advantage of every possible synergy with the electric Vectron variants, the locomotive concept is based on a consistent further development. Targeted improvements have also been made, with particular value being placed on low fuel consumption in times of further rising fuel prices. (orig.)

  5. A light-weight, yet powerful diesel locomotive from Vossloh

    Energy Technology Data Exchange (ETDEWEB)

    Marti, Mariano [Vossloh Rail Vehicles, Albuixech/Valencia (Spain)

    2013-05-15

    The EUROLIGHT is an eight-wheeled diesel-electric locomotive developed by Vossloh Rail Vehicles for interoperable rail traffic. With its low axle load of less than 20 tonnes, it can be deployed flexibly on both main lines and secondary ones.

  6. MTU locomotive drive systems for EU emissions stage IIIB

    Energy Technology Data Exchange (ETDEWEB)

    Wintruff, Ingo [MTU Friedrichshafen GmbH, Friedrichshafen (Germany)

    2011-05-15

    Emissions limits for diesel locomotives within the European Union are regulated by EU Non-road Directive 97/68/EC which places restrictions on the pollutants NOx, particulate, CO and HC. MTU has developed suitable diesel engines for EU Emissions stage IIIB. (orig.)

  7. Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm

    Directory of Open Access Journals (Sweden)

    Jacopo Zenzeri

    2013-01-01

    Full Text Available The goal of this paper is to analyze the static stability of a computational architecture, based on the Passive Motion Paradigm, for coordinating the redundant degrees of freedom of a humanoid robot during whole-body reaching movements in bipedal standing. The analysis is based on a simulation study that implements the Functional Reach Test, originally developed for assessing the danger of falling in elderly people. The study is carried out in the YARP environment that allows realistic simulations with the iCub humanoid robot.

  8. Origami-based earthworm-like locomotion robots.

    Science.gov (United States)

    Fang, Hongbin; Zhang, Yetong; Wang, K W

    2017-10-16

    Inspired by the morphology characteristics of the earthworms and the excellent deformability of origami structures, this research creates a novel earthworm-like locomotion robot through exploiting the origami techniques. In this innovation, appropriate actuation mechanisms are incorporated with origami ball structures into the earthworm-like robot 'body', and the earthworm's locomotion mechanism is mimicked to develop a gait generator as the robot 'centralized controller'. The origami ball, which is a periodic repetition of waterbomb units, could output significant bidirectional (axial and radial) deformations in an antagonistic way similar to the earthworm's body segment. Such bidirectional deformability can be strategically programmed by designing the number of constituent units. Experiments also indicate that the origami ball possesses two outstanding mechanical properties that are beneficial to robot development: one is the structural multistability in the axil direction that could contribute to the robot control implementation; and the other is the structural compliance in the radial direction that would increase the robot robustness and applicability. To validate the origami-based innovation, this research designs and constructs three robot segments based on different axial actuators: DC-motor, shape-memory-alloy springs, and pneumatic balloon. Performance evaluations reveal their merits and limitations, and to prove the concept, the DC-motor actuation is selected for building a six-segment robot prototype. Learning from earthworms' fundamental locomotion mechanism-retrograde peristalsis wave, seven gaits are automatically generated; controlled by which, the robot could achieve effective locomotion with qualitatively different modes and a wide range of average speeds. The outcomes of this research could lead to the development of origami locomotion robots with low fabrication costs, high customizability, light weight, good scalability, and excellent re-configurability.

  9. From bipedalism to bicyclism: evolution in energetics and biomechanics of historic bicycles.

    Science.gov (United States)

    Minetti, A E; Pinkerton, J; Zamparo, P

    2001-07-07

    We measured the metabolic cost (C) and mechanical work of riding historic bicycles at different speeds: these bicycles included the Hobby Horse (1820s), the Boneshaker (1860s), the High Wheeler (1870s), the Rover (1880s), the Safety (1890s) and a modern bicycle (1980s) as a mean of comparison. The rolling resistance and air resistance of each vehicle were assessed. The mechanical internal work (W(INT)) was measured from three-dimensional motion analysis of the Hobby Horse and modern bicycle moving on a treadmill at different speeds. The equation obtained from the modern bicycle data was applied to the other vehicles. We found the following results. (i) Apart from the Rover, which was introduced for safety reasons, every newly invented bicycle improved metabolic economy. (ii) The rolling resistance decreased with subsequent designs while the frontal area and, hence, aerodynamic drag was fairly constant (except for the High Wheeler). (iii) The saddle-assisted body weight relief (which was inaugurated by the Hobby Horse) was responsible for most of the reduction in metabolic cost compared with walking or running. Further reductions in C were due to decreases in stride/pedalling frequency and, hence, W(INT) at the same speeds. (iv) The introduction of gear ratios allowed the use of pedalling frequencies that optimize the power/contraction velocity properties of the propulsive muscles. As a consequence, net mechanical efficiency (the ratio between the total mechanical work and C) was almost constant (0.273 +/- 0.015s.d.) for all bicycle designs, despite the increase in cruising speed. In the period from 1820 to 1890, improved design of bicycles increased the metabolically equivalent speed by threefold compared with walking at an average pace of ca. + 0.5 ms(-1) per decade [corrected]. The speed gain was the result of concurrent technological advancements in wheeled, human-powered vehicles and of 'smart' adaptation of the same actuator (the muscle) to different

  10. ANALYSIS OF THE OPERATIONAL CHARACTERISTICS OF DIESEL-ELECTRIC LOCOMOTIVES

    Directory of Open Access Journals (Sweden)

    L. V. Ursulyak

    2014-12-01

    Full Text Available Purpose. To compare the operational characteristics of freight diesel-electric locomotives ER20CF and 2М62м, which are operated with Lithuanian Railways. Important problems on traction calculations are considered in this article. In this article the critical tasks of traction calculations are solved. It is the main computational tool in the rational functioning, planning and development of railways: determination of the estimated weight of the rolling stock, the diagrams construction of specific resultant forces of a train, the permitted speed definition of the train on the slopes, curves of train traffic construction on the section. Methodology. Using the rules and methods of traction calculations the analysis of the basic operational characteristics of the modernized freight diesel-electric locomotive 2М62m and freight passenger dual locomotive 2ER20CF was held. The maximum weight of the train set, the track structure on a high-speed ascent through the use of kinetic energy (with traction and without traction, technical speed, acceleration force and the value of the smallest radius curve are selected as controlled parameters. During the calculations it was considered that the trains were formed of a fully loaded four-axle gondola cars, model 112-119 (feature-606 with axle load of 23.5 t; the motion was carried out on the continuous welded rail track; the front of the train set is a dual locomotive 2ER20CF or two locomotive 2М62м. Longitudinal profile of the road on the route Vilnus–KlF was analyzed for the choice of theoretical rise. Inspection concerning the possibility of overcoming the high-speed rise was performed with an analytical method, based on the use of the kinetic energy accumulated by the overcoming of «light» elements of the profile. Findings. In the calculations, the maximum weight of the train set taking into account theoretical rise was analyzed. The inspection of the theoretical weight of the train set on a reliable

  11. Energy-based control for a biologically inspired hexapod robot with rolling locomotion

    Directory of Open Access Journals (Sweden)

    Takuma Nemoto

    2015-04-01

    Full Text Available This paper presents an approach to control rolling locomotion on the level ground with a biologically inspired hexapod robot. For controlling rolling locomotion, a controller which can compensate energy loss with rolling locomotion of the hexapod robot is designed based on its dynamic model. The dynamic model describes the rolling locomotion which is limited to planar one by an assumption that the hexapod robot does not fall down while rolling and influences due to collision and contact with the ground, and it is applied for computing the mechanical energy of the hexapod robot and a plant for a numerical simulation. The numerical simulation of the rolling locomotion on the level ground verifies the effectiveness of the proposed controller. The simulation results show that the hexapod robot can perform the rolling locomotion with the proposed controller. In conclusion, it is shown that the proposed control approach is effective in achieving the rolling locomotion on the level ground.

  12. Human Footprint Variation while Performing Load Bearing Tasks

    OpenAIRE

    Wall-Scheffler, Cara M.; Wagnild, Janelle; Wagler, Emily

    2015-01-01

    Human footprint fossils have provided essential evidence about the evolution of human bipedalism as well as the social dynamics of the footprint makers, including estimates of speed, sex and group composition. Generally such estimates are made by comparing footprint evidence with modern controls; however, previous studies have not accounted for the variation in footprint dimensions coming from load bearing activities. It is likely that a portion of the hominins who created these fossil footpr...

  13. Multi-Locomotion Robotic Systems New Concepts of Bio-inspired Robotics

    CERN Document Server

    Fukuda, Toshio; Sekiyama, Kosuke; Aoyama, Tadayoshi

    2012-01-01

    Nowadays, multiple attention have been paid on a robot working in the human living environment, such as in the field of medical, welfare, entertainment and so on. Various types of researches are being conducted actively in a variety of fields such as artificial intelligence, cognitive engineering, sensor- technology, interfaces and motion control. In the future, it is expected to realize super high functional human-like robot by integrating technologies in various fields including these types of researches. The book represents new developments and advances in the field of bio-inspired robotics research introducing the state of the art, the idea of multi-locomotion robotic system to implement the diversity of animal motion. It covers theoretical and computational aspects of Passive Dynamic Autonomous Control (PDAC), robot motion control, multi legged walking and climbing as well as brachiation focusing concrete robot systems, components and applications. In addition, gorilla type robot systems are described as...

  14. Animals prefer leg stiffness values that may reduce the energetic cost of locomotion.

    Science.gov (United States)

    Shen, ZhuoHua; Seipel, Justin

    2015-01-07

    Despite the neuromechanical complexity and wide diversity of running animals, most run with a center-of-mass motion that is similar to a simple mass bouncing on a spring. Further, when animals׳ effective leg stiffness is measured and normalized for size and weight, the resulting relative leg stiffness that most animals prefer lies in a narrow range between 7 and 27. Understanding why this nearly universal preference exists could shed light on how whole animal behaviors are organized. Here we show that the biologically preferred values of relative leg stiffness coincide with a theoretical minimal energetic cost of locomotion. This result strongly implies that animals select and regulate leg stiffness in order to reduce the energy required to move, thus providing animals an energetic advantage. This result also helps explain how high level control targets such as energy efficiency might influence overall physiological parameters and the underlying neuromechanics that produce it. Overall, the theory presented here provides an explanation for the existence of a nearly universal preferred leg stiffness. Also, the results of this work are beneficial for understanding the principles underlying human and animal locomotion, as well as for the development of prosthetic, orthotic and robotic devices. Copyright © 2014 Elsevier Ltd. All rights reserved.

  15. Modulation of Locomotion and Reproduction by FLP Neuropeptides in the Nematode Caenorhabditis elegans.

    Science.gov (United States)

    Chang, Yan-Jung; Burton, Tina; Ha, Lawrence; Huang, Zi; Olajubelo, Adewale; Li, Chris

    2015-01-01

    Neuropeptides function in animals to modulate most, if not all, complex behaviors. In invertebrates, neuropeptides can function as the primary neurotransmitter of a neuron, but more generally they co-localize with a small molecule neurotransmitter, as is commonly seen in vertebrates. Because a single neuron can express multiple neuropeptides and because neuropeptides can bind to multiple G protein-coupled receptors, neuropeptide actions increase the complexity by which the neural connectome can be activated or inhibited. Humans are estimated to have 90 plus neuropeptide genes; by contrast, nematodes, a relatively simple organism, have a slightly larger complement of neuropeptide genes. For instance, the nematode Caenorhabditis elegans has over 100 neuropeptide-encoding genes, of which at least 31 genes encode peptides of the FMRFamide family. To understand the function of this large FMRFamide peptide family, we isolated knockouts of different FMRFamide-encoding genes and generated transgenic animals in which the peptides are overexpressed. We assayed these animals on two basic behaviors: locomotion and reproduction. Modulating levels of different neuropeptides have strong as well as subtle effects on these behaviors. These data suggest that neuropeptides play critical roles in C. elegans to fine tune neural circuits controlling locomotion and reproduction.

  16. A brain-machine-muscle interface for restoring hindlimb locomotion after complete spinal transection in rats.

    Directory of Open Access Journals (Sweden)

    Monzurul Alam

    Full Text Available A brain-machine interface (BMI is a neuroprosthetic device that can restore motor function of individuals with paralysis. Although the feasibility of BMI control of upper-limb neuroprostheses has been demonstrated, a BMI for the restoration of lower-limb motor functions has not yet been developed. The objective of this study was to determine if gait-related information can be captured from neural activity recorded from the primary motor cortex of rats, and if this neural information can be used to stimulate paralysed hindlimb muscles after complete spinal cord transection. Neural activity was recorded from the hindlimb area of the primary motor cortex of six female Sprague Dawley rats during treadmill locomotion before and after mid-thoracic transection. Before spinal transection there was a strong association between neural activity and the step cycle. This association decreased after spinal transection. However, the locomotive state (standing vs. walking could still be successfully decoded from neural recordings made after spinal transection. A novel BMI device was developed that processed this neural information in real-time and used it to control electrical stimulation of paralysed hindlimb muscles. This system was able to elicit hindlimb muscle contractions that mimicked forelimb stepping. We propose this lower-limb BMI as a future neuroprosthesis for human paraplegics.

  17. A brain-machine-muscle interface for restoring hindlimb locomotion after complete spinal transection in rats.

    Science.gov (United States)

    Alam, Monzurul; Chen, Xi; Zhang, Zicong; Li, Yan; He, Jufang

    2014-01-01

    A brain-machine interface (BMI) is a neuroprosthetic device that can restore motor function of individuals with paralysis. Although the feasibility of BMI control of upper-limb neuroprostheses has been demonstrated, a BMI for the restoration of lower-limb motor functions has not yet been developed. The objective of this study was to determine if gait-related information can be captured from neural activity recorded from the primary motor cortex of rats, and if this neural information can be used to stimulate paralysed hindlimb muscles after complete spinal cord transection. Neural activity was recorded from the hindlimb area of the primary motor cortex of six female Sprague Dawley rats during treadmill locomotion before and after mid-thoracic transection. Before spinal transection there was a strong association between neural activity and the step cycle. This association decreased after spinal transection. However, the locomotive state (standing vs. walking) could still be successfully decoded from neural recordings made after spinal transection. A novel BMI device was developed that processed this neural information in real-time and used it to control electrical stimulation of paralysed hindlimb muscles. This system was able to elicit hindlimb muscle contractions that mimicked forelimb stepping. We propose this lower-limb BMI as a future neuroprosthesis for human paraplegics.

  18. Body segment differences in surface area, skin temperature and 3D displacement and the estimation of heat balance during locomotion in hominins.

    Science.gov (United States)

    Cross, Alan; Collard, Mark; Nelson, Andrew

    2008-06-18

    The conventional method of estimating heat balance during locomotion in humans and other hominins treats the body as an undifferentiated mass. This is problematic because the segments of the body differ with respect to several variables that can affect thermoregulation. Here, we report a study that investigated the impact on heat balance during locomotion of inter-segment differences in three of these variables: surface area, skin temperature and rate of movement. The approach adopted in the study was to generate heat balance estimates with the conventional method and then compare them with heat balance estimates generated with a method that takes into account inter-segment differences in surface area, skin temperature and rate of movement. We reasoned that, if the hypothesis that inter-segment differences in surface area, skin temperature and rate of movement affect heat balance during locomotion is correct, the estimates yielded by the two methods should be statistically significantly different. Anthropometric data were collected on seven adult male volunteers. The volunteers then walked on a treadmill at 1.2 m/s while 3D motion capture cameras recorded their movements. Next, the conventional and segmented methods were used to estimate the volunteers' heat balance while walking in four ambient temperatures. Lastly, the estimates produced with the two methods were compared with the paired t-test. The estimates of heat balance during locomotion yielded by the two methods are significantly different. Those yielded by the segmented method are significantly lower than those produced by the conventional method. Accordingly, the study supports the hypothesis that inter-segment differences in surface area, skin temperature and rate of movement impact heat balance during locomotion. This has important implications not only for current understanding of heat balance during locomotion in hominins but also for how future research on this topic should be approached.

  19. Independent control of locomotion and orientation during Dictyostelium discoideum chemotaxis.

    Science.gov (United States)

    Van Duijn, B; Van Haastert, P J

    1992-08-01

    Chemotaxis is cell movement in the direction of a chemical and is composed of two component: movement and directionality. The directionality of eukaryotic chemotaxis is probably derived from orientation: the detection of the spacial gradient of chemoattractant over the cell length. Chemotaxis was investigated in eukaryotic Dictyostelium discoideum cells that were permeabilized by high-voltage discharges. These permeable cells respond chemotactically to extracellular cAMP. However, locomotion is impaired if the Ca2+ concentration is clamped at submicromolar concentrations; interestingly, these non-motile cells still form pseudopodia and elongate in the direction of the cAMP gradient. These results imply that locomotion and orientation during Dictyostelium chemotaxis are independently regulated.

  20. Designing presence for real locomotion in immersive virtual environments

    DEFF Research Database (Denmark)

    Turchet, Luca

    2015-01-01

    This paper describes a framework for designing systems for real locomotion in virtual environments (VEs) in order to achieve an intense sense of presence. The main outcome of the present research is a list of design features that the virtual reality technology should have in order to achieve...... such a goal. To identify these features, an approach based on the combination of two design strategies was followed. The first was based on the theory of affordances and was utilized to design a generic VE in which the affordances of the corresponding real environment could be evoked. The second...... was the experiential design applied to VEs and was utilized to create an experience of locomotion corresponding to that achievable in a real environment. These design strategies were chosen because of their potential to enhance the sense of presence. The proposed list of features can be utilized as an instrument...

  1. Hybrid control and motion planning of dynamical legged locomotion

    CERN Document Server

    2012-01-01

    "This book provides a comprehensive presentation of issues and challenges faced by researchers and practicing engineers in motion planning and hybrid control of dynamical legged locomotion. The major features range from offline and online motion planning algorithms to generate desired feasible periodic walking and running motions and tow-level control schemes, including within-stride feedback laws, continuous time update laws and event-based update laws, to asymptotically stabilize the generated desired periodic orbits. This book describes the current state of the art and future directions across all domains of dynamical legged locomotion so that readers can extend proposed motion planning algorithms and control methodologies to other types of planar and 3D legged robots".

  2. Performance analysis of jump-gliding locomotion for miniature robotics.

    Science.gov (United States)

    Vidyasagar, A; Zufferey, Jean-Christohphe; Floreano, Dario; Kovač, M

    2015-03-26

    Recent work suggests that jumping locomotion in combination with a gliding phase can be used as an effective mobility principle in robotics. Compared to pure jumping without a gliding phase, the potential benefits of hybrid jump-gliding locomotion includes the ability to extend the distance travelled and reduce the potentially damaging impact forces upon landing. This publication evaluates the performance of jump-gliding locomotion and provides models for the analysis of the relevant dynamics of flight. It also defines a jump-gliding envelope that encompasses the range that can be achieved with jump-gliding robots and that can be used to evaluate the performance and improvement potential of jump-gliding robots. We present first a planar dynamic model and then a simplified closed form model, which allow for quantification of the distance travelled and the impact energy on landing. In order to validate the prediction of these models, we validate the model with experiments using a novel jump-gliding robot, named the 'EPFL jump-glider'. It has a mass of 16.5 g and is able to perform jumps from elevated positions, perform steered gliding flight, land safely and traverse on the ground by repetitive jumping. The experiments indicate that the developed jump-gliding model fits very well with the measured flight data using the EPFL jump-glider, confirming the benefits of jump-gliding locomotion to mobile robotics. The jump-glide envelope considerations indicate that the EPFL jump-glider, when traversing from a 2 m height, reaches 74.3% of optimal jump-gliding distance compared to pure jumping without a gliding phase which only reaches 33.4% of the optimal jump-gliding distance. Methods of further improving flight performance based on the models and inspiration from biological systems are presented providing mechanical design pathways to future jump-gliding robot designs.

  3. Equilibrium Condition during Locomotion and Gait in Broiler Chickens

    Directory of Open Access Journals (Sweden)

    MCF Alves

    Full Text Available ABSTRACT The experiment was carried out with the objective of evaluating a methodology to estimate the angulation and equilibrium condition, relating them to gait score and the main diseases of the locomotion system in males and females of commercial broiler strains. A completely randomized experimental design in a factorial arrangement (2x2 was applied, consisting of two sexes and two genetic strains, with five replicates of 53 chickens each. The following characteristics related to broiler locomotion were studied: gait score (GS; incidence of Valgus (VAL and Varus (VAR deformities and of pododermatitis (POD; body angle relative the ground (ANG; equilibrium condition (EC; body weight (BW and breast weight (BrW; and incidence of femoral degeneration (FD, tibial dyschondroplasia (TD and spondylolisthesis (SPO. GS, and VAL and VAR were assessed inside a broiler house. Birds were then photographed to estimate ANG and EC. Birds were sacrificed at 42 days of age and analyzed for FD, TD, and SPO. Breast percentage was not influenced by sex or strain. Males showed better ANG than females, regardless of strain. Overall, the strains studied showed prostrated EC. The correlation between GS and the evaluated traits was low. There was a moderate to high association between EC and ANG both in males and females. GS showed low correlation with locomotion problems, and therefore, it is a poor indicator of skeletal diseases. On the other hand, the moderate to high correlations of ANG and EC with locomotion problems make them better indicators of bone diseases than gait score, which is possibly more related to EC and body posture than to bone pathologies.

  4. Independent control of locomotion and orientation during Dictyostelium discoideum chemotaxis

    OpenAIRE

    van Duijn, Bert; Van Haastert, Peter J.M.

    1992-01-01

    Chemotaxis is cell movement in the direction of a chemical and is composed of two components: movement and directionality. The directionality of eukaryotic chemotaxis is probably derived from orientation: the detection of the spacial gradient of chemoattractant over the cell length. Chemotaxis was investigated in eukaryotic Dictyostelium discoideum cells that were permeabilized by high-voltage discharges. These permeable cells respond chemotactically to extracellular cAMP. However, locomotion...

  5. Visual exploration during locomotion limited by fear of heights.

    Directory of Open Access Journals (Sweden)

    Günter Kugler

    Full Text Available Visual exploration of the surroundings during locomotion at heights has not yet been investigated in subjects suffering from fear of heights.Eye and head movements were recorded separately in 16 subjects susceptible to fear of heights and in 16 non-susceptible controls while walking on an emergency escape balcony 20 meters above ground level. Participants wore mobile infrared eye-tracking goggles with a head-fixed scene camera and integrated 6-degrees-of-freedom inertial sensors for recording head movements. Video recordings of the subjects were simultaneously made to correlate gaze and gait behavior.Susceptibles exhibited a limited visual exploration of the surroundings, particularly the depth. Head movements were significantly reduced in all three planes (yaw, pitch, and roll with less vertical head oscillations, whereas total eye movements (saccade amplitudes, frequencies, fixation durations did not differ from those of controls. However, there was an anisotropy, with a preference for the vertical as opposed to the horizontal direction of saccades. Comparison of eye and head movement histograms and the resulting gaze-in-space revealed a smaller total area of visual exploration, which was mainly directed straight ahead and covered vertically an area from the horizon to the ground in front of the feet. This gaze behavior was associated with a slow, cautious gait.The visual exploration of the surroundings by susceptibles to fear of heights differs during locomotion at heights from the earlier investigated behavior of standing still and looking from a balcony. During locomotion, anisotropy of gaze-in-space shows a preference for the vertical as opposed to the horizontal direction during stance. Avoiding looking into the abyss may reduce anxiety in both conditions; exploration of the "vertical strip" in the heading direction is beneficial for visual control of balance and avoidance of obstacles during locomotion.

  6. The role of vortices in animal locomotion in fluids

    Directory of Open Access Journals (Sweden)

    Dvořák R.

    2014-12-01

    Full Text Available The aim of this paper is to show the significance of vortices in animal locomotion in fluids on two deliberately chosen examples. The first example concerns lift generation by bird and insect wings, the second example briefly mentiones swimming and walking on water. In all the examples, the vortices generated by the moving animal impart the necessary momentum to the surrounding fluid, the reaction to which is the force moving or lifting the animal.

  7. Full-scale locomotive dynamic crash testing and correlations : locomotive consist colliding with steel coil truck at grade crossing (test 3).

    Science.gov (United States)

    2011-09-01

    This report presents the test results and finite element correlations of a full-scale dynamic collision between a locomotive and a highway truck loaded with two heavy steel coils. The locomotive consist was moving at 58 miles per hour before it struc...

  8. Children's locomotion on slopes given visual, acoustic, and tactile information.

    Science.gov (United States)

    Alexandre, R; Cordovil, R; Barreiros, J

    2012-08-01

    The effects of visual, acoustic, and tactile information on 5 blind and 5 sighted children's locomotion on slopes (10 degrees, 15 degrees, 20 degrees, 25 degrees, and 30 degrees) were investigated. Children's ages ranged from 5.8 to 7.7 years (M= 6.8, SD= 0.7). The sighted children performed the task of walking up and down different slopes blindfolded and with full vision. Locomotion modes, locomotor skill, gait deviation, and time to complete the task were analyzed. Walking was the preferred locomotion mode up to 20 degrees, but steeper slopes were perceived as "non-walkable." Doubly multivariate MANOVAs revealed an effect of visual information (blindfolded vs full vision) on the sighted children's gait patterns, and a significant interaction between cue condition and group (blind vs blindfolded), underlining a distinct influence of the cues in the gait patterns of the two groups of children. Acoustic and tactile cues were generally more effective for the blind than for the sighted blindfolded children.

  9. On the feasibility of life-saving locomotive bumpers.

    Science.gov (United States)

    Paden, Brad E; Kelly, Paraic M; Hines, Jacob A; Bothman, David; Simms, Ciaran

    2016-04-01

    Motivated by the thousands of pedestrians killed each year in train impacts, this paper investigates the life-saving capability of four high-level locomotive bumper concepts. The head motions produced by the four concepts are modeled as one or two square acceleration pulses and are analyzed using the Head Injury Criterion (HIC). Surprisingly, the analyses show that all four concepts can achieve HIC values of less than 200 for an impact with a locomotive traveling at 100 km/h. Two of the concepts eject the pedestrian trackside with at a velocity of roughly 40 km/h and the risk of ground-impact injury is discussed in the context of related automobile accident data. The computed bumper lengths are a fraction of the overall length of a locomotive and are thus feasible for practical implementation. One concept involves an oblique impact and the potential for rotational head injury is analyzed. This basic feasibility research motivates future investigations into the detailed design of bumper shapes, multi-body pedestrian simulations, and finite-element injury models. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.

  10. Locomotion in intact and in brain cortex-ablated cats.

    Science.gov (United States)

    López Ruiz, José Roberto; Castillo Hernández, Luis; De la Torre Valdovinos, Braniff; Franco Rodríguez, Nancy Elizabeth; Dueñas Jiménez, Judith Marcela; Dueñas Jiménez, Alejandro; Rivas-Carrillo, Jorge David; Dueñas Jiménez, Sergio Horacio

    2017-09-01

    The current decerebration procedures discard the role of the thalamus in the motor control and decortication only rules out the brain cortex part, leaving a gap between the brain cortex and the subthalamic motor regions. In here we define a new preparation denominated Brain Cortex-Ablated Cat (BCAC), in which the frontal and parietal brain cortices as well as the central white matter beneath them were removed, this decerebration process may be considered as suprathalamic, since the thalamus remained intact. To characterize this preparation cat hindlimb electromyograms (EMG), kinematics and cutaneous reflexes (CR) produced by electrical stimulation of sural (SU) or saphenous (SAPH) nerves were analyzed during locomotion in intact and in BCAC. In cortex-ablated cats compared to intact cats, the hindlimb EMG amplitude was increased in the flexors, whereas in most extensors the amplitude was decreased. Bifunctional muscle EMGs presented complex and speed-dependent amplitude changes. In intact cats CR produced an inhibition of extensors, as well as excitation and inhibition of flexors, and a complex pattern of withdrawal responses in bifunctional muscles. The same stimuli applied to BCAC produced no detectable responses, but in some cats cutaneous reflexes produced by electrical stimulation of saphenous nerve reappeared when the locomotion speed increased. In BCAC, EMG and kinematic changes, as well as the absence of CR, imply that for this cat preparation there is a partial compensation due to the subcortical locomotor apparatus generating close to normal locomotion. Copyright © 2017 IBRO. Published by Elsevier Ltd. All rights reserved.

  11. Using a robot to study the evolution of legged locomotion

    Science.gov (United States)

    McInroe, Benjamin; Astley, Henry; Goldman, Daniel I.

    2014-03-01

    Throughout history, many organisms have used flipper-like limbs for both aquatic and terrestrial locomotion. Modern examples include mudskippers and sea turtles; extinct examples include walkers such as the early tetrapodIchthyostega. In the transition from an aquatic to a terrestrial environment, early walkers had to adapt to the challenges of locomotion over flowable media like sand and mud. Previously, we discovered that a flipper with an elbow-like joint that could passively flex and extend toward and away from the body aided crawling on dry granular media [Mazouchova et. al. 2013], a result related to the jamming of material behind and beneath the flipper. To gain insight into how an additional degree of freedom of this joint affects flipper-based locomotors, we have built a robotic model with limb-joint morphology inspired by Ichthyostega. We add to our previous limb design a passive degree of freedom that allows for supination/pronation of the flipper about a variable insertion angle. Springs at the joints restore the flippers to equilibrium positions after interaction with the media. We study the crutching locomotion of the robot performing a symmetric gait, varying flipper-joint degrees of freedom and limb cycle frequency. This work was supported by NSF PoLS.

  12. Piezoelectric vibration-driven locomotion systems - Exploiting resonance and bistable dynamics

    Science.gov (United States)

    Fang, Hongbin; Wang, K. W.

    2017-03-01

    While a piezoelectric-based vibration-driven system is an excellent candidate for actuating small-size crawling-type locomotion robots, it has the major drawback of limited stroke output that would severely constraint the system's locomotion performance. In this paper, to advance the state of the art, we propose two novel designs of piezoelectric vibration-driven locomotion systems. The first utilizes the resonant amplification concept, and the second explores the design of a bistable device. While these two ideas have been explored for piezoelectric actuation amplification in general, they have never been exploited for crawling-type robotic locomotion. Numerical analyses on both systems reveal that resonance and bistability can substantially increase the systems' average locomotion speed. Moreover, this research shows that with bistability, the system is able to output high average locomotion speed in a wider frequency band, possess multiple locomotion modes, and achieve fast switches among them. Through proof-of-concept prototypes, the predicted locomotion performance improvements brought by resonance and bistability are verified. Finally, the basin stability is evaluated to systematically describe the occurring probability of certain locomotion behavior of the bistable system, which would provide useful guideline to the design and control of bistable vibration-driven locomotion systems.

  13. Powered Lower Limb Prostheses

    OpenAIRE

    Grimmer, Martin

    2015-01-01

    Human upright locomotion emerged about 6 million years ago. It is achieved by a complex interaction of the biological infrastructure and the neural control. Bones, muscles, tendons, central nervous commands and reflex mechanisms interact to provide robust and efficient bipedal movement patterns like walking or running. Next to these locomotion tasks humans can also perform complex movements like climbing, dancing or jumping. Diseases or traumatic events may cause the loss of parts of the biol...

  14. Locomotion training of legged robots using hybrid machine learning techniques

    Science.gov (United States)

    Simon, William E.; Doerschuk, Peggy I.; Zhang, Wen-Ran; Li, Andrew L.

    1995-01-01

    In this study artificial neural networks and fuzzy logic are used to control the jumping behavior of a three-link uniped robot. The biped locomotion control problem is an increment of the uniped locomotion control. Study of legged locomotion dynamics indicates that a hierarchical controller is required to control the behavior of a legged robot. A structured control strategy is suggested which includes navigator, motion planner, biped coordinator and uniped controllers. A three-link uniped robot simulation is developed to be used as the plant. Neurocontrollers were trained both online and offline. In the case of on-line training, a reinforcement learning technique was used to train the neurocontroller to make the robot jump to a specified height. After several hundred iterations of training, the plant output achieved an accuracy of 7.4%. However, when jump distance and body angular momentum were also included in the control objectives, training time became impractically long. In the case of off-line training, a three-layered backpropagation (BP) network was first used with three inputs, three outputs and 15 to 40 hidden nodes. Pre-generated data were presented to the network with a learning rate as low as 0.003 in order to reach convergence. The low learning rate required for convergence resulted in a very slow training process which took weeks to learn 460 examples. After training, performance of the neurocontroller was rather poor. Consequently, the BP network was replaced by a Cerebeller Model Articulation Controller (CMAC) network. Subsequent experiments described in this document show that the CMAC network is more suitable to the solution of uniped locomotion control problems in terms of both learning efficiency and performance. A new approach is introduced in this report, viz., a self-organizing multiagent cerebeller model for fuzzy-neural control of uniped locomotion is suggested to improve training efficiency. This is currently being evaluated for a possible

  15. Pectoral fin locomotion in batoid fishes: undulation versus oscillation.

    Science.gov (United States)

    Rosenberger, L J

    2001-01-01

    This study explores the dichotomy between undulatory (passing multiple waves down the fin or body) and oscillatory (flapping) locomotion by comparing the kinematics of pectoral fin locomotion in eight species of batoids (Dasyatis americana, D. sabina, D. say, D. violacea, Gymnura micrura, Raja eglanteria, Rhinobatos lentiginosus and Rhinoptera bonasus) that differ in their swimming behavior, phylogenetic position and lifestyle. The goals of this study are to describe and compare the pectoral fin locomotor behavior of the eight batoid species, to clarify how fin movements change with swimming speed for each species and to analyze critically the undulation/oscillation continuum proposed by Breder using batoids as an example. Kinematic data were recorded for each species over a range of swimming velocities (1-3 disc lengths s(-1)). The eight species in this study vary greatly in their swimming modes. Rhinobatos lentiginosus uses a combination of axial-based and pectoral-fin-based undulation to move forward through the water, with primary thrust generated by the tail. The pectoral fins are activated in short undulatory bursts for increasing swimming speed and for maneuvering. Raja eglanteria uses a combination of pectoral and pelvic locomotion, although only pectoral locomotion is analyzed here. The other six species use pectoral locomotion exclusively to propel themselves through the water. Dasyatis sabina and D. say have the most undulatory fins with an average of 1.3 waves per fin length, whereas Rhinoptera bonasus has the most oscillatory fin behavior with 0.4 waves per fin length. The remaining species range between these two extremes in the degree of undulation present on their fins. There is an apparent trade-off between fin-beat frequency and amplitude. Rhinoptera bonasus has the lowest frequency and the highest fin amplitude, whereas Rhinobatos lentiginosus has the highest frequency and the lowest amplitude among the eight species examined. The kinematic

  16. Measurement of Black Carbon, Particle Number and Mass, and Lung-Deposited Surface Area Emission Factors from in-Use Locomotive

    Science.gov (United States)

    Ban-Weiss, G. A.; Krasowsky, T.; Sioutas, C.; Daher, N.

    2014-12-01

    As pollutant emissions from motor vehicles have vastly decreased over the last decades, the relative contribution from non-road sources has increased. There is a serious lack of real-world emissions measurements for many non-road sources including locomotives. As such, uncertainties in emissions from these sources is high. Locomotives contribute to human exposure of diesel pollutants near ports, railyards, and rail lines. Reducing uncertainty in current estimates of locomotive emissions is needed for enhancing the accuracy of emission inventories with corresponding improvements in health risk, air pollution, and climate assessments. Particulate matter emissions from a large sample (N=88) of in-use freight locomotives were measured in the Alameda Corridor, located near the port of Los Angeles. Emission factors for black carbon (BC), particle number (PN), fine particulate mass (PM2.5), and lung-deposited surface area (LDSA) were computed based on 1 Hz measurements of the rise and fall of particulate emissions and CO2 concentrations as the locomotives passed the sampling location. Mean emission factors ± standard deviations were 0.9 ± 0.5 g kg-1 of fuel consumed for BC, (2.1 ± 1.5)x1016 # kg-1 for PN, 1.6 ± 1.3 g kg-1 for PM2.5, and (2.2 ± 1.7)x1013 μm2 kg-1 for LDSA. Emission factors for individual trains were slightly skewed, with the dirtiest 10% of locomotives responsible for 20%, 24%, 28%, and 27% of total BC, PN, PM2.5, and LDSA emissions, respectively. BC versus LDSA emissions from individual locomotives were found to be anti-correlated, suggesting that the highest emitters of black carbon may in fact result in less particle lung-deposited surface area than lower BC emitters. Using results presented here along with previous measurements, we compare for freight trains versus diesel trucks the amount of BC emissions associated with pulling an intermodal freight container over a given distance. Emission factors for locomotives presented here establish a

  17. Dynamic Primitives in the Control of Locomotion

    Directory of Open Access Journals (Sweden)

    Neville eHogan

    2013-06-01

    Full Text Available Humans achieve locomotor dexterity that far exceeds the capability of modern robots, yet this is achieved despite slower actuators, imprecise sensors and vastly slower communication. We propose that this spectacular performance arises from encoding motor commands in terms of dynamic primitives. We propose three primitives as a foundation for a comprehensive theoretical framework that can embrace a wide range of upper- and lower-limb behaviors. Building on previous work that suggested discrete and rhythmic movements as elementary dynamic behaviors, we define submovements and oscillations: As discrete movements cannot be combined with sufficient flexibility, we argue that suitably-defined submovements are primitives. As the term rhythmic may be ambiguous, we define oscillations as the corresponding class of primitives. We further propose mechanical impedances as a third class of dynamic primitives, necessary for interaction with the physical environment. Combination of these three classes of primitive requires care. One approach is through a generalized equivalent network: a virtual trajectory composed of simultaneous and/or sequential submovements and/or oscillations that interacts with mechanical impedances to produce observable forces and motions. Reliable experimental identification of these dynamic primitives presents challenges: Identification of mechanical impedances is exquisitely sensitive to assumptions about their dynamic structure; identification of submovements and oscillations is sensitive to their assumed form and to details of the algorithm used to extract them. Some methods to address these challenges are presented. Some implications of this theoretical framework for locomotor rehabilitation are considered.

  18. Analysis of Foot Slippage Effects on an Actuated Spring-Mass Model of Dynamic Legged Locomotion

    Directory of Open Access Journals (Sweden)

    Yizhar Or

    2016-04-01

    Full Text Available The classical model of spring-loaded inverted pendulum (SLIP and its extensions have been widely accepted as a simple description of dynamic legged locomotion at various scales in humans, legged robots and animals. Similar to the majority of models in the literature, the SLIP model assumes ideal sticking contact of the foot. However, there are practical scenarios of low ground friction that causes foot slippage, which can have a significant influence on dynamic behaviour. In this work, an extension of the SLIP model with two masses and torque actuation is considered, which accounts for possible slippage under Coulomb's friction law. The hybrid dynamics of this model is formulated and numerical simulations under representative parameter values reveal several types of stable periodic solutions with stick-slip transitions. Remarkably, it is found that slippage due to low friction can sometimes increase average speed and improve energetic efficiency by significantly reducing the mechanical cost of transport.

  19. Versatile robotic interface to evaluate, enable and train locomotion and balance after neuromotor disorders.

    Science.gov (United States)

    Dominici, Nadia; Keller, Urs; Vallery, Heike; Friedli, Lucia; van den Brand, Rubia; Starkey, Michelle L; Musienko, Pavel; Riener, Robert; Courtine, Grégoire

    2012-07-01

    Central nervous system (CNS) disorders distinctly impair locomotor pattern generation and balance, but technical limitations prevent independent assessment and rehabilitation of these subfunctions. Here we introduce a versatile robotic interface to evaluate, enable and train pattern generation and balance independently during natural walking behaviors in rats. In evaluation mode, the robotic interface affords detailed assessments of pattern generation and dynamic equilibrium after spinal cord injury (SCI) and stroke. In enabling mode,the robot acts as a propulsive or postural neuroprosthesis that instantly promotes unexpected locomotor capacities including overground walking after complete SCI, stair climbing following partial SCI and precise paw placement shortly after stroke. In training mode, robot-enabled rehabilitation, epidural electrical stimulation and monoamine agonists reestablish weight-supported locomotion, coordinated steering and balance in rats with a paralyzing SCI. This new robotic technology and associated concepts have broad implications for both assessing and restoring motor functions after CNS disorders, both in animals and in humans.

  20. Keeping Safe: Intra-individual Consistency in Obstacle Avoidance Behaviour Across Grasping and Locomotion Tasks.

    Science.gov (United States)

    Kangur, Karina; Billino, Jutta; Hesse, Constanze

    2017-01-01

    Successful obstacle avoidance requires a close coordination of the visual and the motor systems. Visual information is essential for adjusting movements in order to avoid unwanted collisions. Yet, established obstacle avoidance paradigms have typically either focused on gaze strategies or on motor adjustments. Here we were interested in whether humans show similar visuomotor sensitivity to obstacles when gaze and motor behaviour are measured across different obstacle avoidance tasks. To this end, we measured participants' hand movement paths when grasping targets in the presence of obstacles as well as their gaze behaviour when walking through a cluttered hallway. We found that participants who showed more pronounced motor adjustments during grasping also spent more time looking at obstacles during locomotion. Furthermore, movement durations correlated positively in both tasks. Results suggest considerable intra-individual consistency in the strength of the avoidance response across different visuomotor measures potentially indicating an individual's tendency to perform safe actions.

  1. The effect of lower limb length on the energetic cost of locomotion: implications for fossil hominins.

    Science.gov (United States)

    Steudel-Numbers, Karen L; Tilkens, Michael J

    2004-01-01

    The consequences of the relatively short lower limbs characteristic of AL 288-1 have been widely discussed, as have the causes and consequences of the short limbs of Neanderthals. Previous studies of the effect of limb length on the energetic cost of locomotion have reported no relationship; however, limb length could have accounted for as much as 19% of the variation in cost and gone undetected (Steudel and Beattie, 1995; Steudel, 1994, 1996). Kramer (1999) and Kramer and Eck (2000) have recently used a theoretical model to predict the effect of the shorter limbs of early hominids, concluding that the shorter limbs may actually have been energetically advantageous. Here, we took an experimental approach. Twenty-one human subjects, of varying limb lengths, walked on a treadmill at 2.6, 2.8, 3.0 and 3.2m.p.h., while their expired gases were analyzed. The subjects walked for 12 minutes at each speed and their rates of oxygen consumption (VO2) over four minutes were averaged to estimate VO2. We also measured each subject's height, weight and lower limb length. Lean body mass and % fat were determined using dual-energy x-ray absorptiometry. ANCOVA with total VO2 at either speed as the dependent variable and total lean mass, % fat and lower limb length as covariates resulted in all three covariates having a significant positive effect on VO2 at p<0.01. Subjects with relatively longer lower limbs had lower locomotor costs. Thus the short lower limbs characteristic of some hominid taxa would have resulted in more costly locomotion, barring some physiological anomaly. The magnitude of this effect is substantial; Neanderthals are estimated to have had locomotor costs 30% greater than those of contemporary anatomically modern humans. By contrast the increase in lower limb length seen in H. erectus would have mitigated the increase in locomotor costs produced by the increase in body size.

  2. Fictive locomotion in the adult decerebrate and spinal mouse in vivo

    DEFF Research Database (Denmark)

    Meehan, Claire Francesca; Grøndahl, Lillian; Nielsen, Jens Bo

    2012-01-01

    Recently, transgenic mice have been created with mutations affecting the components of the mammalian spinal central pattern generator (CPG) for locomotion, however, it has currently only been possible to evoke fictive locomotion in mice, using neonatal in vitro preparations. Here, we demonstrate ...... organisation and allowing for future results in transgenic mice to be extrapolated to existing knowledge of CPG components and circuitry obtained in larger species.......Recently, transgenic mice have been created with mutations affecting the components of the mammalian spinal central pattern generator (CPG) for locomotion, however, it has currently only been possible to evoke fictive locomotion in mice, using neonatal in vitro preparations. Here, we demonstrate...

  3. Extensor motoneurone properties are altered immediately before and during fictive locomotion in the adult decerebrate rat

    National Research Council Canada - National Science Library

    MacDonell, C. W; Power, K. E; Chopek, J. W; Gardiner, K. R; Gardiner, P. F

    2015-01-01

    .... Fictive locomotion was induced via electrical stimulation of the mesencephalic locomotor region in decerebrate adult rats under neuromuscular blockade to compare basic and rhythmic motoneurone...

  4. INFLUENCE OF ROLLING STOCK VIBROACOUSTICAL PARAMETERS ON THE CHOICE OF RATIONAL VALUES OF LOCOMOTIVE RUNNING GEAR

    Directory of Open Access Journals (Sweden)

    Yu. V. Zelenko

    2016-06-01

    Full Text Available Purpose.The success of the traffic on the railways of Ukraine depends on the number and the operational fleet of electric locomotives. Today, the locomotive depot exploit physically and morally outdated locomotives that have low reliability. Modernization of electric locomotives is not economically justified. The aim of this study is to improve the safety of the traction rolling stock by the frequency analysis of dynamical systems, which allows conducting the calculation of the natural (of resonant frequencies of the design and related forms of vibrations.Methodology.The study was conducted by methods of analytical mechanics and mathematical modeling of operating loads of freight locomotive when driving at different speeds on the straight and curved track sections. The theoretical value of the work is the technique of choice of constructive schemes and rational parameters of perspective electric locomotive taking into account the electric inertia ratios and stiffness coefficients of Lagrange second-order equations.Findings. The problems of theoretical research and the development of a mathematical model of the spatial electric vibrations are solved. The theoretical studies of the effect of inertia ratios and stiffness coefficients on the dynamic values and the parameter values of electric locomotive undercarriages are presented.Originality.The set of developed regulations and obtained results is a practical solution to selecting rational parameters of bogies of the freight mainline locomotive for railways of Ukraine. A concept of choice of constructive scheme and rational parameters of perspective locomotive is formulated. It is developed the method of calculation of spatial electric locomotive oscillations to determine its dynamic performance. The software complex for processing the data of experimental studies of dynamic parameters of electric locomotive and comparing the results of the theoretical calculations with the data of full

  5. The magnitude of the effect of calf muscles fatigue on postural control during bipedal quiet standing with vision depends on the eye-visual target distance.

    Science.gov (United States)

    Vuillerme, Nicolas; Burdet, Cyril; Isableu, Brice; Demetz, Sylvain

    2006-10-01

    The purpose of the present experiment was to investigate whether, with vision, the magnitude of the effect of calf muscles fatigue on postural control during bipedal quiet standing depends on the eye-visual target distance. Twelve young university students were asked to stand upright as immobile as possible in three visual conditions (No vision, Vision 1m and Vision 4m) executed in two conditions of No fatigue and Fatigue of the calf muscles. Centre of foot pressure displacements were recorded using a force platform. Similar increased variances of the centre of foot pressure displacements were observed in the fatigue relative to the No fatigue condition for both the No vision and Vision 4m conditions. Interestingly, in the vision 1m condition, fatigue yielded: (1) a similar increased variance of the centre of foot pressure displacements to those observed in the No vision and Vision 4m conditions along the medio-lateral axis and (2) a weaker destabilising effect relative to the No vision and Vision 4m conditions along the antero-posterior axis. These results evidence that the ability to use visual information for postural control during bipedal quiet standing following calf muscles fatigue is dependent on the eye-visual target distance. More largely, in the context of the multisensory control of balance, the present findings suggest that the efficiency of the sensory reweighting of visual sensory cues as the neuro-muscular constraints acting on the subject change is critically linked with the quality of the information the visual system obtains.

  6. Support afferentation in the posture and locomotion control system

    Science.gov (United States)

    Grigoriev, Anatoly; Tomilovskaya, Elena; Kozlovskaya, Inesa

    Mechanisms of support afferentation contribution in posture and locomotion control, which were uncertain up to now, became the point of intensive studies recently. This became possible since the space flights era started which created the conditions for simulated microgravity experiments under conditions of dry immersion and bedrest. The results of neurophysiological studies performed under the conditions of supportlessness have shown that decline or elimination of support loads is followed by deep and fast developing alterations in postural tonic system, including development of postural muscle atonia, changes of recruitment order of motoneurons innervating the shin muscles, spinal hyperreflexia development etc. (Kozlovskaya I.B. et al., 1987). It has been also shown that application of artificial support stimulation in the regimen of natural locomotion under these conditions decreases significantly or even eliminates the development of mentioned changes. The results of these studies laid down the basis for a new hypothesis on the trigger role of support afferentation in postural tonic system and its role in organization and control of postural synergies (Grigoriev A.I. et al., 2004). According to this hypothesis the muscle reception is considered to be the leading afferent input in the control of locomotion. However the data of recent studies pointed out strongly to the participation of support afferentation in definition of cognitive strategies and motor programs of locomotor movements (Chernikova L.A. et al., 2013) and, consequently, in the processes of their initiation (Gerasimenko Yu.P. et al., 2012). The cortical locomotor reflex composes apparently the basis of these processes. The receptive field of this reflex is located in the support zones of the soles and the central part is located in the posterior parietal areas (IPL) of brain cortex. The study is supported by RFBR grant N 13-04-12091 OFI-m.

  7. Benefit of "Push-pull" Locomotion for Planetary Rover Mobility

    Science.gov (United States)

    Creager, Colin M.; Moreland, Scott Jared; Skonieczny, K.; Johnson, K.; Asnani, V.; Gilligan, R.

    2011-01-01

    As NASAs exploration missions on planetary terrains become more aggressive, a focus on alternative modes of locomotion for rovers is necessary. In addition to climbing steep slopes, the terrain in these extreme environments is often unknown and can be extremely hard to traverse, increasing the likelihood of a vehicle or robot becoming damaged or immobilized. The conventional driving mode in which all wheels are either driven or free-rolling is very efficient on flat hard ground, but does not always provide enough traction to propel the vehicle through soft or steep terrain. This paper presents an alternative mode of travel and investigates the fundamental differences between these locomotion modes. The methods of push-pull locomotion discussed can be used with articulated wheeled vehicles and are identified as walking or inchinginch-worming. In both cases, the braked non-rolling wheels provide increased thrust. An in-depth study of how soil reacts under a rolling wheel vs. a braked wheel was performed by visually observing the motion of particles beneath the surface. This novel technique consists of driving or dragging a wheel in a soil bin against a transparent wall while high resolution, high-rate photographs are taken. Optical flow software was then used to determine shearing patterns in the soil. Different failure modes were observed for the rolling and braked wheel cases. A quantitative comparison of inching vs. conventional driving was also performed on a full-scale vehicle through a series of drawbar pull tests in the Lunar terrain strength simulant, GRC-1. The effect of tire stiffness was also compared; typically compliant tires provide better traction when driving in soft soil, however its been observed that rigid wheels may provide better thrust when non-rolling. Initial tests indicate up to a possible 40 increase in pull force capability at high slip when inching vs. rolling.

  8. Lightweight Multifunctional Planetary Probe for Extreme Environment Exploration and Locomotion

    Science.gov (United States)

    Bayandor, Javid (Principal Investigator); Schroeder, Kevin; Samareh, Jamshid

    2017-01-01

    The demand to explore new worlds requires the development of advanced technologies that enable landed science on uncertain terrains or in hard to reach locations. As a result, contemporary Entry, Descent, Landing, (EDL) and additional locomotion (EDLL) profiles are becoming increasingly more complex, with the introduction of lifting/guided entries, hazard avoidance on descent, and a plethora of landing techniques including airbags and the skycrane maneuver. The inclusion of each of these subsystems into a mission profile is associated with a substantial mass penalty. This report explores the new all-in-one entry vehicle concept, TANDEM, a new combined EDLL concept, and compares it to the current state of the art EDL systems. The explored system is lightweight and collapsible and provides the capacity for lifting/guided entry, guided descent, hazard avoidance, omnidirectional impact protection and surface locomotion without the aid of any additional subsystems. This Phase I study explored: 1. The capabilities and feasibility of the TANDEM concept as an EDLL vehicle. 2. Extensive impact analysis to ensure mission success in unfavorable landing conditions, and safe landing in Tessera regions. 3. Development of a detailed design for a conceptual mission to Venus. As a result of our work it was shown that: 1. TANDEM provides additional benefits over the Adaptive, Deployable Entry Placement Technology (ADEPT) including guided descent and surface locomotion, while reducing the mass by 38% compared to the ADEPT-VITaL mission. 2. Demonstrated that the design of tensegrity structures, and TANDEM specifically, grows linearly with an increase in velocity, which was previously unknown. 3. Investigation of surface impact revealed a promising results that suggest a properly configured TANDEM vehicle can safely land and preform science in the Tessera regions, which was previously labeled by the Decadal Survey as, largely inaccessible despite its high scientific interest. This work

  9. Sexuality of Disabled Athletes Depending on the Form of Locomotion

    Directory of Open Access Journals (Sweden)

    Plinta Ryszard

    2015-12-01

    Full Text Available The main purpose of this study was to determine sexuality of disabled athletes depending on the form of locomotion. The study included 170 disabled athletes, aged between 18 and 45. The entire population was divided into 3 research groups depending on the form of locomotion: moving on wheelchairs (n=52, on crutches (n=29 and unaided (n=89. The research tool was a questionnaire voluntarily and anonymously completed by the respondents of the research groups. The questionnaire was composed of a general part concerning the socio-demographic conditions, medical history, health problems, a part dedicated to physical disability as well as the Polish version of the International Index of Erectile Function (IIEF and the Female Sexual Function Index (FSFI evaluating sexual life. STATISTICA 10.0 for Windows was used in the statistical analysis. Subjects moving on crutches were significantly older than ones moving on wheelchairs and unaided (34.41 ±11.00 vs. 30.49 ±10.44 and 27.99 ±10.51 years, respectively (p=0.018. Clinically significant erectile dysfunctions were most often diagnosed in athletes moving on wheelchairs (70.27%, followed by athletes moving on crutches and moving unaided (60% and 35.42%, respectively; p=0.048. Clinical sexual dysfunctions were diagnosed on a similar level among all female athletes. It was concluded that the form of locomotion may determine sexuality of disabled men. Males on wheelchair revealed the worst sexual functioning. Female athletes moving on wheelchairs, on crutches and moving unaided were comparable in the aspect of their sexual life.

  10. Kinematics of treadmill locomotion in mice raised in hypergravity.

    Science.gov (United States)

    Bojados, Mickael; Herbin, Marc; Jamon, Marc

    2013-05-01

    The study compared the motor performance of adult C57Bl/6J mice previously exposed to a 2G gravity environment during different periods of their development. 12 mice were housed in a large diameter centrifuge from the conception to Postnatal day 10 (P10). Another group of 10 mice was centrifuged form P10 to P30, and a third group of 9 mice was centrifuged from conception to P30. Their gait parameters, and kinematics of joint excursions were compared with 11 control mice, at the age of 2 months using a video-radiographic apparatus connected to a motorized treadmill. The mice that returned to Earth gravity level at the age of P10 showed a motor pattern similar to control mice. At variance the two groups that were centrifuged from P10 to P30 showed a different motor pattern with smaller and faster strides to walk at the same velocity as controls. On the other hand all the centrifuged mice showed significant postural changes, particularly with a more extended ankle joint, but the mice centrifuged during the whole experimental period differed even more. Our results showed that the exposure to hypergravity before P10 sufficed to modify the posture, suggesting that postural control starts before the onset of locomotion, whereas the gravity constraint perceived between P10 and P30 conditioned the tuning of quadruped locomotion with long term consequences. These results support the existence of a critical period in the acquisition of locomotion in mice. Copyright © 2013 Elsevier B.V. All rights reserved.

  11. Human-Robot Interaction: Intention Recognition and Mutual Entrainment

    Science.gov (United States)

    2012-08-18

    robot force control,” Robotica , vol. 15, no. 05, pp. 473–482, 1997. [35] N. Jarrassé, J. Paik, V. Pasqui, and G. Morel, “How can human motion prediction...2009. [35] C.-L. Shih, J.W. Grizzle, and C. Chevallereau, “From Stable Walking to Steering of a 3D Bipedal Robot with Passive Point Feet,” Robotica

  12. Single-unit pattern generators for quadruped locomotion

    DEFF Research Database (Denmark)

    Morse, Gregory; Risi, Sebastian; Snyder, Charles R

    2013-01-01

    Legged robots can potentially venture beyond the limits of wheeled vehicles. While creating controllers for such robots by hand is possible, evolutionary algorithms are an alternative that can reduce the burden of hand-crafting robotic controllers. Although major evolutionary approaches to legged......, thereby allowing it to dynamically recalibrate over time to maintain stability. The SUPG approach, which is compared to CTRNNs and sinusoidal input, is shown to produce natural-looking gaits that exhibit superior stability over time, thereby providing a new alternative for evolving oscillatory locomotion....

  13. Experimental analysis for aerodynamic drag of the electric locomotives

    Directory of Open Access Journals (Sweden)

    Ioan SEBESAN

    2013-09-01

    Full Text Available The purpose of this paper is to make a comparative analysis on the influence of the aerodynamic drag, in case of the electric rail vehicles for a series of situations encountered in exploitation. The article presents experimental results obtained following a geometric modelling at scale 1: 12, on a modular model for the electric locomotives LE 060EA 5100kW and LE-MA 060 TransMontana 6000kW. Tests were made at INCAS (National Institute for Aerospace Research “ElieCarafoli” in the subsonic wind tunnel.

  14. Propulsion by sinusoidal locomotion: A motion inspired by Caenorhabditis elegans

    Science.gov (United States)

    Ulrich, Xialing

    Sinusoidal locomotion is commonly seen in snakes, fish, nematodes, or even the wings of some birds and insects. This doctoral thesis presents the study of sinusoidal locomotion of the nematode C. elegans in experiments and the application of the state-space airloads theory to the theoretical forces of sinusoidal motion. An original MATLAB program has been developed to analyze the video records of C. elegans' movement in different fluids, including Newtonian and non-Newtonian fluids. The experimental and numerical studies of swimming C. elegans has revealed three conclusions. First, though the amplitude and wavelength are varying with time, the motion of swimming C. elegans can still be viewed as sinusoidal locomotion with slips. The average normalized wavelength is a conserved character of the locomotion for both Newtonian and non-Newtonian fluids. Second, fluid viscosity affects the frequency but not the moving speed of C. elegans, while fluid elasticity affects the moving speed but not the frequency. Third, by the resistive force theory, for more elastic fluids the ratio of resistive coefficients becomes smaller. Inspired by the motion of C. elegans and other animals performing sinusoidal motion, we investigated the sinusoidal motion of a thin flexible wing in theory. Given the equation of the motion, we have derived the closed forms of propulsive force, lift and other generalized forces applying on the wing. We also calculated the power required to perform the motion, the power lost due to the shed vortices and the propulsive efficiency. These forces and powers are given as functions of reduced frequency k, dimensionless wavelength z, dimensionless amplitude A/b, and time. Our results show that a positive, time-averaged propulsive force is produced for all k>k0=pi/ z. At k=k0, which implies the moment when the moving speed of the wing is the same as the wave speed of its undulation, the motion reaches a steady state with all forces being zero. If there were no

  15. Optimization of the Hood of Diesel Electric Locomotive

    Directory of Open Access Journals (Sweden)

    Petr TOMEK

    2013-06-01

    Full Text Available The new construction of hood of diesel electric locomotive is analyzed in this paper. The whole construction is loaded by inertia effects caused by prescribed acceleration. The parts of the hood are subject to the standards for railway applications CSN EN 12663-1 [1]. Numerical analyses are performed by FEM computer program COSMOSWorks [2]. The original construction of hood is analyzed in first part of this paper. Structural changes are proposed in the next part of this article. Carrying capacity of the new construction of hood is verified by a numerical analysis. The results of the new construction are compared with the original construction of hood.

  16. A Reconfigurable Omnidirectional Soft Robot Based on Caterpillar Locomotion.

    Science.gov (United States)

    Zou, Jun; Lin, Yangqiao; Ji, Chen; Yang, Huayong

    2018-01-03

    A pneumatically powered, reconfigurable omnidirectional soft robot based on caterpillar locomotion is described. The robot is composed of nine modules arranged as a three by three matrix and the length of this matrix is 154 mm. The robot propagates a traveling wave inspired by caterpillar locomotion, and it has all three degrees of freedom on a plane (X, Y, and rotation). The speed of the robot is about 18.5 m/h (two body lengths per minute) and it can rotate at a speed of 1.63°/s. The modules have neodymium-iron-boron (NdFeB) magnets embedded and can be easily replaced or combined into other configurations. Two different configurations are presented to demonstrate the possibilities of the modular structure: (1) by removing some modules, the omnidirectional robot can be reassembled into a form that can crawl in a pipe and (2) two omnidirectional robots can crawl close to each other and be assembled automatically into a bigger omnidirectional robot. Omnidirectional motion is important for soft robots to explore unstructured environments. The modular structure gives the soft robot the ability to cope with the challenges of different environments and tasks.

  17. Controlling legs for locomotion-insights from robotics and neurobiology.

    Science.gov (United States)

    Buschmann, Thomas; Ewald, Alexander; von Twickel, Arndt; Büschges, Ansgar

    2015-06-29

    Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This paper gives an overview of the current knowledge on the control of legged locomotion in animals and machines and attempts to give walking control researchers from biology and robotics an overview of the current knowledge in both fields. We try to summarize the knowledge on the neurobiological basis of walking control in animals, emphasizing common principles seen in different species. In a section on walking robots, we review common approaches to walking controller design with a slight emphasis on biped walking control. We show where parallels between robotic and neurobiological walking controllers exist and how robotics and biology may benefit from each other. Finally, we discuss where research in the two fields diverges and suggest ways to bridge these gaps.

  18. Ground reaction force adaptations to tripedal locomotion in dogs.

    Science.gov (United States)

    Fuchs, A; Goldner, B; Nolte, I; Schilling, N

    2014-09-01

    To gain insight into the adaptive mechanisms to tripedal locomotion and increase understanding of the biomechanical consequences of limb amputation, this study investigated kinetic and temporal gait parameters in dogs before and after the loss of a hindlimb was simulated. Nine clinically sound Beagle dogs trotted on an instrumented treadmill and the ground reaction forces as well as the footfall patterns were compared between quadrupedal and tripedal locomotion. Stride and stance durations decreased significantly in all limbs when the dogs ambulated tripedally, while relative stance duration increased. Both vertical and craniocaudal forces were significantly different in the remaining hindlimb. In the forelimbs, propulsive force increased in the contralateral and decreased in the ipsilateral limb, while the vertical forces were unchanged (except for mean force in the contralateral limb). Bodyweight was shifted to the contralateral and cranial body side so that each limb bore ~33% of the dog's bodyweight. The observed changes in the craniocaudal forces and the vertical impulse ratio between the fore- and hindlimbs suggest that a nose-up pitching moment occurs during the affected limb pair's functional step. To regain pitch balance for a given stride cycle, a nose-down pitching moment is exerted when the intact limb pair supports the body. These kinetic changes indicate a compensatory mechanism in which the unaffected diagonal limb pair is involved. Therefore, the intact support pair of limbs should be monitored closely in canine hindlimb amputees. Copyright © 2014 Elsevier Ltd. All rights reserved.

  19. Crawling beneath the free surface: Water snail locomotion

    Science.gov (United States)

    Lee, Sungyon; Bush, John W. M.; Hosoi, A. E.; Lauga, Eric

    2008-08-01

    Land snails move via adhesive locomotion. Through muscular contraction and expansion of their foot, they transmit waves of shear stress through a thin layer of mucus onto a solid substrate. Since a free surface cannot support shear stress, adhesive locomotion is not a viable propulsion mechanism for water snails that travel inverted beneath the free surface. Nevertheless, the motion of the freshwater snail, Sorbeoconcha physidae, is reminiscent of that of its terrestrial counterparts, being generated by the undulation of the snail foot that is separated from the free surface by a thin layer of mucus. Here, a lubrication model is used to describe the mucus flow in the limit of small-amplitude interfacial deformations. By assuming the shape of the snail foot to be a traveling sine wave and the mucus to be Newtonian, an evolution equation for the interface shape is obtained and the resulting propulsive force on the snail is calculated. This propulsive force is found to be nonzero for moderate values of the capillary number but vanishes in the limits of high and low capillary number. Physically, this force arises because the snail's foot deforms the free surface, thereby generating curvature pressures and lubrication flows inside the mucus layer that couple to the topography of the foot.

  20. Loss of hearing in drivers of mine locomotives

    Energy Technology Data Exchange (ETDEWEB)

    Yanish, R.

    1982-02-01

    One of the most dangerous factors in railroad transport is noise. Drivers of locomotives are exposed to the noise of engines and cars on rails, transporting workers to their places of work; coupling of cars and emptying cars by overturning them; and the transport of fire cars. To determine the amount of noise drivers are subjected to, the Zavodski Institute for National Public Health conducted studies on noise in underground mines. By means of portable noisemeters worn by drivers measurement of the noise of cars running on rails, passing over joints of railroad tracks, and reflected from the rock walls of the drift was made. Mine ventilators added a constant source of noise. At the Zavodski Institute, 64 drivers were examined in the otorhinolaryngology department. Thresholds of hearing were measured by means of tonal audiometry. Combining results of this examination with measurements of noise in the uranium mines, it was determined that the hearing of drivers of mine locomotives deteriorated on the average of 1 dB per year at a frequency of 4000 Hz. (6 refs.) (In Russian)

  1. Fluid Flow Simulation and Energetic Analysis of Anomalocarididae Locomotion

    Science.gov (United States)

    Mikel-Stites, Maxwell; Staples, Anne

    2014-11-01

    While an abundance of animal locomotion simulations have been performed modeling the motions of living arthropods and aquatic animals, little quantitative simulation and reconstruction of gait parameters has been done to model the locomotion of extinct animals, many of which bear little physical resemblance to their modern descendants. To that end, this project seeks to analyze potential swimming patterns used by the anomalocaridid family, (specifically Anomalocaris canadensis, a Cambrian Era aquatic predator), and determine the most probable modes of movement. This will serve to either verify or cast into question the current assumed movement patterns and properties of these animals and create a bridge between similar flexible-bodied swimmers and their robotic counterparts. This will be accomplished by particle-based fluid flow simulations of the flow around the fins of the animal, as well as an energy analysis of a variety of sample gaits. The energy analysis will then be compared to the extant information regarding speed/energy use curves in an attempt to determine which modes of swimming were most energy efficient for a given range of speeds. These results will provide a better understanding of how these long-extinct animals moved, possibly allowing an improved understanding of their behavioral patterns, and may also lead to a novel potential platform for bio-inspired underwater autonomous vehicles (UAVs).

  2. Energy balance of locomotion with pedal-driven watercraft.

    Science.gov (United States)

    Zamparo, Paola; Carignani, Giuseppe; Plaino, Luca; Sgalmuzzo, Barbara; Capelli, Carlo

    2008-01-01

    In this study, we examined the mechanics and energetics of locomotion with a paddle-wheel boat and a water bike. Power output (Wtot) was measured directly on the water bike by means of an instrumented chain-ring. The simultaneous assessment of oxygen uptake (VO2) allowed the computation of the "overall" efficiency of locomotion (etao = Wtot/VO2). Mean etao was 0.27 (s = 0.02), which was unaffected by the speed, and was assumed to be the same for the two boats as both are semi-recumbent bicycles. For the paddle-wheel boat, Wtot was then obtained from etao and measures of VO2. The power to overcome (passive) drag was calculated as Wd = D x v (where D is the force measured by means of a load cell when towing the boats at given speeds). Propelling efficiency was calculated as etap = Wd/Wtot, which was lower with the paddle-wheel boat (mean 0.35, s = 0.01) than with the water bike (mean 0.57, s = 0.01). The observed differences in etap and Wd explain why at the highest speed tested (approximately 3 m s(-1), the energy required to cover a unit distance with the water bike is similar to that required to move the paddle-wheel boat at 1.3 m s-1).

  3. Paper-based Pneumatic Locomotive Robot with Sticky Actuator

    Directory of Open Access Journals (Sweden)

    Du Xiaohan

    2016-01-01

    Full Text Available Demands for small-scale and low-cost robots have witnessed a great increase in recent years [1–5]. This paper introduces the design and fabrication of a novel, simple, low-cost and designer-friendly locomotive robot. The materials and tools to build the robot originate from everyday life. The robot is pneumatically powered and manually controlled by simply pumping and vacuuming the syringe repeatedly, which realizes reliable locomotion by folding and opening of the planes. In order to realize this complicated motion, a “3D Sticky Actuator” is developed. The motion and force analysis of actuator are then modelled by the numerical method to develop the relations between design parameters. This suggests a systematic and user interactive way of manufacturing various shapes of the actuator, depending on user-defined road condition (e.g. obstacles and slopes and other constraints. One key advantage of the paper-based robot is suggested by its high feasibility.

  4. Stability may not compromise Maneuverability in Aquatic Periodic Locomotion

    Science.gov (United States)

    Kanso, Eva; Jing, Fangxu

    2014-11-01

    Most aquatic vertebrates swim by lateral flapping of their bodies and caudal fins. While much effort has been devoted to understanding the flapping kinematics and its influence on the swimming efficiency, little is known about the stability (or lack of) of periodic swimming. It is believed that stability limits maneuverability and body designs/flapping motions that are adapted for stable swimming are not suitable for high maneuverability and vice versa. Here, we consider an idealized model of a planar elliptic body undergoing prescribed periodic heaving and pitching in a perfect fluid. We show that periodic locomotion depends on several parameters including the aspect ratio of the body and the amplitude and phase of the prescribed flapping. We then study the stability of periodic locomotion using Floquet theory. We find that interesting trends of switching between stable and unstable motions emerge and evolve as we continuously vary the parameter values. This suggests that, when it comes to live organisms, maneuverability and stability need not be thought of as disjoint properties, rather the organism may manipulate its motion in favor of one or the other depending on the task at hand. This work is partially supported by the National Science Foundation through the CAREER Award CMMI 06-44925 and the Grant CCF 08-11480.

  5. Contact enhancement of locomotion in spreading cell colonies

    Science.gov (United States)

    D'Alessandro, Joseph; Solon, Alexandre P.; Hayakawa, Yoshinori; Anjard, Christophe; Detcheverry, François; Rieu, Jean-Paul; Rivière, Charlotte

    2017-10-01

    The dispersal of cells from an initially constrained location is a crucial aspect of many physiological phenomena, ranging from morphogenesis to tumour spreading. In such processes, cell-cell interactions may deeply alter the motion of single cells, and in turn the collective dynamics. While contact phenomena like contact inhibition of locomotion are known to come into play at high densities, here we focus on the little explored case of non-cohesive cells at moderate densities. We fully characterize the spreading of micropatterned colonies of Dictyostelium discoideum cells from the complete set of individual trajectories. From data analysis and simulation of an elementary model, we demonstrate that contact interactions act to speed up the early population spreading by promoting individual cells to a state of higher persistence, which constitutes an as-yet unreported contact enhancement of locomotion. Our findings also suggest that the current modelling paradigm of memoryless active particles may need to be extended to account for the history-dependent internal state of motile cells.

  6. Locomotion and Grasping impairment in preschoolers with autism spectrum disorder

    Directory of Open Access Journals (Sweden)

    Francesca Fulceri

    2015-08-01

    Full Text Available Objective: To investigate expressiveness of motor impairment in autism spectrum disorder (ASD and its correlation with developmental and clinical features of ASD. Method: Thirty-five male preschoolers with ASD completed the Peabody Developmental Motor Scales-2 (PDMS-2; Folio and Fewell, 2000 and underwent a multidisciplinary assessment including medical examination, standardized assessment of cognitive abilities, administration of Autism_Diagnostic_Observation_Schedule (ADOS and a parent interview about adaptive skills. Results: Results revealed a substantial impairment in locomotion and grasping skills. Both fine and gross motor skills were significantly correlated with non verbal IQ and adaptive behaviours (p<0.01 but not with chronological age or ADOS scores. Children with weaker motor skills have greater cognitive and adaptive behaviours deficits. Conclusions: Motor development in ASD can be detected at preschool age and locomotion and grasping skills are substantially the most impaired area. These findings support the need to assess motor skills in preschoolers with ASD in addition to other developmental skill areas. Along with the increasingly acknowledged importance of motor skills for subsequent social, cognitive, and communicative development our findings support the need to consider motor intervention as a key area in therapeutic program to improve outcome in preschoolers with ASD.

  7. 49 CFR 236.505 - Proper operative relation between parts along roadway and parts on locomotive.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Proper operative relation between parts along... § 236.505 Proper operative relation between parts along roadway and parts on locomotive. Proper operative relation between the parts along the roadway and the parts on the locomotive shall obtain under...

  8. 49 CFR 231.15 - Steam locomotives used in road service.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotives used in road service. 231.15 Section 231.15 Transportation Other Regulations Relating to Transportation (Continued) FEDERAL RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD SAFETY APPLIANCE STANDARDS § 231.15 Steam locomotives used...

  9. Design and analysis of an optimal hopper for use in resonance-based locomotion

    NARCIS (Netherlands)

    Wanders, Ivor; Folkertsma, Gerrit Adriaan; Stramigioli, Stefano

    Quadrupedal running is an efficient form of locomotion found in nature, which serves as an inspiration for robotics. We believe that a resonance-based approach is the path towards energy-efficient legged locomotion and running robots. The first step in working towards this goal is creating an

  10. 40 CFR 1033.655 - Special provisions for certain Tier 0/Tier 1 locomotives.

    Science.gov (United States)

    2010-07-01

    ... 40 Protection of Environment 32 2010-07-01 2010-07-01 false Special provisions for certain Tier 0/Tier 1 locomotives. 1033.655 Section 1033.655 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY....655 Special provisions for certain Tier 0/Tier 1 locomotives. (a) The provisions of this section apply...

  11. Fast muscle function in the European eel (Anguilla anguilla, L.) : during aquatic and terrestrial locomotion

    NARCIS (Netherlands)

    Ellerby, D.J.; Spierts, I.L.Y.; Altringham, J.D.

    2001-01-01

    Eels are capable of locomotion both in water and on land using undulations of the body axis. Axial undulations are powered by the lateral musculature. Differences in kinematics and the underlying patterns of fast muscle activation are apparent between locomotion in these two environments. The change

  12. Rolling Locomotion Control of a Biologically Inspired Quadruped Robot Based on Energy Compensation

    Directory of Open Access Journals (Sweden)

    Takuma Nemoto

    2015-01-01

    Full Text Available We have developed a biologically inspired reconfigurable quadruped robot which can perform walking and rolling locomotion and transform between walking and rolling by reconfiguring its legs. This paper presents an approach to control rolling locomotion with the biologically inspired quadruped robot. For controlling rolling locomotion, a controller which can compensate robot’s energy loss during rolling locomotion is designed based on a dynamic model of the quadruped robot. The dynamic model describes planar rolling locomotion based on an assumption that the quadruped robot does not fall down while rolling and the influences of collision and contact with the ground, and it is applied for computing the mechanical energy and a plant in a numerical simulation. The numerical simulation of rolling locomotion on the flat ground verifies the effectiveness of the proposed controller. The simulation results show that the quadruped robot can perform periodic rolling locomotion with the proposed energy-based controller. In conclusion, it is shown that the proposed control approach is effective in achieving the periodic rolling locomotion on the flat ground.

  13. The Gravita 10BB locomotive with a central driver's cab

    Energy Technology Data Exchange (ETDEWEB)

    Klaua, Ulf [Voith Turbo Lokomotivtechnik GmbH und Co. KG, Kiel (Germany). Design and Prototype Construction; Brunkert, Daniel [Voith Turbo Lokomotivtechnik GmbH und Co. KG, Kiel (Germany). Gravita Product; Wolfgram, Dieter [Voith Turbo Lokomotivtechnik GmbH und Co. KG, Kiel (Germany). Locomotive Development and Systems Engineering

    2010-09-15

    Once the market had reacted positively to the appearance of the Maxima {sup registered} locomotive family from Voith Turbo Lokomotivtechnik, the company felt encouraged to go ahead with the development of its second locomotive family in the medium-performance segment. (orig.)

  14. Dual power locomotives for North America; Zweikraft-Lokomotiven fuer Nordamerika

    Energy Technology Data Exchange (ETDEWEB)

    Bonsen, Georg zur; Schneider, Thomas; Zimmermann, Tobias; Koch, Fabian [Bombardier Transportation (Schweiz) AG, Propulsion and Controls, Zuerich (Switzerland)

    2009-11-15

    The ALP-45DP locomotive, which will be introduced in Canada and the USA, illustrates the functionality and benefits of the propulsion technology for dual power locomotives. This technology, which has been developed and tested in Switzerland and will be assembled in Germany, is particularly suited to meet high reliability, economy, flexibility and eco friendliness on track networks which are only partially electrified. (orig.)

  15. The G6. A heavy-duty, six-wheeled shunting locomotive

    Energy Technology Data Exchange (ETDEWEB)

    Hildebrandt, Tim [Vossloh Locomotives GmbH, Kiel (Germany). Development and Standardisation Group

    2010-05-15

    Nowadays, railway operating companies need robust, reliable and versatile locomotives. Vossloh has shown one way that future developments are likely to go with its 'G6' six-wheeled shunting locomotive, which features a central driver's cab. (orig.)

  16. Human Factors in Railroad Operations : Initial Studies

    Science.gov (United States)

    1972-01-01

    This report summarizes the progress of a year's work in providing support in human factors to the Federal Railroad Administration. The principal topics include: (a) a description of the locomotive engineer's job, particularly with regard to its inher...

  17. A Specific Population of Reticulospinal Neurons Controls the Termination of Locomotion

    Directory of Open Access Journals (Sweden)

    Laurent Juvin

    2016-06-01

    Full Text Available Locomotion requires the proper sequencing of neural activity to start, maintain, and stop it. Recently, brainstem neurons were shown to specifically stop locomotion in mammals. However, the cellular properties of these neurons and their activity during locomotion are still unknown. Here, we took advantage of the lamprey model to characterize the activity of a cell population that we now show to be involved in stopping locomotion. We find that these neurons display a burst of spikes that coincides with the end of swimming activity. Their pharmacological activation ends ongoing swimming, whereas the inactivation of these neurons dramatically impairs the rapid termination of swimming. These neurons are henceforth referred to as stop cells, because they play a crucial role in the termination of locomotion. Our findings contribute to the fundamental understanding of motor control and provide important details about the cellular mechanisms involved in locomotor termination.

  18. DEFINITION OF LOCOMOTIVE TRACTION FORCE WITH REGARD TO UNEVEN LOADING OF WHEEL-MOTOR BLOCK

    Directory of Open Access Journals (Sweden)

    B. Ye. Bodnar

    2013-11-01

    Full Text Available Purpose. The article describes the most common methods for determining the locomotive traction force. Solving the tasks of traction calculations involves determination of the forces influencing the train at every point of the way. When choosing a rational trajectory of the train motion and the development of operational regulations of train driving it is necessary to determine the actual value of the locomotive traction force. Considering various factors, power value of traction electric motor of locomotive may have significant differences. Advancement of the operational definition system of the locomotive traction force during the calculations by electrical parameters of traction electric motor with regard to uneven load of wheel-motor block is the purpose of the article. Methodology. The method of determining the traction force of locomotives and diesel locomotives with electric transmission, which is based on primary data acquisition of traction electric engines of direct current behavior, was proposed. Sensors and their integration into the electrical circuitry of the locomotive in order to get the data in digital form and for operational calculation of the each traction motor mode and the definition of locomotive traction force are presented. Findings. The experimental investigation of the system of locomotive traction force determination with the electric traction motor ED-105 was offered. A comparison of electrical and mechanical power of the electric motor was conducted. Originality. The system of locomotives power operational definition, which takes into account the variable electro-mechanical factors of wheel and motor blocks and increases the accuracy of the calculations, was proposed. Practical value. The system is a part of an onboard complex in definition of energy-efficient regimes for trains movement and provides the definition of accelerating and decelerating forces.

  19. The equine neck and its function during movement and locomotion.

    Science.gov (United States)

    Zsoldos, Rebeka R; Licka, Theresia F

    2015-10-01

    During both locomotion and body movements at stance, the head and neck of the horse are a major craniocaudal and lateral balancing mechanism employing input from the visual, vestibular and proprioceptive systems. The function of the equine neck has recently become the focus of several research groups; this is probably also feeding on an increase of interest in the equine neck in equestrian sports, with a controversial discussion of specific neck positions such as maximum head and neck flexion. The aim of this review is to offer an overview of new findings on the structures and functions of the equine neck, illustrating their interplay. The movement of the neck is based on intervertebral motion, but it is also an integral part of locomotion; this is illustrated by the different neck conformations in the breeds of horses used for various types of work. The considerable effect of the neck movement and posture onto the whole trunk and even the limbs is transmitted via bony, ligamentous and muscular structures. Also, the fact that the neck position can easily be influenced by the rider and/or by the employment of training aids makes it an important avenue for training of new movements of the neck as well as the whole horse. Additionally, the neck position also affects the cervical spinal cord as well as the roots of the spinal nerves; besides the commonly encountered long-term neurological effects of cervical vertebral disorders, short-term changes of neural and muscular function have also been identified in the maximum flexion of the cranial neck and head position. During locomotion, the neck stores elastic energy within the passive tissues such as ligaments, joint capsules and fasciae. For adequate stabilisation, additional muscle activity is necessary; this is learned and requires constant muscle training as it is essential to prevent excessive wear and tear on the vertebral joints and also repetitive or single trauma to the spinal nerves and the spinal cord. The

  20. 78 FR 33860 - Crawler, Locomotive, and Truck Cranes Standard; Extension of the Office of Management and Budget...

    Science.gov (United States)

    2013-06-05

    .... OSHA-2010-0015] Crawler, Locomotive, and Truck Cranes Standard; Extension of the Office of Management..., Locomotive, and Truck cranes (29 CFR 1910.180). DATES: Comments must be submitted (postmarked, sent, or... information requirements contained in the General Industry Standard on Crawler, Locomotive, and Truck Cranes...

  1. 49 CFR Appendix B to Part 240 - Procedures for Submission and Approval of Locomotive Engineer Qualification Programs

    Science.gov (United States)

    2010-10-01

    ... Locomotive Engineer Qualification Programs B Appendix B to Part 240 Transportation Other Regulations Relating... QUALIFICATION AND CERTIFICATION OF LOCOMOTIVE ENGINEERS Pt. 240, App. B Appendix B to Part 240—Procedures for Submission and Approval of Locomotive Engineer Qualification Programs This appendix establishes procedures...

  2. How much locomotive activity is needed for an active physical activity level: analysis of total step counts

    Directory of Open Access Journals (Sweden)

    Ohkawara Kazunori

    2011-11-01

    Full Text Available Abstract Background Although physical activity recommendations for public health have focused on locomotive activity such as walking and running, it is uncertain how much these activities contribute to overall physical activity level (PAL. The purpose of the present study was to determine the contribution of locomotive activity to PAL using total step counts measured in a calorimeter study. Methods PAL, calculated as total energy expenditure divided by basal metabolic rate, was evaluated in 11 adult men using three different conditions for 24-hour human calorimeter measurements: a low-activity day (L-day targeted at a low active level of PAL (1.45, and a high-frequency moderate activity day (M-day or a high-frequency vigorous activity day (V-day targeted at an active level of PAL (1.75. These subjects were permitted only light activities except prescribed activities. In a separate group of 41 adults, free-living PAL was evaluated using doubly-labeled water (DLW. In both experiments, step counts per day were also measured using an accelerometer. Results In the human calorimeter study, PAL and step counts were 1.42 ± 0.10 and 8,973 ± 543 steps/d (L-day, 1.82 ± 0.14 and 29,588 ± 1,126 steps/d (M-day, and 1.74 ± 0.15 and 23,755 ± 1,038 steps/d (V-day, respectively. In the DLW study, PAL and step counts were 1.73 ± 0.15 and 10,022 ± 2,605 steps/d, and there was no significant relationship between PAL and daily step counts. Conclusions These results indicate that an enormous number of steps are needed for an active level of PAL if individuals extend physical activity-induced energy expenditure by only locomotive activity. Therefore, non-locomotive activity such as household activity should also play a significant role in increasing PAL under free-living conditions.

  3. PROSPECTS OF THE PRIVATE LOCOMOTIVES USAGE FOR GOODS TRAFFIC IN THE DIRECTION OF SEA PORTS

    Directory of Open Access Journals (Sweden)

    D. M. Kozachenko

    2017-12-01

    Full Text Available Purpose. At the present time, Ukraine's mainline railway transport is entirely in state ownership. Ukraine has undertaken to implement the European Union Directives providing of non-discriminatory access to the railway infrastructure of independent carriers. A considerable quantity of options significantly affects the working conditions of carriers that do not depend on Ukrzaliznytsia. One of the tasks that arises when performing transportation by independent carriers is the organization of private locomotives operation and their servicing by engine crews. The purpose of the article is to evaluate the technical characteristic of the private locomotives usage in order to perform goods traffic in the direction of sea ports. Methodology. The researches were carried out on the basis of methods for organizing the operational work of railways and methods of traction calculations. Findings. The paper highlights the problem of goods traffic organization to seaports by independent carriers. It determines the requirements for equipment for diesel locomotives and electric locomotives depending on the distance of transportation. Permissible distances that can be served by engine crews in performing the requirements for the duration of their continuous operation were also determined. Schemes of infrastructure objects location for the locomotives and engine crews operation have been developed. It was established that diesel locomotives of independent carriers will be able to serve transportation between loading and unloading stations up to 822 km, and electric locomotives up to 1000 km with the construction of the main part of the locomotive infrastructure at the port station. The performed calculations show the potential coverage of rail transportation to sea ports by independent carriers with the use of its own locomotive infrastructure. To define more exactly the haul length of train servicing by locomotives and locomotives by engine crews, it is necessary

  4. System Design and Locomotion of Superball, an Untethered Tensegrity Robot

    Science.gov (United States)

    Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Manovi, Pavlo; Firoozi, Roya Fallah; Dobi, Sarah; Agogino, Alice M.; Sunspiral, Vytas

    2015-01-01

    The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

  5. Undulatory locomotion of finite filaments: lessons from C. elegans

    CERN Document Server

    Berman, R; Sznitman, J; Leshansky, A

    2013-01-01

    Undulatory swimming is a widespread propulsion strategy adopted by many small-scale organisms including various single-cell eukaryotes and nematodes. In this work, we report a comprehensive study of undulatory locomotion of a finite filament using (i) approximate resistive force theory (RFT) assuming a local nature of hydrodynamic interaction between the filament and the surrounding viscous liquid, and (ii) particle-based numerical computations taking into account the intra-filament hydrodynamic interaction. Using the ubiquitous model of a propagating sinusoidal waveform, we identify the limit of applicability of the RFT and determine the optimal propulsion gait in terms of (i) swimming distance per period of undulation and (ii) hydrodynamic propulsion efficiency. The occurrence of the optimal swimming gait maximizing hydrodynamic efficiency at finite wavelength in particle-based computations diverges from the prediction of the RFT. To compare the model swimmer powered by sine wave undulations to biological u...

  6. A quantifiably complete repertoire of C. elegans locomotion

    Science.gov (United States)

    Brown, Andre; Schwarz, Roland; Branicky, Robyn; Schafer, William

    2014-03-01

    Visible phenotypes have played a critical role in understanding the molecular basis of behaviour in model organisms. However, most current descriptions of behaviour are based on manually identified events or a limited set of quantitative parameters. Here we report an extension of the concept of behavioural motifs to exhaustively catalogue C. elegans locomotion and derive a repertoire that is quantifiably complete. A repertoire learned for spontaneous behaviour in wild-type worms can be used to fit data from mutants or worms in different environmental conditions and provides a sensitive measure of phenotypic similarity. Repertoire comparison can also be used to assess inter-individual variation and the compositionality of behaviour, that is, the extent to which behavioural adaptation involves the creation of novel repertoire elements or the reuse of existing elements in novel sequences. Repertoire derivation is general, so that given a representation of posture, our approach will apply to other organisms.

  7. A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems

    Science.gov (United States)

    Aguilar, Jeffrey; Zhang, Tingnan; Qian, Feifei; Kingsbury, Mark; McInroe, Benjamin; Mazouchova, Nicole; Li, Chen; Maladen, Ryan; Gong, Chaohui; Travers, Matt; Hatton, Ross L.; Choset, Howie; Umbanhowar, Paul B.; Goldman, Daniel I.

    2016-11-01

    Discovery of fundamental principles which govern and limit effective locomotion (self-propulsion) is of intellectual interest and practical importance. Human technology has created robotic moving systems that excel in movement on and within environments of societal interest: paved roads, open air and water. However, such devices cannot yet robustly and efficiently navigate (as animals do) the enormous diversity of natural environments which might be of future interest for autonomous robots; examples include vertical surfaces like trees and cliffs, heterogeneous ground like desert rubble and brush, turbulent flows found near seashores, and deformable/flowable substrates like sand, mud and soil. In this review we argue for the creation of a physics of moving systems—a ‘locomotion robophysics’—which we define as the pursuit of principles of self-generated motion. Robophysics can provide an important intellectual complement to the discipline of robotics, largely the domain of researchers from engineering and computer science. The essential idea is that we must complement the study of complex robots in complex situations with systematic study of simplified robotic devices in controlled laboratory settings and in simplified theoretical models. We must thus use the methods of physics to examine both locomotor successes and failures using parameter space exploration, systematic control, and techniques from dynamical systems. Using examples from our and others’ research, we will discuss how such robophysical studies have begun to aid engineers in the creation of devices that have begun to achieve life-like locomotor abilities on and within complex environments, have inspired interesting physics questions in low dimensional dynamical systems, geometric mechanics and soft matter physics, and have been useful to develop models for biological locomotion in complex terrain. The rapidly decreasing cost of constructing robot models with easy access to significant

  8. Wind-powered wheel locomotion, initiated by leaping somersaults, in larvae of the southeastern beach tiger beetle (Cicindela dorsalis media.

    Directory of Open Access Journals (Sweden)

    Alan Harvey

    Full Text Available Rapid movement is challenging for elongate, soft-bodied animals with short or no legs. Leaping is known for only a few animals with this "worm-like" morphology. Wheel locomotion, in which the animal's entire body rolls forward along a central axis, has been reported for only a handful of animals worldwide. Here we present the first documented case of wind-powered wheel locomotion, in larvae of the coastal tiger beetle Cicindela dorsalis media. When removed from their shallow burrows, larvae easily can be induced to enter a behavioral sequence that starts with leaping; while airborne, larvae loop their body into a rotating wheel and usually either "hit the ground rolling" or leap again. The direction larvae wheel is closely related to the direction in which winds are blowing; thus, all our larvae wheeled up-slope, as winds at our study site consistently blew from sea to land. Stronger winds increased both the proportion of larvae wheeling, and the distance traveled, exceeding 60 m in some cases. In addition, the proportion of larvae that wheel and the distance traveled by wheeling larvae are significantly greater on smooth sandy beaches than on beach surfaces made rough and irregular by pedestrian, equestrian, and vehicular traffic. Like other coastal species of tiger beetles, C. dorsalis media has suffered major declines in recent years that are clearly correlated with increased human impacts. The present study suggests that the negative effects of beach traffic may be indirect, preventing larvae from escaping from predators using wheel locomotion by disrupting the flat, hard surface necessary for efficient wheeling.

  9. Adaptive Gaze Strategies for Locomotion with Constricted Visual Field

    Directory of Open Access Journals (Sweden)

    Colas N. Authié

    2017-07-01

    Full Text Available In retinitis pigmentosa (RP, loss of peripheral visual field accounts for most difficulties encountered in visuo-motor coordination during locomotion. The purpose of this study was to accurately assess the impact of peripheral visual field loss on gaze strategies during locomotion, and identify compensatory mechanisms. Nine RP subjects presenting a central visual field limited to 10–25° in diameter, and nine healthy subjects were asked to walk in one of three directions—straight ahead to a visual target, leftward and rightward through a door frame, with or without obstacle on the way. Whole body kinematics were recorded by motion capture, and gaze direction in space was reconstructed using an eye-tracker. Changes in gaze strategies were identified in RP subjects, including extensive exploration prior to walking, frequent fixations of the ground (even knowing no obstacle was present, of door edges, essentially of the proximal one, of obstacle edge/corner, and alternating door edges fixations when approaching the door. This was associated with more frequent, sometimes larger rapid-eye-movements, larger movements, and forward tilting of the head. Despite the visual handicap, the trajectory geometry was identical between groups, with a small decrease in walking speed in RPs. These findings identify the adaptive changes in sensory-motor coordination, in order to ensure visual awareness of the surrounding, detect changes in spatial configuration, collect information for self-motion, update the postural reference frame, and update egocentric distances to environmental objects. They are of crucial importance for the design of optimized rehabilitation procedures.

  10. Direct dynamics simulation of FES-assisted locomotion

    Science.gov (United States)

    Gerritsen, Karin G.; van den Bogert, Anton J.; Hulliger, Manuel

    1996-05-01

    Using functional electrical stimulation (FES), muscles of spinal-cord injured patients can be activated by externally generated electrical currents in order to restore function. As for gait, the question arises when during the gait cycle and two what extent individual muscles should be stimulated. Computer simulation provides the designer with a tool to evaluate the performance of different muscle stimulation patterns without the need to test patients at every stage of system development. The goals of this paper are: first, to identify, using computer simulation, multi-channel stimulation patterns that are capable of reproducing normal gait kinematics for a full gait cycle, without relying on sensory feedback (open-loop control); second, to briefly assess the stability of the gait obtained. A two-dimensional musculo-skeletal model was developed, based on mathematical representations of muscle properties (including force-length and force velocity characteristics and muscle activation dynamics). A visco-elastic model, including non-linear heel-pad properties, was used to describe the foot-ground interaction. A seven segment skeletal model was actuated by 8 major muscle groups in each leg. Rectangular muscle stimulation patterns were defined by 3 parameters: onset, termination and level of stimulation. Thus, the minimization of the differences between simulated and measured normal gait kinematics was a 24 (3 by 8) parameter optimization problem. Although a good agrement was found between simulated and measured kinematics (rms difference equals 6.5 degrees), stable cyclic locomotion was not achieved. At this point it is concluded that muscle properties do not provide sufficient stability to permit cyclic locomotion with sixteen channels of muscle stimulation, and that incorporation of sensory feedback control will be necessary to achieve this goal.

  11. Kinematics of the coordination of pointing during locomotion.

    Directory of Open Access Journals (Sweden)

    Enrico Chiovetto

    Full Text Available In natural motor behaviour arm movements, such as pointing or reaching, often need to be coordinated with locomotion. The underlying coordination patterns are largely unexplored, and require the integration of both rhythmic and discrete movement primitives. For the systematic and controlled study of such coordination patterns we have developed a paradigm that combines locomotion on a treadmill with time-controlled pointing to targets in the three-dimensional space, exploiting a virtual reality setup. Participants had to walk at a constant velocity on a treadmill. Synchronized with specific foot events, visual target stimuli were presented that appeared at different spatial locations in front of them. Participants were asked to reach these stimuli within a short time interval after a "go" signal. We analysed the variability patterns of the most relevant joint angles, as well as the time coupling between the time of pointing and different critical timing events in the foot movements. In addition, we applied a new technique for the extraction of movement primitives from kinematic data based on anechoic demixing. We found a modification of the walking pattern as consequence of the arm movement, as well as a modulation of the duration of the reaching movement in dependence of specific foot events. The extraction of kinematic movement primitives from the joint angle trajectories exploiting the new algorithm revealed the existence of two distinct main components accounting, respectively, for the rhythmic and discrete components of the coordinated movement pattern. Summarizing, our study shows a reciprocal pattern of influences between the coordination patterns of reaching and walking. This pattern might be explained by the dynamic interactions between central pattern generators that initiate rhythmic and discrete movements of the lower and upper limbs, and biomechanical factors such as the dynamic gait stability.

  12. Metabolic hypothesis for human altriciality.

    Science.gov (United States)

    Dunsworth, Holly M; Warrener, Anna G; Deacon, Terrence; Ellison, Peter T; Pontzer, Herman

    2012-09-18

    The classic anthropological hypothesis known as the "obstetrical dilemma" is a well-known explanation for human altriciality, a condition that has significant implications for human social and behavioral evolution. The hypothesis holds that antagonistic selection for a large neonatal brain and a narrow, bipedal-adapted birth canal poses a problem for childbirth; the hominin "solution" is to truncate gestation, resulting in an altricial neonate. This explanation for human altriciality based on pelvic constraints persists despite data linking human life history to that of other species. Here, we present evidence that challenges the importance of pelvic morphology and mechanics in the evolution of human gestation and altriciality. Instead, our analyses suggest that limits to maternal metabolism are the primary constraints on human gestation length and fetal growth. Although pelvic remodeling and encephalization during hominin evolution contributed to the present parturitional difficulty, there is little evidence that pelvic constraints have altered the timing of birth.

  13. Delegation to automaticity: the driving force for cognitive evolution?

    Directory of Open Access Journals (Sweden)

    James eShine

    2014-04-01

    Full Text Available The ability to delegate control over repetitive tasks from higher to lower neural centres may be a fundamental innovation in human cognition. Plausibly, the massive neurocomputational challenges associated with the mastery of balance during the evolution of bipedality in proto-humans provided a strong selective advantage to individuals with brains capable of efficiently transferring tasks in this way. Thus, the shift from quadrupedal to bipedal locomotion may have driven the rapid evolution of distinctive features of human neuronal functioning. We review recent studies of functional neuroanatomy that bear upon this hypothesis, and identify ways to test our ideas.

  14. Behavioural toxicity assessment of silver ions and nanoparticles on zebrafish using a locomotion profiling approach.

    Science.gov (United States)

    Ašmonaitė, Giedrė; Boyer, Scott; Souza, Karine Bresolin de; Wassmur, Britt; Sturve, Joachim

    2016-04-01

    Zebrafish (Danio rerio) is not only a widely used species in the Fish Embryo Toxicity (FET) test but also an emerging model in behavioural ecotoxicology. By using automatic behaviour tracking technology, locomotion of developing zebrafish (ZF) larvae can be accurately recorded and potentially used in an ecotoxicological context to detect toxicant-induced behavioural alterations. In this study, we explored if and how quantitative locomotion data can be used for sub-lethal toxicity testing within the FET framework. We exposed ZF embryos to silver ions and nanoparticles, which previously have been reported to cause neurodevelopmental toxicity and behavioural retardation in early-life stages of ZF. Exposure to a broad range of silver (Ag(+) and AgNPs) concentrations was conducted, and developmental toxicity was assessed using FET criteria. For behavioural toxicity assessment, locomotion of exposed ZF eleutheroembryos (120hpf) was quantified according to a customised behavioural assay in an automatic video tracking system. A set of repeated episodes of dark/light stimulation were used to artificially stress ZF and evoke photo-motor responses, which were consequently utilized for locomotion profiling. Our locomotion-based behaviour profiling approach consisted of (1) dose-response ranking for multiple and single locomotion variables; (2) quantitative assessment of locomotion structure; and (3) analysis of ZF responsiveness to darkness stimulation. We documented that both silver forms caused adverse effects on development and inhibited hatchability and, most importantly, altered locomotion. High Ag(+) and AgNPs exposures significantly suppressed locomotion and a clear shift in locomotion towards inactivity was reported. Additionally, we noted that low, environmentally relevant Ag(+) concentrations may cause subordinate locomotive changes (hyperactivity) in developing fish. Overall, it was concluded that our locomotion-based behaviour-testing scheme can be used jointly

  15. The G6 - a heavy-duty six-wheeled shunting locomotive; Dreiachsige Hochleistungsrangierlokomotive G6

    Energy Technology Data Exchange (ETDEWEB)

    Hildebrandt, Tim [Vossloh Locomotives GmbH, Kiel (Germany). Entwicklung und Standardisierung

    2009-03-15

    With the three-axle shunter G6, exhibited at Innotrans 2008, the renowned producer of rail vehicles Vossloh Locomotives GmbH marks the beginning of a generational change - not only for three-axle but also for four-axle locomotives. In order to replace the type G765C the G6 has been developed in close cooperation with potential customers. Their request concerning robustness and reliability as well as the equipment options set standards for central driver's cab locomotives in general and lead the way for future four-axle replacements within the Vossloh product family. (orig.)

  16. Adaptation mechanism of interlimb coordination in human split-belt treadmill walking through learning of foot contact timing: a robotics study.

    Science.gov (United States)

    Fujiki, Soichiro; Aoi, Shinya; Funato, Tetsuro; Tomita, Nozomi; Senda, Kei; Tsuchiya, Kazuo

    2015-09-06

    Human walking behaviour adaptation strategies have previously been examined using split-belt treadmills, which have two parallel independently controlled belts. In such human split-belt treadmill walking, two types of adaptations have been identified: early and late. Early-type adaptations appear as rapid changes in interlimb and intralimb coordination activities when the belt speeds of the treadmill change between tied (same speed for both belts) and split-belt (different speeds for each belt) configurations. By contrast, late-type adaptations occur after the early-type adaptations as a gradual change and only involve interlimb coordination. Furthermore, interlimb coordination shows after-effects that are related to these adaptations. It has been suggested that these adaptations are governed primarily by the spinal cord and cerebellum, but the underlying mechanism remains unclear. Because various physiological findings suggest that foot contact timing is crucial to adaptive locomotion, this paper reports on the development of a two-layered control model for walking composed of spinal and cerebellar models, and on its use as the focus of our control model. The spinal model generates rhythmic motor commands using an oscillator network based on a central pattern generator and modulates the commands formulated in immediate response to foot contact, while the cerebellar model modifies motor commands through learning based on error information related to differences between the predicted and actual foot contact timings of each leg. We investigated adaptive behaviour and its mechanism by split-belt treadmill walking experiments using both computer simulations and an experimental bipedal robot. Our results showed that the robot exhibited rapid changes in interlimb and intralimb coordination that were similar to the early-type adaptations observed in humans. In addition, despite the lack of direct interlimb coordination control, gradual changes and after-effects in the

  17. The New Era of Virtual Reality Locomotion: A Systematic Literature Review of Techniques and a Proposed Typology

    Directory of Open Access Journals (Sweden)

    Costas Boletsis

    2017-09-01

    Full Text Available The latest technical and interaction advancements that took place in the Virtual Reality (VR field have marked a new era, not only for VR, but also for VR locomotion. Although the latest advancements in VR locomotion have raised the interest of both researchers and users in analyzing and experiencing current VR locomotion techniques, the field of research on VR locomotion, in its new era, is still uncharted. In this work, VR locomotion is explored through a systematic literature review investigating empirical studies of VR locomotion techniques from 2014–2017. The review analyzes the VR locomotion techniques that have been studied, their interaction-related characteristics and the research topics that were addressed in these studies. Thirty-six articles were identified as relevant to the literature review, and the analysis of the articles resulted in 73 instances of 11 VR locomotion techniques, such as real-walking, walking-in-place, point and teleport, joystick-based locomotion, and more. Results showed that since the VR revival, the focus of VR locomotion research has been on VR technology and various technological aspects, overshadowing the investigation of user experience. From an interaction perspective, the majority of the utilized and studied VR locomotion techniques were found to be based on physical interaction, exploiting physical motion cues for navigation in VR environments. A significant contribution of the literature review lies in the proposed typology for VR locomotion, introducing four distinct VR locomotion types: motion-based, room scale-based, controller-based and teleportation-based locomotion.

  18. A functional electrical stimulation system for human walking inspired by reflexive control principles

    OpenAIRE

    Meng, Lin; Porr, Bernd; Macleod, Catherine A.; Gollee, Henrik

    2017-01-01

    This study presents an innovative multichannel functional electrical stimulation gait-assist system which employs a well-established purely reflexive control algorithm, previously tested in a series of bipedal walking robots. In these robots, ground contact information was used to activate motors in the legs, generating a gait cycle similar to that of humans. Rather than developing a sophisticated closed-loop functional electrical stimulation control strategy for stepping, we have instead uti...

  19. L1cam is crucial for cell locomotion and terminal translocation of the Soma in radial migration during murine corticogenesis.

    Science.gov (United States)

    Tonosaki, Madoka; Itoh, Kyoko; Umekage, Masafumi; Kishimoto, Tomokazu; Yaoi, Takeshi; Lemmon, Vance P; Fushiki, Shinji

    2014-01-01

    L1cam (L1) is a cell adhesion molecule associated with a spectrum of human neurological diseases, the most well-known being X-linked hydrocephalus. Although we recently demonstrated that L1 plays an important role in neuronal migration during cortical histogenesis, the mechanisms of delayed migration have still not been clarified. In this study, we found that cell locomotion in the intermediate zone and terminal translocation in the primitive cortical zone (PCZ) were affected by L1-knockdown (L1-KD). Time-lapse analyses revealed that L1-KD neurons produced by in utero electroporation of shRNA targeting L1 (L1-shRNAs) molecules showed decreased locomotion velocity in the intermediate zone, compared with control neurons. Furthermore, L1-KD neurons showed longer and more undulated leading processes during translocation through the primitive cortical zone. The curvature index, a quantitative index for curvilinearity, as well as the length of the leading process, were increased, whereas the somal movement was decreased in L1-KD neurons during terminal translocation in the PCZ. These results suggest that L1 has a role in radial migration of cortical neurons.

  20. L1cam is crucial for cell locomotion and terminal translocation of the Soma in radial migration during murine corticogenesis.

    Directory of Open Access Journals (Sweden)

    Madoka Tonosaki

    Full Text Available L1cam (L1 is a cell adhesion molecule associated with a spectrum of human neurological diseases, the most well-known being X-linked hydrocephalus. Although we recently demonstrated that L1 plays an important role in neuronal migration during cortical histogenesis, the mechanisms of delayed migration have still not been clarified. In this study, we found that cell locomotion in the intermediate zone and terminal translocation in the primitive cortical zone (PCZ were affected by L1-knockdown (L1-KD. Time-lapse analyses revealed that L1-KD neurons produced by in utero electroporation of shRNA targeting L1 (L1-shRNAs molecules showed decreased locomotion velocity in the intermediate zone, compared with control neurons. Furthermore, L1-KD neurons showed longer and more undulated leading processes during translocation through the primitive cortical zone. The curvature index, a quantitative index for curvilinearity, as well as the length of the leading process, were increased, whereas the somal movement was decreased in L1-KD neurons during terminal translocation in the PCZ. These results suggest that L1 has a role in radial migration of cortical neurons.

  1. Non-contact capacitance sensing for continuous locomotion mode recognition: design specifications and experiments with an amputee.

    Science.gov (United States)

    Zheng, Enhao; Wang, Long; Luo, Yimin; Wei, Kunlin; Wang, Qining

    2013-06-01

    Locomotion mode recognition plays an important role in the control of powered lower-limb prostheses. In this paper, we present a non-contact capacitance sensing system (C-Sens) to measure the interfacial signals between the residual limb and the prosthetic socket. The system includes sensing front-ends, a sensing circuit, a control circuit and foot pressure insoles. In the proposed system, the electrodes are fixed on the inner surface of the socket, which couple with the human body forming capacitors. The foot pressure insoles are built for detecting gait phases. The data sequence is controlled by the control circuit. To evaluate the capacitance sensing system, experiments with a transtibial amputee are carried out and seven kinds of locomotion modes are recorded. With the continuous phase dependent classification method and the quadratic discriminant analysis (QDA) classifier, the average recognition accuracies are 93.8% and 95.0% for the stance phase and the swing phase respectively. The results show the potential of the proposed system for the control of powered lower-limb prostheses.

  2. Locomotion concerns with moral usefulness: When liberals endorse binding moral foundations.

    Science.gov (United States)

    Cornwell, James F M; Higgins, E Tory

    2014-01-01

    Moral Foundations Theory has provided a framework for understanding the endorsement of different moral beliefs. Our research investigated whether there are other reasons to endorse moral foundations in addition to epistemic concerns; specifically, the perceived social usefulness of moral foundations. In Study 1, we demonstrate that those showing stronger locomotion concerns for controlling movement tend toward a higher endorsement of binding foundations, and that this effect is stronger among political liberals who otherwise do not typically endorse these foundations. In Study 2, we show that priming participants with assessment concerns (emphasizing truth) rather than locomotion concerns (emphasizing control) reduces the response variance among liberals and also removes the association between locomotion and the binding foundations. In Study 3, we directly ask participants to focus on moral truth versus moral usefulness, with moral truth replicating the Study 2 effect of assessment priming, and moral usefulness replicating the effect of locomotion priming.

  3. 49 CFR 236.512 - Cab signal indication when locomotive enters block where restrictive conditions obtain.

    Science.gov (United States)

    2010-10-01

    ... where restrictive conditions obtain. 236.512 Section 236.512 Transportation Other Regulations Relating to Transportation (Continued) FEDERAL RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RULES... Systems Standards § 236.512 Cab signal indication when locomotive enters block where restrictive...

  4. Physiological aspects of legged terrestrial locomotion the motor and the machine

    CERN Document Server

    Cavagna, Giovanni

    2017-01-01

    This book offers a succinct but comprehensive description of the mechanics of muscle contraction and legged terrestrial locomotion. It describes on the one hand how the fundamental properties of muscle tissue affect the mechanics of locomotion, and on the other, how the mechanics of locomotion modify the mechanism of muscle operation under different conditions. Further, the book reports on the design and results of experiments conducted with two goals. The first was to describe the physiological function of muscle tissue (which may be considered as the “motor”) contracting at a constant length, during shortening, during lengthening, and under a condition that occurs most frequently in the back-and-forth movement of the limbs during locomotion, namely the stretch-shortening cycle of the active muscle. The second objective was to analyze the interaction between the motor and the “machine” (the skeletal lever system) during walking and running in different scenarios with respect to speed, step frequency,...

  5. LSTM-Based Temperature Prediction for Hot-Axles of Locomotives

    Directory of Open Access Journals (Sweden)

    Luo Can

    2017-01-01

    Full Text Available The reliability of locomotives plays a central role for the smooth operation of railway systems. Hot-axle failures are one of the most commonly found problems leading to locomotive accidents. Since the operating status of the locomotive axle bearings can be distinctly reflected by the axle temperatures, online temperature monitoring has become an essential way to detect hot-axle failures. In this work, we explore the feasibility of predict the hot-axle failures by identifying the temperature from predicted nominal values. We propose a data-driven approach based on the Long Short-Term Memory (LSTM network to predict the sensor temperature for axle bearings. The effectiveness of the prediction model was validated with operation data collected from commercial locomotives. With a prediction accuracy is within a few percent, the proposed techniques can be used as a dynamic reference for hot-axle monitoring.

  6. Kinematics and the Implementation of a Modular Caterpillar Robot in Trapezoidal Wave Locomotion

    Directory of Open Access Journals (Sweden)

    Hongxing Wei

    2013-08-01

    Full Text Available With the development of bionic engineering, research into bionic robots has become a popular topic. In this field, the design of robotic mechanisms to realize the locomotion of insects forms a significant research branch. The current paper presents a caterpillar robotic mechanism that is composed of our newly-developed self-assembly modular robots (Sambot. A trapezoidal wave locomotion gait is planned for the caterpillar mechanism and the kinematics equations are established and solved analytically for such locomotion. The variations of the kinematics quantities are illustrated and discussed. The variation of the jump of the angular acceleration indicates that it is better to apply the trapezoidal wave gait to low velocity situations. Finally, the obtained data of the kinematics quantities is used to perform the gait control locomotion experiment and the errors of the experimental data are analysed in depth.

  7. USE OF MICROCONTROLLER FOR MEASURING SHAFT SPEED OF DIESEL LOCOMOTIVE HYDRAULIC TRANSMISSION

    Directory of Open Access Journals (Sweden)

    I. V. Zhukovytskyy

    2016-10-01

    Full Text Available Purpose. The article considers the process of development and improvement of tachometer data collectors for the data-measuring diesel locomotive hydraulic transmission test system, which will give the possibility of obtaining the source data to conduct further studies of the technical condition of diesel locomotive hydraulic transmission. It is supposed to provide a solution to the problem of development and improvement of tachometer data measuring tools of the previously created data-measuring diesel locomotive hydraulic transmission test system, starting out from the possibility of modification of the existing locomotive hydraulic transmission test-bench at the Dnepropetrovsk Diesel Locomotive Repair Plant «Promteplovoz». Methodology. The researchers proposed in the work a method of modifying the existing tachometer sensor of the automated microprocessor system for the locomotive hydraulic transmission test-bench in the conditions of a diesel locomotive repair plant. It is applicable by substantiating the choice of the required tachometer sensor measuring method, as well as by using the necessary hardware and software to accomplish the goal with the ability to integrate into the data-measuring system for diesel locomotive hydraulic transmission testing. Findings. The available equipment of the locomotive hydraulic transmission test-bench allowed for design of the optical type speed sensor based on the existing sensor D-2MMU-2. The factory testing with the use of a sensor prototype resulted in determination of the required and sufficient sampling time for sensor operating microcontroller. Originality. The available equipment of the locomotive hydraulic transmission test-bench allowed for design of the optical type speed sensor based on the existing sensor D-2MMU-2. We developed the operation algorithms for the microcontroller that processes the signals from this sensor. The sensor was factory-tested. According to the data sample obtained

  8. DETERMINATION OF FRAME FORCE FOR ELECTRIC LOCOMOTIVE VL80 WHEN MOVING IN THE CURVED TRACK SECTIONS

    Directory of Open Access Journals (Sweden)

    A. Y. Kuzyshyn

    2017-06-01

    Full Text Available Purpose. When locomotives move in curved sections of the railway track, horizontal forces arise, which lead to pressing the ridge of the wheel pair to the railway track. The article is aimed to develop a method for determining the frame force acting on the bogie from the side of body of the locomotive section using the current methodology of calculating the lateral force. It is also aimed to determine the basic parameters that influence the value of the frame force. It is necessary to construct the dependencies of the frame force on the travel time of electric locomotive in the corresponding curve changing these parameters. Methodology. As is known, the electric locomotive is a multimass mechanical system. We will assume that this system consists of seven bodies: a body, two frames of carriages and four wheel sets. To determine the lateral force acting on the rail from the wheelset one need to solve differential equations of motion of locomotive bogie in curves of small radius. Using the equations of kinetostatics for wheelset one should come to determining the frame force acting on the car bogie from the side of body of the locomotive section. The nominal geometric and mass parameters of parts and components of electric locomotive are taken in the calculations. The curve radius, the length of transition curve, the length of circular curve, the longitudinal slope of railway track and other parameters are fixed values. Findings. There were obtained calculated values of the frame force of electric locomotive VL80 acting on the bogie from the side of body of the locomotive section. Based on the obtained results there were built the dependencies of frame force on the travel time of electric locomotive on the corresponding curve when changing the speed and corresponding elevation of the outer rail. Originality. On the basis of the existing methodology for calculating the lateral force it was developed the method for determining the frame force acting

  9. Development of generalized dynamic model of oscillations of cylinder case of diesel engine of locomotive

    Directory of Open Access Journals (Sweden)

    Irina YUTKINA

    2014-03-01

    Full Text Available An engineering method of design, worked out by the authors, is considered in the paper. It allows to carry out design of amplitude-frequency specter and vibration loading of cylinder cases of the diesel engine of locomotive with account of cavitation-erosion damage. Offered method of design of parameters of cavitation-erosion damage may be used in design of new structures of diesel engines of locomotives and systems of cooling.

  10. Cell locomotion: new research tests old ideas on membrane and cytoskeletal flow.

    Science.gov (United States)

    Heath, J P; Holifield, B F

    1991-01-01

    Recent studies on the mobility of membrane markers on crawling cells indicate that there is no long-range centripetal flow of membrane proteins or lipids during cell locomotion. In this article we reflect on the history of ideas about membrane flow in cells, and we discuss how these new findings will shift the focus of research in cell locomotion away from the cell surface to the molecular interactions and dynamics of the actin cytoskeleton.

  11. Effects of localized intraspinal injections of a noradrenergic blocker on locomotion of high decerebrate cats.

    Science.gov (United States)

    Delivet-Mongrain, Hugo; Leblond, Hugues; Rossignol, Serge

    2008-08-01

    Previous studies demonstrated that neuronal networks located in midlumbar segments (L3-L4) are critical for the expression of locomotion in cats following complete spinalization. In the present study the importance of several thoracolumbar segments (T8-L7) for the generation of spontaneous hindlimb locomotion in decerebrate cats was evaluated. Experiments were performed in high decerebrate cats (n = 18) walking spontaneously. Yohimbine, an alpha2-noradrenergic antagonist, was microinjected intraspinally in various thoracolumbar segments. Locomotor performance was evaluated with kinematics and electromyographic (EMG) recordings before and after each injection. When and if spontaneous locomotion (SL) was abolished, skin or perineal stimuli (exteroceptive stimuli) were used to trigger locomotion (exteroceptive-induced locomotion [EL]). Yohimbine injections at L3 or L4 completely inhibited SL and EL. In contrast, injections at T8 did not interfere with SL or EL. Injections at T10, T11, T12, L5, L6, and L7 inhibited SL but EL could still be evoked. Injections at T13, L1, and L2 had similar effects except that the quality of locomotion evoked by exteroceptive stimulation declined. Combined injections at T13, L1, and L2 abolished SL and EL, in contrast to injections restricted to the same individual segments. Simultaneous injections at L5, L6, and L7 also abolished SL but EL could still be induced. These results suggest that noradrenergic mechanisms in L3-L4 segments are involved in the expression of locomotion in decerebrate cats, whereas antagonizing noradrenergic inputs in individual rostral or caudal segments may alter the expression and overall quality of the locomotor pattern without abolishing locomotion.

  12. Extensor motoneurone properties are altered immediately before and during fictive locomotion in the adult decerebrate rat.

    Science.gov (United States)

    MacDonell, C W; Power, K E; Chopek, J W; Gardiner, K R; Gardiner, P F

    2015-05-15

    This study examined motoneurone properties during fictive locomotion in the adult rat for the first time. Fictive locomotion was induced via electrical stimulation of the mesencephalic locomotor region in decerebrate adult rats under neuromuscular blockade to compare basic and rhythmic motoneurone properties in antidromically identified extensor motoneurones during: (1) quiescence, before and after fictive locomotion; (2) the 'tonic' period immediately preceding locomotor-like activity, whereby the amplitude of peripheral flexor (peroneal) and extensor (tibial) nerves are increased but alternation has not yet occurred; and (3) locomotor-like episodes. Locomotion was identified by alternating flexor-extensor nerve activity, where the motoneurone either produced membrane oscillations consistent with a locomotor drive potential (LDP) or did not display membrane oscillation during alternating nerve activity. Cells producing LDPs were referred to as such, while those that did not were referred to as 'idle' motoneurones. LDP and idle motoneurones during locomotion had hyperpolarized spike threshold (Vth ; LDP: 3.8 mV; idle: 5.8 mV), decreased rheobase and an increased discharge rate (LDP: 64%; idle: 41%) during triangular ramp current injection even though the frequency-current slope was reduced by 70% and 55%, respectively. Modulation began in the tonic period immediately preceding locomotion, with a hyperpolarized Vth and reduced rheobase. Spike frequency adaptation did not occur in spiking LDPs or firing generated from sinusoidal current injection, but occurred during a sustained current pulse during locomotion. Input conductance showed no change. Results suggest motoneurone modulation occurs across the pool and is not restricted to motoneurones engaged in locomotion. © 2015 The Authors. The Journal of Physiology © 2015 The Physiological Society.

  13. Inferring Characteristics of Sensorimotor Behavior by Quantifying Dynamics of Animal Locomotion

    Science.gov (United States)

    Leung, KaWai

    Locomotion is one of the most well-studied topics in animal behavioral studies. Many fundamental and clinical research make use of the locomotion of an animal model to explore various aspects in sensorimotor behavior. In the past, most of these studies focused on population average of a specific trait due to limitation of data collection and processing power. With recent advance in computer vision and statistical modeling techniques, it is now possible to track and analyze large amounts of behavioral data. In this thesis, I present two projects that aim to infer the characteristics of sensorimotor behavior by quantifying the dynamics of locomotion of nematode Caenorhabditis elegans and fruit fly Drosophila melanogaster, shedding light on statistical dependence between sensing and behavior. In the first project, I investigate the possibility of inferring noxious sensory information from the behavior of Caenorhabditis elegans. I develop a statistical model to infer the heat stimulus level perceived by individual animals from their stereotyped escape responses after stimulation by an IR laser. The model allows quantification of analgesic-like effects of chemical agents or genetic mutations in the worm. At the same time, the method is able to differentiate perturbations of locomotion behavior that are beyond affecting the sensory system. With this model I propose experimental designs that allows statistically significant identification of analgesic-like effects. In the second project, I investigate the relationship of energy budget and stability of locomotion in determining the walking speed distribution of Drosophila melanogaster during aging. The locomotion stability at different age groups is estimated from video recordings using Floquet theory. I calculate the power consumption of different locomotion speed using a biomechanics model. In conclusion, the power consumption, not stability, predicts the locomotion speed distribution at different ages.

  14. Comparison of Over-the-Rail and Rail Yard Measurements of Diesel Locomotives.

    Science.gov (United States)

    Graver, Brandon M; Frey, H Christopher

    2015-11-03

    Locomotive prime mover engine emission rates are typically measured at steady-state for discrete throttle notches using an engine dynamometer weighted by a standard duty cycle. However, this method may not represent real-world locomotive emissions. A method for in-use measurement of passenger locomotives, using a portable emissions measurement system (PEMS), was developed to estimate duty cycle average emission rates. We conducted 48 measurements of one-way trips between Raleigh and Charlotte, NC, on 7 locomotives and 18 sets of measurements in the rail yard (RY). Real-world duty cycles differed from those used for regulatory analyses, leading to statistically significant lower cycle average NOx and HC emission rates. Compared to RY measurements, notch average NOx emission rates measured over-the-rail (OTR) at the highest two notch settings were, on average, 19% lower for four locomotives. At the highest notch, OTR CO2 emission rates were, on average, 12% lower than RY rates for five locomotives. For a more accurate representation of real-world emission rates, OTR measurements are preferred. However, using steady-state notch average RY emission rates and standard duty cycles may be tolerable for some applications. OTR versus RY cycle average emission rates typically differed by less than 10%.

  15. Locomotion Strategy Selection for a Hybrid Mobile Robot Using Time of Flight Depth Sensor

    Directory of Open Access Journals (Sweden)

    Artur Saudabayev

    2015-01-01

    Full Text Available The performance of a mobile robot can be improved by utilizing different locomotion modes in various terrain conditions. This creates the necessity of having a supervisory controller capable of recognizing different terrain types and changing the locomotion mode of the robot accordingly. This work focuses on the locomotion strategy selection problem for a hybrid legged wheeled mobile robot. Supervisory control of the robot is accomplished by the terrain recognizer, which classifies depth images obtained from a commercial time of flight depth sensor and selects different locomotion mode subcontrollers based on the recognized terrain type. For the terrain recognizer, a database is generated consisting of five terrain classes (Uneven, Level Ground, Stair Up, Stair Down, and Nontraversable. Depth images are enhanced using confidence map based filtering. The accuracy of the terrain classification using Support Vector Machine classifier for the testing database in five-class terrain recognition problem is 97%. Real-world experiments assess the locomotion abilities of the quadruped and the capability of the terrain recognizer in real-time settings. The results of these experiments show depth images processed in real time using machine learning algorithms can be used for the supervisory control of hybrid robots with legged and wheeled locomotion capabilities.

  16. A semi-automated motion-tracking analysis of locomotion speed in the C. elegans transgenics overexpressing beta-amyloid in neurons

    Science.gov (United States)

    Machino, Kevin; Link, Christopher D.; Wang, Susan; Murakami, Hana; Murakami, Shin

    2014-01-01

    Multi-Worm Tracker (MWT) is a real-time computer vision system that can simultaneously quantify motional patterns of multiple worms. MWT provides several behavioral parameters, including analysis of accurate real-time locomotion speed in the nematode, Caenorhabditis elegans. Here, we determined locomotion speed of the Alzheimer's disease (AD) transgenic strain that over-expresses human beta-amyloid1-42 (Aβ) in the neurons. The MWT analysis showed that the AD strain logged a slower average speed than the wild type (WT) worms. The results may be consistent with the observation that the AD patients with dementia tend to show deficits in physical activities, including frequent falls. The AD strain showed reduced ability of the eggs to hatch and slowed hatching of the eggs. Thus, over-expression of Aβ in neurons causes negative effects on locomotion and hatchability. This study sheds light on new examples of detrimental effects that Aβ deposits can exhibit using C. elegans as a model system. The information gathered from this study indicates that the motion tracking analysis is a cost-effective, efficient way to assess the deficits of Aβ over-expression in the C. elegans system. PMID:25071831

  17. General scaling relations for locomotion in granular media

    Science.gov (United States)

    Slonaker, James; Motley, D. Carrington; Zhang, Qiong; Townsend, Stephen; Senatore, Carmine; Iagnemma, Karl; Kamrin, Ken

    2017-05-01

    Inspired by dynamic similarity in fluid systems, we have derived a general dimensionless form for locomotion in granular materials, which is validated in experiments and discrete element method (DEM) simulations. The form instructs how to scale size, mass, and driving parameters in order to relate dynamic behaviors of different locomotors in the same granular media. The scaling can be derived by assuming intrusion forces arise from resistive force theory or equivalently by assuming the granular material behaves as a continuum obeying a frictional yield criterion. The scalings are experimentally confirmed using pairs of wheels of various shapes and sizes under many driving conditions in a common sand bed. We discuss why the two models provide such a robust set of scaling laws even though they neglect a number of the complexities of granular rheology. Motivated by potential extraplanetary applications, the dimensionless form also implies a way to predict wheel performance in one ambient gravity based on tests in a different ambient gravity. We confirm this using DEM simulations, which show that scaling relations are satisfied over an array of driving modes even when gravity differs between scaled tests.

  18. Bristle-Bots: a model system for locomotion and swarming

    Science.gov (United States)

    Giomi, Luca; Hawley-Weld, Nico; Mahadevan, L.

    2012-02-01

    The term swarming describes the ability of a group of similarly sized organisms to move coherently in space and time. This behavior is ubiquitous among living systems: it occurs in sub-cellular systems, bacteria, insects, fish, birds, pedestrians and in general in nearly any group of individuals endowed with the ability to move and sense. Here we address the problem of the origin of collective behavior in systems of self-propelled agents whose only social capability is given by aligning contact interactions. Our model system consists of a collection of Bristle-Bots, simple automata made from a toothbrush and the vibrating device of a cellular phone. When Bristle-Bots are confined in a limited space, increasing their number drives a transition from a disordered and uncoordinated motion to an organized collective behavior. This can occur through the formation of a swirling cluster of robots or a collective dynamical arrest, according to the type of locomotion implemented in the single devices. It is possible to move between these two major regimes by adjusting a single construction parameter.

  19. Markerless 3D motion capture for animal locomotion studies

    Directory of Open Access Journals (Sweden)

    William Irvin Sellers

    2014-06-01

    Full Text Available Obtaining quantitative data describing the movements of animals is an essential step in understanding their locomotor biology. Outside the laboratory, measuring animal locomotion often relies on video-based approaches and analysis is hampered because of difficulties in calibration and often the limited availability of possible camera positions. It is also usually restricted to two dimensions, which is often an undesirable over-simplification given the essentially three-dimensional nature of many locomotor performances. In this paper we demonstrate a fully three-dimensional approach based on 3D photogrammetric reconstruction using multiple, synchronised video cameras. This approach allows full calibration based on the separation of the individual cameras and will work fully automatically with completely unmarked and undisturbed animals. As such it has the potential to revolutionise work carried out on free-ranging animals in sanctuaries and zoological gardens where ad hoc approaches are essential and access within enclosures often severely restricted. The paper demonstrates the effectiveness of video-based 3D photogrammetry with examples from primates and birds, as well as discussing the current limitations of this technique and illustrating the accuracies that can be obtained. All the software required is open source so this can be a very cost effective approach and provides a methodology of obtaining data in situations where other approaches would be completely ineffective.

  20. Mobile platform for motion capture of locomotion over long distances.

    Science.gov (United States)

    Ojeda, Lauro; Rebula, John R; Adamczyk, Peter G; Kuo, Arthur D

    2013-09-03

    Motion capture is usually performed on only a few steps of over-ground locomotion, limited by the finite sensing volume of most capture systems. This makes it difficult to evaluate walking over longer distances, or in a natural environment outside the laboratory. Here we show that motion capture may be performed relative to a mobile platform, such as a wheeled cart that is moved with the walking subject. To determine the person's absolute displacement in space, the cart's own motion must be localized. We present three localization methods and evaluate their performance. The first detects cart motion solely from the relative motion of the subject's feet during walking. The others use sensed motion of the cart's wheels to perform odometry, with and without an additional gyroscope to enhance sensitivity to turning about the vertical axis. We show that such methods are practical to implement, and with present-day sensors can yield accuracy of better than 1% over arbitrary distances. Copyright © 2013 Elsevier Ltd. All rights reserved.

  1. Modeling posture-dependent leg actuation in sagittal plane locomotion

    Energy Technology Data Exchange (ETDEWEB)

    Schmitt, J [Department of Mechanical Engineering, Oregon State University, Corvallis, OR 97331 (United States); Clark, J, E-mail: schmitjo@engr.orst.ed [Department of Mechanical Engineering, Florida State University, Tallahassee, FL 32310 (United States)

    2009-12-15

    The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety of running animals, and has served as the inspiration for an entire class of dynamic running robots. While the template models the leg dynamics by an energy-conserving spring, insects and animals have structures that dissipate, store and produce energy during a stance phase. Recent investigations into the spring-like properties of limbs, as well as animal response to drop-step perturbations, suggest that animals use their legs to manage energy storage and dissipation, and that this management is important for gait stability. In this paper, we extend our previous analysis of control of the spring loaded inverted pendulum template via changes in the leg touch-down angle to include energy variations during the stance phase. Energy variations are incorporated through leg actuation that varies the force-free leg length during the stance phase, yet maintains qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating energy and leg angle variations in this manner produces complete asymptotic stability. Drop-step perturbation simulations reveal that the control strategy is rather robust, with gaits recovering from drops of up to 30% of the nominal hip height.

  2. Mathematical modeling and simulation of aquatic and aerial animal locomotion

    Science.gov (United States)

    Hou, T. Y.; Stredie, V. G.; Wu, T. Y.

    2007-08-01

    In this paper, we investigate the locomotion of fish and birds by applying a new unsteady, flexible wing theory that takes into account the strong nonlinear dynamics semi-analytically. We also make extensive comparative study between the new approach and the modified vortex blob method inspired from Chorin's and Krasny's work. We first implement the modified vortex blob method for two examples and then discuss the numerical implementation of the nonlinear analytical mathematical model of Wu. We will demonstrate that Wu's method can capture the nonlinear effects very well by applying it to some specific cases and by comparing with the experiments available. In particular, we apply Wu's method to analyze Wagner's result for a wing abruptly undergoing an increase in incidence angle. Moreover, we study the vorticity generated by a wing in heaving, pitching and bending motion. In both cases, we show that the new method can accurately represent the vortex structure behind a flying wing and its influence on the bound vortex sheet on the wing.

  3. Flapping locomotion of a flexible wing with heaving motion

    Science.gov (United States)

    Im, Sunghyuk; Sung, Hyung Jin

    2015-11-01

    The flapping locomotion of a freely heaving flexible wing was experimentally explored in a merry-go-round equipment. Two rectangular wings were attached at the both ends of a horizontal support bar submerged in a dodecagonal water tank. The center of the support bar was connected to the vertically flapping axis which is freely rotating. This experimental apparatus generated a pure heaving motion in the vertical direction to the flapping wings in the frequency range of 0 to 5 Hz. The propulsion due to the heaving wing was expressed by a horizontally rotating speed of the support bar. The heaving motion and the rotating speed were retained with a laser displacement sensor and a rotary encoder. The rotating speed according to the heaving frequency was measured with different experimental parameters. Compared to a rigid wing, the flexible wing in the heaving motion showed a better propulsive performance in some conditions. The effects of the flexibility, the aspect ratio, and the thickness of the heaving wing on the propulsive performance were examined. This work was supported by the Creative Research Initiatives (No. 2015-001828) program of the National Research Foundation of Korea (MSIP).

  4. Free locomotion of a flexible plate near the ground

    Science.gov (United States)

    Zhang, Chengyao; Huang, Haibo; Lu, Xi-Yun

    2017-04-01

    The free locomotion of a two-dimensional flapping flexible plate near the flat ground is studied by the lattice Boltzmann method for fluid flow and a finite-element method for the plate motion. The fluid flow and plate deformation are coupled through the immersed boundary scheme. When the leading edge of the plate is forced to oscillate sinusoidally near the ground, the plate may move freely in the horizontal direction due to the fluid-structure interaction. The mechanisms underlying the ground effect are elucidated. Besides a moderate rigidity, it is found that an appropriate density ratio between the plate and surrounding fluid (M) can improve the propulsive efficiency of the plate. When M is relatively small, the lateral force is enhanced, and the input work is increased when the plate is near the ground; when M is large, the deformation of the plate is inhibited and the input work is decreased when the plate is close to the ground. Usually the closer the plate flapping is to the wall, the more efficient the propulsion is, provided that the tail of the plate would not touch the wall. On the other hand, when the plate is close enough (within a critical lowest distance), the efficiency reaches a plateau with the highest efficiency. The vortices pattern and pressure field are also analyzed to explore the mechanism. This study may shed some light on mechanism for self-propulsion of a flexible plate near the ground.

  5. Hierarchical compression of Caenorhabditis elegans locomotion reveals phenotypic differences in the organization of behaviour

    Science.gov (United States)

    2016-01-01

    Regularities in animal behaviour offer insights into the underlying organizational and functional principles of nervous systems and automated tracking provides the opportunity to extract features of behaviour directly from large-scale video data. Yet how to effectively analyse such behavioural data remains an open question. Here, we explore whether a minimum description length principle can be exploited to identify meaningful behaviours and phenotypes. We apply a dictionary compression algorithm to behavioural sequences from the nematode worm Caenorhabditis elegans freely crawling on an agar plate both with and without food and during chemotaxis. We find that the motifs identified by the compression algorithm are rare but relevant for comparisons between worms in different environments, suggesting that hierarchical compression can be a useful step in behaviour analysis. We also use compressibility as a new quantitative phenotype and find that the behaviour of wild-isolated strains of C. elegans is more compressible than that of the laboratory strain N2 as well as the majority of mutant strains examined. Importantly, in distinction to more conventional phenotypes such as overall motor activity or aggregation behaviour, the increased compressibility of wild isolates is not explained by the loss of function of the gene npr-1, which suggests that erratic locomotion is a laboratory-derived trait with a novel genetic basis. Because hierarchical compression can be applied to any sequence, we anticipate that compressibility can offer insights into the organization of behaviour in other animals including humans. PMID:27581484

  6. Hierarchical compression of Caenorhabditis elegans locomotion reveals phenotypic differences in the organization of behaviour.

    Science.gov (United States)

    Gomez-Marin, Alex; Stephens, Greg J; Brown, André E X

    2016-08-01

    Regularities in animal behaviour offer insights into the underlying organizational and functional principles of nervous systems and automated tracking provides the opportunity to extract features of behaviour directly from large-scale video data. Yet how to effectively analyse such behavioural data remains an open question. Here, we explore whether a minimum description length principle can be exploited to identify meaningful behaviours and phenotypes. We apply a dictionary compression algorithm to behavioural sequences from the nematode worm Caenorhabditis elegans freely crawling on an agar plate both with and without food and during chemotaxis. We find that the motifs identified by the compression algorithm are rare but relevant for comparisons between worms in different environments, suggesting that hierarchical compression can be a useful step in behaviour analysis. We also use compressibility as a new quantitative phenotype and find that the behaviour of wild-isolated strains of C. elegans is more compressible than that of the laboratory strain N2 as well as the majority of mutant strains examined. Importantly, in distinction to more conventional phenotypes such as overall motor activity or aggregation behaviour, the increased compressibility of wild isolates is not explained by the loss of function of the gene npr-1, which suggests that erratic locomotion is a laboratory-derived trait with a novel genetic basis. Because hierarchical compression can be applied to any sequence, we anticipate that compressibility can offer insights into the organization of behaviour in other animals including humans. © 2016 The Authors.

  7. Full-scale locomotive dynamic crash testing and correlations : C-39 type locomotive colliding with a loaded hopper car (test 7).

    Science.gov (United States)

    2011-09-01

    This report presents the results of a locomotive and three loaded hopper car consist traveling at 29 miles per hour colliding with a stationary consist of 35 loaded hopper cars. The details of test instrumentation, LS-DYNA finite element simulation, ...

  8. Biomechanics of the Treadmill Locomotion on the International Space Station

    Science.gov (United States)

    DeWitt, John; Cromwell, R. L.; Ploutz-Snyder, L. L.

    2014-01-01

    Exercise prescriptions completed by International Space Station (ISS) crewmembers are typically based upon evidence obtained during ground-based investigations, with the assumption that the results of long-term training in weightlessness will be similar to that attained in normal gravity. Coupled with this supposition are the assumptions that exercise motions and external loading are also similar between gravitational environments. Normal control of locomotion is dependent upon learning patterns of muscular activation and requires continual monitoring of internal and external sensory input [1]. Internal sensory input includes signals that may be dependent on or independent of gravity. Bernstein hypothesized that movement strategy planning and execution must include the consideration of segmental weights and inertia [2]. Studies of arm movements in microgravity showed that individuals tend to make errors but that compensation strategies result in adaptations, suggesting that control mechanisms must include peripheral information [3-5]. To date, however, there have been no studies examining a gross motor activity such as running in weightlessness other than using microgravity analogs [6-8]. The objective of this evaluation was to collect biomechanical data from crewmembers during treadmill exercise before and during flight. The goal was to determine locomotive biomechanics similarities and differences between normal and weightless environments. The data will be used to optimize future exercise prescriptions. This project addresses the Critical Path Roadmap risks 1 (Accelerated Bone Loss and Fracture Risk) and 11 (Reduced Muscle Mass, Strength, and Endurance). Data were collected from 7 crewmembers before flight and during their ISS missions. Before launch, crewmembers performed a single data collection session at the NASA Johnson Space Center. Three-dimensional motion capture data were collected for 30 s at speeds ranging from 1.5 to 9.5 mph in 0.5 mph increments

  9. CXCR4-SDF-1 signalling, locomotion, chemotaxis and adhesion.

    Science.gov (United States)

    Kucia, Magda; Jankowski, Kacper; Reca, Ryan; Wysoczynski, Marcin; Bandura, Laura; Allendorf, Daniel J; Zhang, Jin; Ratajczak, Janina; Ratajczak, Mariusz Z

    2004-03-01

    Chemokines, small pro-inflammatory chemoattractant cytokines, that bind to specific G-protein-coupled seven-span transmembrane receptors present on plasma membranes of target cells are the major regulators of cell trafficking. In addition some chemokines have been reported to modulate cell survival and growth. Moreover, compelling evidence is accumulating that cancer cells may employ several mechanisms involving chemokine-chemokine receptor axes during their metastasis that also regulate the trafficking of normal cells. Of all the chemokines, stromal-derived factor-1 (SDF-1), an alpha-chemokine that binds to G-protein-coupled CXCR4, plays an important and unique role in the regulation of stem/progenitor cell trafficking. First, SDF-1 regulates the trafficking of CXCR4+ haemato/lymphopoietic cells, their homing/retention in major haemato/lymphopoietic organs and accumulation of CXCR4+ immune cells in tissues affected by inflammation. Second, CXCR4 plays an essential role in the trafficking of other tissue/organ specific stem/progenitor cells expressing CXCR4 on their surface, e.g., during embryo/organogenesis and tissue/organ regeneration. Third, since CXCR4 is expressed on several tumour cells, these CXCR4 positive tumour cells may metastasize to the organs that secrete/express SDF-1 (e.g., bones, lymph nodes, lung and liver). SDF-1 exerts pleiotropic effects regulating processes essential to tumour metastasis such as locomotion of malignant cells, their chemoattraction and adhesion, as well as plays an important role in tumour vascularization. This implies that new therapeutic strategies aimed at blocking the SDF-1-CXCR4 axis could have important applications in the clinic by modulating the trafficking of haemato/lymphopoietic cells and inhibiting the metastatic behaviour of tumour cells as well. In this review, we focus on a role of the SDF-1-CXCR4 axis in regulating the metastatic behaviour of tumour cells and discuss the molecular mechanisms that are essential

  10. Performance analysis of locomotive park of the transport service of rolling mills metallurgical enterprises

    Directory of Open Access Journals (Sweden)

    Ганна Вікторовна Маслак

    2017-07-01

    Full Text Available In terms of market economy it is highly important to implement new transport and energy-saving technologies into industrial enterprises and industrial objects’ workflow. And the main point here is employment of traction means which secure considerable economy in transport costs and, first and foremost, energy consumption. The issue of transport service of the rolling shop at a metallurgical enterprise is of high importance from the point of view of railway traction means utilization effectiveness, i.e. locomotives utilization within the process of shunting (which is carried out at railway tracks serving loading and unloading sites of the rolling shop. The article assesses operational indicators of locomotives’ performance by the time, power and adhesion weight within serving transport-and-handling complex of rolling shop at metallurgical enterprise. With this purpose transport technology of transport-and-handling complex of rolling shop is taken into consideration. In order to make the performance assessment of the locomotive fleet operation, algorithm of research has been developed. In accordance with this algorithm, operational parameters for TGM-4 locomotives exploitation have been defined (the data is provided for locomotive operation during a shift.Adhesion weight and locomotive power calculations have been made for work and after-hours runs. The analysis shows the level of inefficiency of locomotives use. One of the main ways of saving these costs is substitution of high-powered locomotives with energy-saving traction means. This issue can be solved at the expense of traction means based on wheeled tractors or self-propelled chassis which can be used either on a road or on a railway track. In accordance with operational conditions, qualification of tractive effort and other parameters, the effectiveness of traction means utilization at railway- and auto-transportations significantly increases

  11. The effects of dissolved oxygen levels on the metabolic interaction between digestion and locomotion in Cyprinid fishes with different locomotive and digestive performances.

    Science.gov (United States)

    Zhang, Wei; Cao, Zhen-Dong; Fu, Shi-Jian

    2012-07-01

    To test whether the effects of water oxygen concentration ([O(2)]) on the metabolic interaction between locomotion and digestion differ between fish species with different locomotive and digestive behaviours in normoxia, we investigated the swimming performance of fasted and fed fish at water [O(2)] of 1, 2 and 8 (normoxia) mg L(-1) (2.5, 5 and 20 kPa) at 25°C in three juvenile Cyprinidae fish species: goldfish (Carassius auratus), common carp (Cyprinus carpio) and qingbo (Spinibarbus sinensis). Digestion, taxon and water [O(2)] all had significant effects on the pre-exercise oxygen consumption rate [Formula: see text] and the swimming performance (P water [O(2)], and its active oxygen consumption rate [Formula: see text] and critical swimming speed (U (crit)) decreased the most with decreases in water [O(2)]. Qingbo exhibited a locomotion-priority metabolic mode at all three water [O(2)]. Digestion was sacrificed to locomotion in a postprandial swimming situation, but fed qingbo could not maintain their U (crit) at water [O(2)] of 2 and 1 mg L(-1). Goldfish showed the lowest swimming performance and the highest feeding [Formula: see text] at the saturated water [O(2)]. They exhibited a digestion-priority metabolic mode at high water [O(2)]. However, with a decrease in water [O(2)], the feeding [Formula: see text] decreased more acutely than the respiratory capacity; thus, digestion and locomotion performed independently in a postprandial swimming situation (i.e., an additive metabolic mode) at a water [O(2)] of 1 mg L(-1). The common carp showed moderate and balanced swimming performance and feeding [Formula: see text] at the saturated water [O(2)], and exhibited an additive metabolic mode at all 3 water [O(2)], because digestion, swimming and respiratory capacities decreased in parallel with the decrease in water [O(2)].

  12. On The Evolution of Human Jaws and Teeth: A Review

    Directory of Open Access Journals (Sweden)

    Serhat Yalcin

    2011-06-01

    Full Text Available The jaws and teeth of Homo sapiens have evolved, from the last common ancestor of chimpanzee and men to their current form. Many factors such as the foods eaten and the processing of foods by fire and tools have effected this evolution course. The evolution of the masticatory complex is related to other anatomical features such as brain size and bipedal posture, and leads to important proceedings like the formation of speech and language. In this review, the evolution of human jaws and teeth and its impact on the general course of human evolution is discussed.

  13. Simplified and advanced modelling of traction control systems of heavy-haul locomotives

    Science.gov (United States)

    Spiryagin, Maksym; Wolfs, Peter; Szanto, Frank; Cole, Colin

    2015-05-01

    Improving tractive effort is a very complex task in locomotive design. It requires the development of not only mechanical systems but also power systems, traction machines and traction algorithms. At the initial design stage, traction algorithms can be verified by means of a simulation approach. A simple single wheelset simulation approach is not sufficient because all locomotive dynamics are not fully taken into consideration. Given that many traction control strategies exist, the best solution is to use more advanced approaches for such studies. This paper describes the modelling of a locomotive with a bogie traction control strategy based on a co-simulation approach in order to deliver more accurate results. The simplified and advanced modelling approaches of a locomotive electric power system are compared in this paper in order to answer a fundamental question. What level of modelling complexity is necessary for the investigation of the dynamic behaviours of a heavy-haul locomotive running under traction? The simulation results obtained provide some recommendations on simulation processes and the further implementation of advanced and simplified modelling approaches.

  14. Limb and Trunk Mechanisms for Balance Control during Locomotion in Quadrupeds

    Science.gov (United States)

    Musienko, Pavel E.; Deliagina, Tatiana G.; Gerasimenko, Yury P.; Orlovsky, Grigori N.

    2014-01-01

    In quadrupeds, the most critical aspect of postural control during locomotion is lateral stability. However, neural mechanisms underlying lateral stability are poorly understood. Here, we studied lateral stability in decerebrate cats walking on a treadmill with their hindlimbs. Two destabilizing factors were used: a brief lateral push of the cat and a sustained lateral tilt of the treadmill. It was found that the push caused considerable trunk bending and twisting, as well as changes in the stepping pattern, but did not lead to falling. Due to postural reactions, locomotion with normal body configuration was restored in a few steps. It was also found that the decerebrate cat could keep balance during locomotion on the laterally tilted treadmill. This postural adaptation was based on the transformation of the symmetrical locomotor pattern into an asymmetrical one, with different functional lengths of the right and left limbs. Then, we analyzed limb and trunk neural mechanisms contributing to postural control during locomotion. It was found that one of the limb mechanisms operates in the transfer phase and secures a standard (relative to the trunk) position for limb landing. Two other limb mechanisms operate in the stance phase; they counteract distortions of the locomotor pattern by regulating the limb stiffness. The trunk configuration mechanism controls the body shape on the basis of sensory information coming from trunk afferents. We suggest that postural reactions generated by these four mechanisms are integrated, thus forming a response of the whole system to perturbation of balance during locomotion. PMID:24741060

  15. Locomotion and Body Shape Changes of Metabolically Different C.elegans in Fluids with Varying Viscosities

    Science.gov (United States)

    Wong, Rachel; Brenowitz, Noah; Shen, Amy

    2010-11-01

    Caenorhabditis elegans (C.elegans) are soil dwelling roundworms that have served as model organisms for studying a multitude of biological and engineering phenomena. On agar, the locomotion of the worm is sinusoidal, while in water, the swimming motion of the worm appears more episodic. The efficiency of the worm locomotion is tested by placing the worm in four fluids with varying viscosities. We quantify the locomotion pattern variations by categorizing the swimming kinematics and shapes of the C.elegans. The locomotion of two mutants C.elegans and a control C.elegans was tested: daf2, nhr49, and N2 Wildtype. The metabolic effects of the worms are evaluated by focusing on the forward swimming velocity, wavelength, amplitude and swimming frequency were compared. Using these measured values, we were able to quantify the efficiency, the speed of propagation of the wave along the body resulting in forward movement (wave velocity), and transverse velocity, defined as the amplitude times the frequency, of the worm locomotion. It was shown that C.elegans has a preferential swimming shape that adapts as the environment changes regardless of its efficiency.

  16. Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach

    Science.gov (United States)

    Aoi, Shinya; Tanaka, Takahiro; Fujiki, Soichiro; Funato, Tetsuro; Senda, Kei; Tsuchiya, Kazuo

    2016-07-01

    Multilegged locomotion improves the mobility of terrestrial animals and artifacts. Using many legs has advantages, such as the ability to avoid falling and to tolerate leg malfunction. However, many intrinsic degrees of freedom make the motion planning and control difficult, and many contact legs can impede the maneuverability during locomotion. The underlying mechanism for generating agile locomotion using many legs remains unclear from biological and engineering viewpoints. The present study used a centipede-like multilegged robot composed of six body segments and twelve legs. The body segments are passively connected through yaw joints with torsional springs. The dynamic stability of the robot walking in a straight line changes through a supercritical Hopf bifurcation due to the body axis flexibility. We focused on a quick turning task of the robot and quantitatively investigated the relationship between stability and maneuverability in multilegged locomotion by using a simple control strategy. Our experimental results show that the straight walk instability does help the turning maneuver. We discuss the importance and relevance of our findings for biological systems and propose a design principle for a simple control scheme to create maneuverable locomotion of multilegged robots.

  17. BASIC REQUIREMENTS AND PRINCIPLES OF CREATION ONBOARD DIAGNOSTIC SYSTEMS OF LOCOMOTIVES

    Directory of Open Access Journals (Sweden)

    YE. B. Bodnar

    2014-01-01

    Full Text Available Purpose. Justification of the basic principles of construction on-board diagnostic systems locomotive and choose from high-performance and reliable interface for the exchange of information on-board diagnostic systems. Methodology. Problem of getting correct and adequate information about the technical state of the technical object is solved with the use and compliance of the fundamental principles of modern computers. Findings. High-performance and reliable interface to exchange messages between different units of management systems and on-board diagnostic systems was selected. Properties which are required high data rate, high reliability and low error rate of information transfer. Originality. The main principles of building on-board diagnostic systems which ensure compliance locomotives accumulation of accurate and adequate information about the technical condition which is necessary to organize its maintenance and repair were formulated. Practical value. Diagnostic equipment designed with use of requirements set forth above and principles will affect the technical condition of the engine, increasing the likelihood of uptime, productivity and locomotive repair teams. The introduction of on-board diagnostic systems and stationary locomotives will significantly improve the system and optimize their maintenance costs of maintenance and repairs. Besides, information about diagnostic parameters changing accumulated with the aim of airborne systems will be used in order to create mathematical models that, in turn, will organize a system of maintenance and predict the technical condition of locomotives

  18. The motor system plays the violin: a musical metaphor inferred from the oscillatory activity of the α-motoneuron pools during locomotion.

    Science.gov (United States)

    Chiovetto, Enrico

    2011-04-01

    Despite substantial advances in the field, particularly resulting from physiological studies in animals, the neural mechanisms underlying the generation of many motor behaviors in humans remain unclear. A recent study (Cappellini G et al. J Neurophysiol 104: 3064-3073, 2010) sheds more light on this topic. Like the string of a violin, the α-motoneuron pools in the spinal cord during locomotion show continuous and oscillatory patterns of activation. In this report, the implications and relevance of this finding are discussed in a general framework that includes neurophysiology, optimal control theory, and robotics.

  19. Locomotion Efficiency Optimization of Biologically Inspired Snake Robots

    Directory of Open Access Journals (Sweden)

    Eleni Kelasidi

    2018-01-01

    Full Text Available Snake robots constitute bio-inspired solutions that have been studied due to their ability to move in challenging environments where other types of robots, such as wheeled or legged robots, usually fail. In this paper, we consider both land-based and swimming snake robots. One of the principal concerns of the bio-inspired snake robots is to increase the motion efficiency in terms of the forward speed by improving the locomotion methods. Furthermore, energy efficiency becomes a crucial challenge for this type of robots due to the importance of long-term autonomy of these systems. In this paper, we take into account both the minimization of the power consumption and the maximization of the achieved forward velocity in order to investigate the optimal gait parameters for bio-inspired snake robots using lateral undulation and eel-like motion patterns. We furthermore consider possible negative work effects in the calculation of average power consumption of underwater snake robots. To solve the multi-objective optimization problem, we propose transforming the two objective functions into a single one using a weighted-sum method. For different set of weight factors, Particle Swarm Optimization is applied and a set of optimal points is consequently obtained. Pareto fronts or trade-off curves are illustrated for both land-based and swimming snake robots with different numbers of links. Pareto fronts represent trade-offs between the objective functions. For example, how increasing the forward velocity results in increasing power consumption. Therefore, these curves are a very useful tool for the control and design of snake robots. The trade-off curve thus constitutes a very useful tool for both the control and design of bio-inspired snake robots. In particular, the operators or designers of bio-inspired snake robots can choose a Pareto optimal point based on the trade-off curve, given the preferred number of links on the robot. The optimal gait parameters

  20. Mechatronics by Analogy and Application to Legged Locomotion

    Science.gov (United States)

    Ragusila, Victor

    determined, the original mechanism is optimized such that its dynamic behaviour is analogous. It is shown that, if this analogy is achieved, the control system designed based on the simpler mechanisms can be directly implemented to the more complex system, and their dynamic behaviours are close enough for the system performance to be effectively the same. Finally it is shown that, for the employed objective of fast legged locomotion, the proposed methodology achieves a better design than Reduction-by-Feedback, a competing methodology that uses control layers to simplify the dynamics of the system.