Decoding natural reach-and-grasp actions from human EEG

Science.gov (United States)

Schwarz, Andreas; Ofner, Patrick; Pereira, Joana; Ioana Sburlea, Andreea; Müller-Putz, Gernot R.

2018-02-01

Objective. Despite the high number of degrees of freedom of the human hand, most actions of daily life can be executed incorporating only palmar, pincer and lateral grasp. In this study we attempt to discriminate these three different executed reach-and-grasp actions utilizing their EEG neural correlates. Approach. In a cue-guided experiment, 15 healthy individuals were asked to perform these actions using daily life objects. We recorded 72 trials for each reach-and-grasp condition and from a no-movement condition. Main results. Using low-frequency time domain features from 0.3 to 3 Hz, we achieved binary classification accuracies of 72.4%, STD  ±  5.8% between grasp types, for grasps versus no-movement condition peak performances of 93.5%, STD  ±  4.6% could be reached. In an offline multiclass classification scenario which incorporated not only all reach-and-grasp actions but also the no-movement condition, the highest performance could be reached using a window of 1000 ms for feature extraction. Classification performance peaked at 65.9%, STD  ±  8.1%. Underlying neural correlates of the reach-and-grasp actions, investigated over the primary motor cortex, showed significant differences starting from approximately 800 ms to 1200 ms after the movement onset which is also the same time frame where classification performance reached its maximum. Significance. We could show that it is possible to discriminate three executed reach-and-grasp actions prominent in people’s everyday use from non-invasive EEG. Underlying neural correlates showed significant differences between all tested conditions. These findings will eventually contribute to our attempt of controlling a neuroprosthesis in a natural and intuitive way, which could ultimately benefit motor impaired end users in their daily life actions.

Scale-Dependent Grasp

OpenAIRE

Kaneko, Makoto; Shirai, Tatsuya; Tsuji, Toshio

2000-01-01

This paper discusses the scale-dependent grasp.Suppose that a human approaches an object initially placed on atable and finally achieves an enveloping grasp. Under such initialand final conditions, he (or she) unconsciously changes the graspstrategy according to the size of objects, even though they havesimilar geometry. We call the grasp planning the scale-dependentgrasp. We find that grasp patterns are also changed according tothe surface friction and the geometry of cross section in additi...

Patterns of muscle activity underlying object-specific grasp by the macaque monkey.

Science.gov (United States)

Brochier, T; Spinks, R L; Umilta, M A; Lemon, R N

2004-09-01

During object grasp, a coordinated activation of distal muscles is required to shape the hand in relation to the physical properties of the object. Despite the fundamental importance of the grasping action, little is known of the muscular activation patterns that allow objects of different sizes and shapes to be grasped. In a study of two adult macaque monkeys, we investigated whether we could distinguish between EMG activation patterns associated with grasp of 12 differently shaped objects, chosen to evoke a wide range of grasping postures. Each object was mounted on a horizontal shuttle held by a weak spring (load force 1-2 N). Objects were located in separate sectors of a "carousel," and inter-trial rotation of the carousel allowed sequential presentation of the objects in pseudorandom order. EMG activity from 10 to 12 digit, hand, and arm muscles was recorded using chronically implanted electrodes. We show that the grasp of different objects was characterized by complex but distinctive patterns of EMG activation. Cluster analysis shows that these object-related EMG patterns were specific and consistent enough to identify the object unequivocally from the EMG recordings alone. EMG-based object identification required a minimum of six EMGs from simultaneously recorded muscles. EMG patterns were consistent across recording sessions in a given monkey but showed some differences between animals. These results identify the specific patterns of activity required to achieve distinct hand postures for grasping, and they open the way to our understanding of how these patterns are generated by the central motor network.

Interactions between posture and locomotion: motor patterns in humans walking with bent posture versus erect posture.

Science.gov (United States)

Grasso, R; Zago, M; Lacquaniti, F

2000-01-01

Human erect locomotion is unique among living primates. Evolution selected specific biomechanical features that make human locomotion mechanically efficient. These features are matched by the motor patterns generated in the CNS. What happens when humans walk with bent postures? Are normal motor patterns of erect locomotion maintained or completely reorganized? Five healthy volunteers walked straight and forward at different speeds in three different postures (regular, knee-flexed, and knee- and trunk-flexed) while their motion, ground reaction forces, and electromyographic (EMG) activity were recorded. The three postures imply large differences in the position of the center of body mass relative to the body segments. The elevation angles of the trunk, pelvis, and lower limb segments relative to the vertical in the sagittal plane, the ground reaction forces and the rectified EMGs were analyzed over the gait cycle. The waveforms of the elevation angles along the gait cycle remained essentially unchanged irrespective of the adopted postures. The first two harmonics of these kinematic waveforms explain >95% of their variance. The phase shift but not the amplitude ratio between the first harmonic of the elevation angle waveforms of adjacent pairs was affected systematically by changes in posture. Thigh, shank, and foot angles covaried close to a plane in all conditions, but the plane orientation was systematically different in bent versus erect locomotion. This was explained by the changes in the temporal coupling among the three segments. For walking speeds >1 m s(-1), the plane orientation of bent locomotion indicates a much lower mechanical efficiency relative to erect locomotion. Ground reaction forces differed prominently in bent versus erect posture displaying characteristics intermediate between those typical of walking and those of running. Mean EMG activity was greater in bent postures for all recorded muscles independent of the functional role. The waveforms

Short-Term Plasticity of the Visuomotor Map during Grasping Movements in Humans

Science.gov (United States)

Safstrom, Daniel; Edin, Benoni B.

2005-01-01

During visually guided grasping movements, visual information is transformed into motor commands. This transformation is known as the "visuomotor map." To investigate limitations in the short-term plasticity of the visuomotor map in normal humans, we studied the maximum grip aperture (MGA) during the reaching phase while subjects grasped objects…

Reach–to-grasp movements in macaca fascicularis monkeys: the Isochrony Principle at work

Directory of Open Access Journals (Sweden)

Luisa eSartori

2013-03-01

Full Text Available Humans show a spontaneous tendency to increase the velocity of their movements depending on the linear extent of their trajectory in order to keep execution time approximately constant. Termed the isochrony principle, this compensatory mechanism refers to the observation that the velocity of voluntary movements increases proportionally with their linear extension. Although there is a wealth of psychophysical data regarding isochrony in humans, there is none regarding non-human primates. The present study attempts to fill that gap by investigating reach-to-grasp movement kinematics in free-ranging macaques. Video footage of monkeys grasping objects located at different distances was analyzed frame-by-frame using digitalization techniques. The amplitude of arm peak velocity was found to be correlated with the distance to be covered, and total movement duration remained invariant although target distances varied. Like in humans, the ‘isochrony principle’ seems to be operative as there is a gearing down/up of movement velocity that is proportional to the distance to be covered in order to allow for a relatively constant movement duration. Based on a centrally generated temporal template, this mode of motor programming could be functional in macaques given the high speed and great instability of posture and joint kinematics characterizing their actions. The data presented here take research in the field of comparative motor control a step forward as they are based on precise measurements of spontaneous grasping movements by animals living/acting in their natural environment.

Reach-to-grasp movements in Macaca fascicularis monkeys: the Isochrony Principle at work

Science.gov (United States)

Sartori, Luisa; Camperio-Ciani, Andrea; Bulgheroni, Maria; Castiello, Umberto

2013-01-01

Humans show a spontaneous tendency to increase the velocity of their movements depending on the linear extent of their trajectory in order to keep execution time approximately constant. Termed the isochrony principle, this compensatory mechanism refers to the observation that the velocity of voluntary movements increases proportionally with their linear extension. Although there is a wealth of psychophysical data regarding isochrony in humans, there is none regarding non-human primates. The present study attempts to fill that gap by investigating reach-to-grasp movement kinematics in free-ranging macaques. Video footage of monkeys grasping objects located at different distances was analyzed frame-by-frame using digitalization techniques. The amplitude of arm peak velocity was found to be correlated with the distance to be covered, and total movement duration remained invariant although target distances varied. Like in humans, the “isochrony principle” seems to be operative as there is a gearing down/up of movement velocity that is proportional to the distance to be covered in order to allow for a relatively constant movement duration. Based on a centrally generated temporal template, this mode of motor programming could be functional in macaques given the high speed and great instability of posture and joint kinematics characterizing their actions. The data presented here take research in the field of comparative motor control a step forward as they are based on precise measurements of spontaneous grasping movements by animals living/acting in their natural environment. PMID:23658547

Human Posture and Movement Prediction based on Musculoskeletal Modeling

DEFF Research Database (Denmark)

Farahani, Saeed Davoudabadi

2014-01-01

Abstract This thesis explores an optimization-based formulation, so-called inverse-inverse dynamics, for the prediction of human posture and motion dynamics performing various tasks. It is explained how this technique enables us to predict natural kinematic and kinetic patterns for human posture...... and motion using AnyBody Modeling System (AMS). AMS uses inverse dynamics to analyze musculoskeletal systems and is, therefore, limited by its dependency on input kinematics. We propose to alleviate this dependency by assuming that voluntary postures and movement strategies in humans are guided by a desire...... expenditure, joint forces and other physiological properties derived from the detailed musculoskeletal analysis. Several attempts have been made to uncover the principles underlying motion control strategies in the literature. In case of some movements, like human squat jumping, there is almost no doubt...

Human grasping database for activities of daily living with depth, color and kinematic data streams.

Science.gov (United States)

Saudabayev, Artur; Rysbek, Zhanibek; Khassenova, Raykhan; Varol, Huseyin Atakan

2018-05-29

This paper presents a grasping database collected from multiple human subjects for activities of daily living in unstructured environments. The main strength of this database is the use of three different sensing modalities: color images from a head-mounted action camera, distance data from a depth sensor on the dominant arm and upper body kinematic data acquired from an inertial motion capture suit. 3826 grasps were identified in the data collected during 9-hours of experiments. The grasps were grouped according to a hierarchical taxonomy into 35 different grasp types. The database contains information related to each grasp and associated sensor data acquired from the three sensor modalities. We also provide our data annotation software written in Matlab as an open-source tool. The size of the database is 172 GB. We believe this database can be used as a stepping stone to develop big data and machine learning techniques for grasping and manipulation with potential applications in rehabilitation robotics and intelligent automation.

Human Grasp Assist Device With Exoskeleton

Science.gov (United States)

Bergelin, Bryan J (Inventor); Ihrke, Chris A. (Inventor); Davis, Donald R. (Inventor); Linn, Douglas Martin (Inventor); Bridgwater, Lyndon B. J. (Inventor)

2014-01-01

A grasp assist system includes a glove, actuator assembly, and controller. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. Phalange rings are positioned with respect to the digit. A flexible tendon is connected at one end to one of the rings and is routed through the remaining rings. An exoskeleton positioned with respect to the digit includes hinged interconnecting members each connected to a corresponding ring, and/or a single piece of slotted material. The actuator assembly is connected to another end of the tendon. The controller calculates a tensile force in response to the measured grasping force, and commands the tensile force from the actuator assembly to thereby pull on the tendon. The exoskeleton offloads some of the tensile force from the operator's finger to the glove.

[Research on respiration course of human at different postures by electrical impedance tomography].

Science.gov (United States)

Chen, Xiaoyan; Wu, Jun; Wang, Huaxiang; Li, Da

2010-10-01

In this paper, the respiration courses of human at different postures are reconstructed by electrical impedance tomography (EIT). Conjugate gradient least squares (CGLS) algorithm is applied to reconstruct the resistivity distribution during respiration courses, and the EIT images taken from human at flat lying, left lying, right lying, sitting and prone postures are reconstructed and compared. The relative changes of the resistivity in region of interest (ROI) are analyzed to evidence the influences caused by different postures. Results show that the changes in postures are the most influential factors for the reconstructions, and the EIT images vary with the postures. In human at flat-lying posture, the left and right lungs have larger pulmonary ventilation volume simultaneously, and the EIT-measured data are of lower variability.

Compensatory motor control after stroke: an alternative joint strategy for object-dependent shaping of hand posture.

Science.gov (United States)

Raghavan, Preeti; Santello, Marco; Gordon, Andrew M; Krakauer, John W

2010-06-01

Efficient grasping requires planned and accurate coordination of finger movements to approximate the shape of an object before contact. In healthy subjects, hand shaping is known to occur early in reach under predominantly feedforward control. In patients with hemiparesis after stroke, execution of coordinated digit motion during grasping is impaired as a result of damage to the corticospinal tract. The question addressed here is whether patients with hemiparesis are able to compensate for their execution deficit with a qualitatively different grasp strategy that still allows them to differentiate hand posture to object shape. Subjects grasped a rectangular, concave, and convex object while wearing an instrumented glove. Reach-to-grasp was divided into three phases based on wrist kinematics: reach acceleration (reach onset to peak horizontal wrist velocity), reach deceleration (peak horizontal wrist velocity to reach offset), and grasp (reach offset to lift-off). Patients showed reduced finger abduction, proximal interphalangeal joint (PIP) flexion, and metacarpophalangeal joint (MCP) extension at object grasp across all three shapes compared with controls; however, they were able to partially differentiate hand posture for the convex and concave shapes using a compensatory strategy that involved increased MCP flexion rather than the PIP flexion seen in controls. Interestingly, shape-specific hand postures did not unfold initially during reach acceleration as seen in controls, but instead evolved later during reach deceleration, which suggests increased reliance on sensory feedback. These results indicate that kinematic analysis can identify and quantify within-limb compensatory motor control strategies after stroke. From a clinical perspective, quantitative study of compensation is important to better understand the process of recovery from brain injury. From a motor control perspective, compensation can be considered a model for how joint redundancy is exploited

Recognition of grasp types through principal components of DWT based EMG features.

Science.gov (United States)

Kakoty, Nayan M; Hazarika, Shyamanta M

2011-01-01

With the advancement in machine learning and signal processing techniques, electromyogram (EMG) signals have increasingly gained importance in man-machine interaction. Multifingered hand prostheses using surface EMG for control has appeared in the market. However, EMG based control is still rudimentary, being limited to a few hand postures based on higher number of EMG channels. Moreover, control is non-intuitive, in the sense that the user is required to learn to associate muscle remnants actions to unrelated posture of the prosthesis. Herein lies the promise of a low channel EMG based grasp classification architecture for development of an embedded intelligent prosthetic controller. This paper reports classification of six grasp types used during 70% of daily living activities based on two channel forearm EMG. A feature vector through principal component analysis of discrete wavelet transform coefficients based features of the EMG signal is derived. Classification is through radial basis function kernel based support vector machine following preprocessing and maximum voluntary contraction normalization of EMG signals. 10-fold cross validation is done. We have achieved an average recognition rate of 97.5%. © 2011 IEEE

A fingertip force prediction model for grasp patterns characterised from the chaotic behaviour of EEG.

Science.gov (United States)

Roy, Rinku; Sikdar, Debdeep; Mahadevappa, Manjunatha; Kumar, C S

2018-05-19

A stable grasp is attained through appropriate hand preshaping and precise fingertip forces. Here, we have proposed a method to decode grasp patterns from motor imagery and subsequent fingertip force estimation model with a slippage avoidance strategy. We have developed a feature-based classification of electroencephalography (EEG) associated with imagination of the grasping postures. Chaotic behaviour of EEG for different grasping patterns has been utilised to capture the dynamics of associated motor activities. We have computed correlation dimension (CD) as the feature and classified with "one against one" multiclass support vector machine (SVM) to discriminate between different grasping patterns. The result of the analysis showed varying classification accuracies at different subband levels. Broad categories of grasping patterns, namely, power grasp and precision grasp, were classified at a 96.0% accuracy rate in the alpha subband. Furthermore, power grasp subtypes were classified with an accuracy of 97.2% in the upper beta subband, whereas precision grasp subtypes showed relatively lower 75.0% accuracy in the alpha subband. Following assessment of fingertip force distributions while grasping, a nonlinear autoregressive (NAR) model with proper prediction of fingertip forces was proposed for each grasp pattern. A slippage detection strategy has been incorporated with automatic recalibration of the regripping force. Intention of each grasp pattern associated with corresponding fingertip force model was virtualised in this work. This integrated system can be utilised as the control strategy for prosthetic hand in the future. The model to virtualise motor imagery based fingertip force prediction with inherent slippage correction for different grasp types ᅟ.

Grasp Densities for Grasp Refinement in Industrial Bin Picking

DEFF Research Database (Denmark)

Hupfauf, Benedikt; Hahn, Heiko; Bodenhagen, Leon

in terms of object-relative gripper pose, can be learned from empirical experience, and allow the automatic choice of optimal grasps in a given scene context (object pose, workspace constraints, etc.). We will show grasp densities extracted from empirical data in a real industrial bin picking context...... generated in industrial bin-picking for grasp learning. This aim is achieved by using the novel concept of grasp densities (Detry et al., 2010). Grasp densities can describe the full variety of grasps that apply to specific objects using specific grippers. They represent the likelihood of grasp success...

Human Posture Identification Using a MIMO Array

Directory of Open Access Journals (Sweden)

Dai Sasakawa

2018-03-01

Full Text Available The elderly are constantly in danger of falling and injuring themselves without anyone realizing it. A safety-monitoring system based on microwaves can ease these concerns. The authors have proposed safety-monitoring systems that use multiple-input multiple-output (MIMO radar to localize persons by capturing their biological activities such as respiration. However, our studies to date have focused on localization, which is easier to achieve than an estimation of human postures. This paper proposes a human posture identification scheme based on height and a Doppler radar cross section (RCS as estimated by a MIMO array. This scheme allows smart home applications to dispense with contact and wearable devices. Experiments demonstrate that this method can identify the supine position (i.e., after a fall with 100% accuracy, and the average identification rate is 95.0%.

Interlimb Transfer of Grasp Orientation is Asymmetrical

Directory of Open Access Journals (Sweden)

Victor Frak

2006-01-01

Full Text Available One the most fundamental aspects of the human motor system is the hemispheric asymmetry seen in behavioral specialization. Hemispheric dominance can be inferred by a contralateral hand preference in grasping. Few studies have considered grasp orientation in the context of manual lateralization and none has looked at grasp orientation with natural prehension. Thirty right-handed adults performed precision grasps of a cylinder using the thumb and index fingers, and the opposition axis (OA was defined as the line connecting these two contact points on the cylinder. Subjects made ten consecutive grasps with one hand (primary hand movements followed by ten grasps with the other hand (trailing movements. Differences between primary and trailing grasps revealed that each hemisphere is capable of programming the orientation of the OA and that primary movements with the right hand significantly influenced OA orientation of the trailing left hand. These results extend the hemispheric dominance of the left hemisphere to the final positions of fingers during prehension.

Effect of intermittent feedback control on robustness of human-like postural control system

Science.gov (United States)

Tanabe, Hiroko; Fujii, Keisuke; Suzuki, Yasuyuki; Kouzaki, Motoki

2016-03-01

Humans have to acquire postural robustness to maintain stability against internal and external perturbations. Human standing has been recently modelled using an intermittent feedback control. However, the causality inside of the closed-loop postural control system associated with the neural control strategy is still unknown. Here, we examined the effect of intermittent feedback control on postural robustness and of changes in active/passive components on joint coordinative structure. We implemented computer simulation of a quadruple inverted pendulum that is mechanically close to human tiptoe standing. We simulated three pairs of joint viscoelasticity and three choices of neural control strategies for each joint: intermittent, continuous, or passive control. We examined postural robustness for each parameter set by analysing the region of active feedback gain. We found intermittent control at the hip joint was necessary for model stabilisation and model parameters affected the robustness of the pendulum. Joint sways of the pendulum model were partially smaller than or similar to those of experimental data. In conclusion, intermittent feedback control was necessary for the stabilisation of the quadruple inverted pendulum. Also, postural robustness of human-like multi-link standing would be achieved by both passive joint viscoelasticity and neural joint control strategies.

Visuomotor Resolution in Telerobotic Grasping with Transmission Delays

Directory of Open Access Journals (Sweden)

Omri Afgin

2017-10-01

Full Text Available Weber’s law is among the basic psychophysical laws of human perception. It determines that human sensitivity to change along a physical dimension, the just noticeable difference (JND, is linearly related to stimulus intensity. Conversely, in direct (natural, visually guided grasping, Weber’s law is violated and the JND does not depend on stimulus intensity. The current work examines adherence to Weber’s law in telerobotic grasping. In direct grasping, perception and action are synchronized during task performance. Conversely, in telerobotic control, there is an inherent spatial and temporal separation between perception and action. The understanding of perception–action association in such conditions may facilitate development of objective measures for telerobotic systems and contribute to improved interface design. Moreover, telerobotic systems offer a unique platform for examining underlying causes for the violation of Weber’s law during direct grasping. We examined whether, like direct grasping, telerobotic grasping with transmission delays violates Weber’s law. To this end, we examined perceptual assessment, grasp control, and grasp demonstration, using a telerobotic system with time delays in two spatial orientations: alongside and facing the robot. The examination framework was adapted to telerobotics from the framework used for examining Weber’s law in direct grasping. The variability of final grip apertures (FGAs in perceptual assessment increased with object size in adherence with Weber’s law. Similarly, the variability of maximal grip apertures in grasp demonstration approached significance in adherence with Weber’s law. In grasp control, the variability of maximal grip apertures did not increase with object size, which seems to violate Weber’s law. However, unlike in direct grasping, motion trajectories were prolonged and fragmented, and included an atypical waiting period prior to finger closure. Therefore, in

An expert system for automated robotic grasping

International Nuclear Information System (INIS)

Stansfield, S.A.

1990-01-01

Many US Department of Energy sites and facilities will be environmentally remediated during the next several decades. A number of the restoration activities (e.g., decontamination and decommissioning of inactive nuclear facilities) can only be carried out by remote means and will be manipulation-intensive tasks. Experience has shown that manipulation tasks are especially slow and fatiguing for the human operator of a remote manipulator. In this paper, the authors present a rule-based expert system for automated, dextrous robotic grasping. This system interprets the features of an object to generate hand shaping and wrist orientation for a robot hand and arm. The system can be used in several different ways to lessen the demands on the human operator of a remote manipulation system - either as a fully autonomous grasping system or one that generates grasping options for a human operator and then automatically carries out the selected option

Human posture experiments under water: ways of applying the findings to microgravity

Science.gov (United States)

Dirlich, Thomas

For the design and layout human spacecraft interiors the Neutral Body Posture (NBP) in micro-gravity is of great importance. The NBP has been defined as the stable, replicable and nearly constant posture the body "automatically" assumes when a human relaxes in microgravity. Furthermore the NBP, as published, suggests that there is one standard neutral posture for all individuals. Published experiments from space, parabolic flights and under water on the other hand show strong inter-individual variations of neutral (relaxed) postures. This might originate from the quite small sample sizes of subjects analyzed or the different experiment conditions, e. g. space and under water. Since 2008 a collaborative research project focussing on human postures and motions in microgravity has been ongoing at the Technische Univer-sitüt München (TUM). This collaborative effort is undertaken by the Institute of Astronautics a (LRT) and the Institute of Ergonomics (LfE). Several test campaigns have been conducted in simulated microgravity under water using a specially designed standardized experiment setup. Stereo-metric HD video footage and anthropometric data from over 50 subjects (female and male) has been gathered in over 80 experiments. The video data is analyzed using PCMAN software, developed by the LfE, resulting in a 3D volumetric CAD-based model of each subject and posture. Preliminary and ongoing analysis of the data offer evidence for the existence of intra-individually constant neutral postures, as well as continuously recurring relaxation strate-gies. But as with the data published prior the TUM experiments show quite a large variation of inter-individual postures. These variation might be induced or influenced by the special environmental conditions in the underwater experiment. Thus in present paper ways of stan-dardizing data and applying the findings gathered under water to real microgravity are being discussed. The following influences stemming from the

Protective effect of prone posture against hypergravity-induced arterial hypoxaemia in humans

Science.gov (United States)

Rohdin, M; Petersson, J; Mure, M; Glenny, R W; Lindahl, S G E; Linnarsson, D

2003-01-01

Patients with acute respiratory distress syndrome have increased lung tissue weight and therefore an increased hydrostatic pressure gradient down the lung. Also, they have a better arterial oxygenation in prone (face down) than in supine (face up) posture. We hypothesized that this effect of the direction of gravity also existed in healthy humans, when increased hydrostatic gradients were induced by hypergravity. Ten healthy subjects were studied in a human centrifuge while exposed to 1 or 5 G in anterio-posterior (supine) or posterio-anterior (prone) direction. We measured blood gases using remote-controlled sampling and gas exchange by mass spectrometry. Hypergravity led to marked impairments of arterial oxygenation in both postures and more so in supine posture. At 5 G, the arterial oxygen saturation was 84.6 ± 1.2 % (mean ±s.e.m.) in supine and 89.7 ± 1.4 % in prone posture (P postures. The alveolar-to-arterial PO2 difference increased at 5 G to 8.0 ± 0.2 kPa and 6.6 ± 0.3 kPa in supine and prone postures (P = 0.003). Arterial oxygenation was less impaired in prone during hypergravity due to a better-preserved alveolo-arterial oxygen transport. We speculate that mammals have developed a cardiopulmonary structure that favours function with the gravitational vector in the posterio-anterior direction. PMID:12598589

The personification of animals: coding of human and nonhuman body parts based on posture and function.

Science.gov (United States)

Welsh, Timothy N; McDougall, Laura; Paulson, Stephanie

2014-09-01

The purpose of the present research was to determine how humans represent the bodies and limbs of nonhuman mammals based on anatomical and functional properties. To this end, participants completed a series of body-part compatibility tasks in which they responded with a thumb or foot response to the color of a stimulus (red or blue, respectively) presented on different limbs of several animals. Across the studies, this compatibility task was conducted with images of human and nonhuman animals (bears, cows, and monkeys) in bipedal or quadrupedal postures. The results revealed that the coding of the limbs of nonhuman animals is strongly influenced by the posture of the body, but not the functional capacity of the limb. Specifically, body-part compatibility effects were present for both human and nonhuman animals when the figures were in a bipedal posture, but were not present when the animals were in a quadrupedal stance (Experiments 1a-c). Experiments 2a and 2b revealed that the posture-based body-part compatibility effects were not simply a vertical spatial compatibility effect or due to a mismatch between the posture of the body in the image and the participant. These data indicate that nonhuman animals in a bipedal posture are coded with respect to the "human" body representation, whereas nonhuman animals in a quadrupedal posture are not mapped to the human body representation. Overall, these studies provide new insight into the processes through which humans understand, mimic, and learn from the actions of nonhuman animals. Copyright © 2014 Elsevier B.V. All rights reserved.

Human cerebral venous outflow pathway depends on posture and central venous pressure

DEFF Research Database (Denmark)

Gisolf, J; van Lieshout, J J; van Heusden, K

2004-01-01

Internal jugular veins are the major cerebral venous outflow pathway in supine humans. In upright humans the positioning of these veins above heart level causes them to collapse. An alternative cerebral outflow pathway is the vertebral venous plexus. We set out to determine the effect of posture...... and during a Valsalva manoeuvre in both body positions, correlate highly with model simulation of the jugular cross-sectional area (R(2) = 0.97). The results suggest that the cerebral venous flow distribution depends on posture and CVP: in supine humans the internal jugular veins are the primary pathway...

Active Grasp Synthesis for Grasping Unknown Objects

NARCIS (Netherlands)

Çall?, B.

2015-01-01

Manipulation is a key feature for robots which are designed to work in daily environments like homes, offices and streets. These robots do not often have manipulators that are specialized for specific tasks, but grippers that can grasp the target object. This makes grasping a crucial ability that

Grasping in Robotics

CERN Document Server

2013-01-01

Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture).   The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and hum...

Posture Control—Human-Inspired Approaches for Humanoid Robot Benchmarking: Conceptualizing Tests, Protocols and Analyses

Directory of Open Access Journals (Sweden)

Thomas Mergner

2018-05-01

Full Text Available Posture control is indispensable for both humans and humanoid robots, which becomes especially evident when performing sensorimotor tasks such as moving on compliant terrain or interacting with the environment. Posture control is therefore targeted in recent proposals of robot benchmarking in order to advance their development. This Methods article suggests corresponding robot tests of standing balance, drawing inspirations from the human sensorimotor system and presenting examples from robot experiments. To account for a considerable technical and algorithmic diversity among robots, we focus in our tests on basic posture control mechanisms, which provide humans with an impressive postural versatility and robustness. Specifically, we focus on the mechanically challenging balancing of the whole body above the feet in the sagittal plane around the ankle joints in concert with the upper body balancing around the hip joints. The suggested tests target three key issues of human balancing, which appear equally relevant for humanoid bipeds: (1 four basic physical disturbances (support surface (SS tilt and translation, field and contact forces may affect the balancing in any given degree of freedom (DoF. Targeting these disturbances allows us to abstract from the manifold of possible behavioral tasks. (2 Posture control interacts in a conflict-free way with the control of voluntary movements for undisturbed movement execution, both with “reactive” balancing of external disturbances and “proactive” balancing of self-produced disturbances from the voluntary movements. Our proposals therefore target both types of disturbances and their superposition. (3 Relevant for both versatility and robustness of the control, linkages between the posture control mechanisms across DoFs provide their functional cooperation and coordination at will and on functional demands. The suggested tests therefore include ankle-hip coordination. Suggested benchmarking

Decoding complete reach and grasp actions from local primary motor cortex populations.

Science.gov (United States)

Vargas-Irwin, Carlos E; Shakhnarovich, Gregory; Yadollahpour, Payman; Mislow, John M K; Black, Michael J; Donoghue, John P

2010-07-21

How the activity of populations of cortical neurons generates coordinated multijoint actions of the arm, wrist, and hand is poorly understood. This study combined multielectrode recording techniques with full arm motion capture to relate neural activity in primary motor cortex (M1) of macaques (Macaca mulatta) to arm, wrist, and hand postures during movement. We find that the firing rate of individual M1 neurons is typically modulated by the kinematics of multiple joints and that small, local ensembles of M1 neurons contain sufficient information to reconstruct 25 measured joint angles (representing an estimated 10 functionally independent degrees of freedom). Beyond showing that the spiking patterns of local M1 ensembles represent a rich set of naturalistic movements involving the entire upper limb, the results also suggest that achieving high-dimensional reach and grasp actions with neuroprosthetic devices may be possible using small intracortical arrays like those already being tested in human pilot clinical trials.

Learning Grasp Affordance Densities

DEFF Research Database (Denmark)

Detry, Renaud; Kraft, Dirk; Kroemer, Oliver

2011-01-01

and relies on kernel density estimation to provide a continuous model. Grasp densities are learned and refined from exploration, by letting a robot “play” with an object in a sequence of graspand-drop actions: The robot uses visual cues to generate a set of grasp hypotheses; it then executes......We address the issue of learning and representing object grasp affordance models. We model grasp affordances with continuous probability density functions (grasp densities) which link object-relative grasp poses to their success probability. The underlying function representation is nonparametric...... these and records their outcomes. When a satisfactory number of grasp data is available, an importance-sampling algorithm turns these into a grasp density. We evaluate our method in a largely autonomous learning experiment run on three objects of distinct shapes. The experiment shows how learning increases success...

Postural And Eye-Positional Effects On Human Biting Force: An Experimental Study

Directory of Open Access Journals (Sweden)

Altay Tabancacı

2012-06-01

Full Text Available Muscle groups affected on biting force are called temporal muscle as a major and masseter muscle as a minor. According to the human posture stability, forces of these muscles vary with the force directions. In this case, experimental investigation is strictly important such that biting force under different postural and eye- positional situations is changed. In this study, seven-male and seven-female within the age-range of 17-24 are considered corresponding to having with restorated molar tooth and without that type of tooth. With the help of specially designed biting fork, different posture- and eye-positions are investigated for experimental biting force analysis. Changes in eye-positions are not indicated significant difference for all postural positions. On one hand, it is obtained that biting force of no-filling tooth in men becomes maximum if facial muscles give full effort to biting. On the other hand, effect of facial muscles for women is not clearly noticed depending on the postural differences.

Evaluation of the lambda model for human postural control during ankle strategy.

Science.gov (United States)

Micheau, Philippe; Kron, Aymeric; Bourassa, Paul

2003-09-01

An accurate modeling of human stance might be helpful in assessing postural deficit. The objective of this article is to validate a mathematical postural control model for quiet standing posture. The postural dynamics is modeled in the sagittal plane as an inverted pendulum with torque applied at the ankle joint. The torque control system is represented by the physiological lambda model. Two neurophysiological command variables of the central nervous system, designated lambda and micro, establish the dynamic threshold muscle at which motoneuron recruitment begins. Kinematic data and electromyographic signals were collected on four young males in order to measure small voluntary sway and quiet standing posture. Validation of the mathematical model was achieved through comparison of the experimental and simulated results. The mathematical model allows computation of the unmeasurable neurophysiological commands lambda and micro that control the equilibrium position and stability. Furthermore, with the model it is possible to conclude that low-amplitude body sway during quiet stance is commanded by the central nervous system.

Human Posture Identification Using a MIMO Array

OpenAIRE

Dai Sasakawa; Naoki Honma; Takeshi Nakayama; Shoichi Iizuka

2018-01-01

The elderly are constantly in danger of falling and injuring themselves without anyone realizing it. A safety-monitoring system based on microwaves can ease these concerns. The authors have proposed safety-monitoring systems that use multiple-input multiple-output (MIMO) radar to localize persons by capturing their biological activities such as respiration. However, our studies to date have focused on localization, which is easier to achieve than an estimation of human postures. This paper pr...

What a successful grasp tells about the success chances of grasps in its vicinity

DEFF Research Database (Denmark)

Bodenhagen, Leon; Detry, Renaud; Piater, Justus

2011-01-01

Infants gradually improve their grasping competences, both in terms of motor abilities as well as in terms of the internal shape grasp representations. Grasp densities provide a statistical model of such an internal learning process. In the concept of grasp densities, kernel density estimation...... probabilities representing grasp success in the neighborhood of a successful grasp. The anisotropy has been determined utilizing a simulation environment that allowed for evaluation of large scale experiments. The anisotropic kernel has been fitted to the conditional probabilities obtained from the experiments...

Comparison of organ doses in human phantoms: variations due to body size and posture

International Nuclear Information System (INIS)

Feng, Xu; Xiang-Hong, Jia; Xue-Jun, Yu; Zhan-Chun, Pan; Qian, Liu; Chun-Xin, Yang

2017-01-01

Organ dose calculations performed using human phantoms can provide estimates of astronauts' health risks due to cosmic radiation. However, the characteristics of such phantoms strongly affect the estimation precision. To investigate organ dose variations with body size and posture in human phantoms, a non-uniform rational B-spline boundary surfaces model was constructed based on cryo-section images. This model was used to establish four phantoms with different body size and posture parameters, whose organs parameters were changed simultaneously and which were voxelised with 4x4x4 mm"3 resolution. Then, using Monte Carlo transport code, the organ doses caused by ≤500 MeV isotropic incident protons were calculated. The dose variations due to body size differences within a certain range were negligible, and the doses received in crouching and standing-up postures were similar. Therefore, a standard Chinese phantom could be established, and posture changes cannot effectively protect astronauts during solar particle events. (authors)

Application of postured human model for SAR measurements

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Vuchkovikj, M.; Munteanu, I.; Weiland, T.

2013-07-01

In the last two decades, the increasing number of electronic devices used in day-to-day life led to a growing interest in the study of the electromagnetic field interaction with biological tissues. The design of medical devices and wireless communication devices such as mobile phones benefits a lot from the bio-electromagnetic simulations in which digital human models are used. The digital human models currently available have an upright position which limits the research activities in realistic scenarios, where postured human bodies must be considered. For this reason, a software application called "BodyFlex for CST STUDIO SUITE" was developed. In its current version, this application can deform the voxel-based human model named HUGO (Dipp GmbH, 2010) to allow the generation of common postures that people use in normal life, ensuring the continuity of tissues and conserving the mass to an acceptable level. This paper describes the enhancement of the "BodyFlex" application, which is related to the movements of the forearm and the wrist of a digital human model. One of the electromagnetic applications in which the forearm and the wrist movement of a voxel based human model has a significant meaning is the measurement of the specific absorption rate (SAR) when a model is exposed to a radio frequency electromagnetic field produced by a mobile phone. Current SAR measurements of the exposure from mobile phones are performed with the SAM (Specific Anthropomorphic Mannequin) phantom which is filled with a dispersive but homogeneous material. We are interested what happens with the SAR values if a realistic inhomogeneous human model is used. To this aim, two human models, a homogeneous and an inhomogeneous one, in two simulation scenarios are used, in order to examine and observe the differences in the results for the SAR values.

Human Body 3D Posture Estimation Using Significant Points and Two Cameras

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Juang, Chia-Feng; Chen, Teng-Chang; Du, Wei-Chin

2014-01-01

This paper proposes a three-dimensional (3D) human posture estimation system that locates 3D significant body points based on 2D body contours extracted from two cameras without using any depth sensors. The 3D significant body points that are located by this system include the head, the center of the body, the tips of the feet, the tips of the hands, the elbows, and the knees. First, a linear support vector machine- (SVM-) based segmentation method is proposed to distinguish the human body from the background in red, green, and blue (RGB) color space. The SVM-based segmentation method uses not only normalized color differences but also included angle between pixels in the current frame and the background in order to reduce shadow influence. After segmentation, 2D significant points in each of the two extracted images are located. A significant point volume matching (SPVM) method is then proposed to reconstruct the 3D significant body point locations by using 2D posture estimation results. Experimental results show that the proposed SVM-based segmentation method shows better performance than other gray level- and RGB-based segmentation approaches. This paper also shows the effectiveness of the 3D posture estimation results in different postures. PMID:24883422

Kinematics of the human mandible for different head postures.

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Visscher, C M; Huddleston Slater, J J; Lobbezoo, F; Naeije, M

2000-04-01

The influence of head posture on movement paths of the incisal point (IP) and of the mandibular condyles during free open-close movements was studied. Ten persons, without craniomandibular or cervical spine disorders, participated in the study. Open close mandibular movements were recorded with the head in five postures, viz., natural head posture, forward head posture, military posture, and lateroflexion to the right and to the left side, using the Oral Kinesiologic Analysis System (OKAS-3D). This study showed that in a military head posture, the opening movement path of the incisal point is shifted anteriorly relative to the path in a natural head posture. In a forward head posture, the movement path is shifted posteriorly whereas during lateroflexion, it deviates to the side the head has moved to. Moreover, the intra-articular distance in the temporomandibular joint during closing is smaller with the head in military posture and greater in forward head posture, as compared to the natural head posture. During lateroflexion, the intra-articular distance on the ipsilateral side is smaller. The influence of head posture upon the kinematics of the mandible is probably a manifestation of differences in mandibular loading in the different head postures.

Grasp frequency and usage in daily household and machine shop tasks.

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Bullock, Ian M; Zheng, Joshua Z; De La Rosa, Sara; Guertler, Charlotte; Dollar, Aaron M

2013-01-01

In this paper, we present results from a study of prehensile human hand use during the daily work activities of four subjects: two housekeepers and two machinists. Subjects wore a head-mounted camera that recorded their hand usage during their daily work activities in their typical place of work. For each subject, 7.45 hours of video was analyzed, recording the type of grasp being used and its duration. From this data, we extracted overall grasp frequency, duration distributions for each grasp, and common transitions between grasps. The results show that for 80 percent of the study duration the housekeepers used just five grasps and the machinists used 10. The grasping patterns for the different subjects were compared, and the overall top 10 grasps are discussed in detail. The results of this study not only lend insight into how people use their hands during daily tasks, but can also inform the design of effective robotic and prosthetic hands.

Independent development of the Reach and the Grasp in spontaneous self-touching by human infants in the first 6 months

OpenAIRE

Thomas, Brittany L.; Karl, Jenni M.; Whishaw, Ian Q.

2015-01-01

The Dual Visuomotor Channel Theory proposes that visually guided reaching is a composite of two movements, a Reach that advances the hand to contact the target and a Grasp that shapes the digits for target purchase. The theory is supported by biometric analyses of adult reaching, evolutionary contrasts, and differential developmental patterns for the Reach and the Grasp in visually guided reaching in human infants. The present ethological study asked whether there is evidence for a dissociate...

Temporal parameter change of human postural control ability during upright swing using recursive least square method

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Goto, Akifumi; Ishida, Mizuri; Sagawa, Koichi

2010-01-01

The purpose of this study is to derive quantitative assessment indicators of the human postural control ability. An inverted pendulum is applied to standing human body and is controlled by ankle joint torque according to PD control method in sagittal plane. Torque control parameters (KP: proportional gain, KD: derivative gain) and pole placements of postural control system are estimated with time from inclination angle variation using fixed trace method as recursive least square method. Eight young healthy volunteers are participated in the experiment, in which volunteers are asked to incline forward as far as and as fast as possible 10 times over 10 [s] stationary intervals with their neck joint, hip joint and knee joint fixed, and then return to initial upright posture. The inclination angle is measured by an optical motion capture system. Three conditions are introduced to simulate unstable standing posture; 1) eyes-opened posture for healthy condition, 2) eyes-closed posture for visual impaired and 3) one-legged posture for lower-extremity muscle weakness. The estimated parameters Kp, KD and pole placements are applied to multiple comparison test among all stability conditions. The test results indicate that Kp, KD and real pole reflect effect of lower-extremity muscle weakness and KD also represents effect of visual impairment. It is suggested that the proposed method is valid for quantitative assessment of standing postural control ability.

The influence of gravity on regional lung blood flow in humans: SPECT in the upright and head-down posture.

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Ax, M; Sanchez-Crespo, A; Lindahl, S G E; Mure, M; Petersson, J

2017-06-01

Previous studies in humans have shown that gravity has little influence on the distribution of lung blood flow while changing posture from supine to prone. This study aimed to evaluate the maximal influence of posture by comparison of regional lung blood flow in the upright and head-down posture in 8 healthy volunteers, using a tilt table. Regional lung blood flow was marked by intravenous injection of macroaggregates of human albumin labeled with 99m Tc or 113m In, in the upright and head-down posture, respectively, during tidal breathing. Both radiotracers remain fixed in the lung after administration. The distribution of radioactivity was mapped using quantitative single photon emission computed tomography (SPECT) corrected for attenuation and scatter. All images were obtained supine during tidal breathing. A shift from upright to the head-down posture caused a clear redistribution of blood flow from basal to apical regions. We conclude that posture plays a role for the distribution of lung blood flow in upright humans, and that the influence of posture, and thereby gravity, is much greater in the upright and head-down posture than in horizontal postures. However, the results of the study demonstrate that lung structure is the main determinant of regional blood flow and gravity is a secondary contributor to the distribution of lung blood flow in the upright and head-down positions. NEW & NOTEWORTHY Using a dual-isotope quantitative SPECT method, we demonstrated that although a shift in posture redistributes blood flow in the direction of gravity, the results are also consistent with lung structure being a greater determinant of regional blood flow than gravity. To our knowledge, this is the first study to use modern imaging methods to quantify the shift in regional lung blood flow in humans at a change between the upright and head-down postures. Copyright © 2017 the American Physiological Society.

Design and fabrication of robotic gripper for grasping in minimizing contact force

Science.gov (United States)

Heidari, Hamidreza; Pouria, Milad Jafary; Sharifi, Shahriar; Karami, Mahmoudreza

2018-03-01

This paper presents a new method to improve the kinematics of robot gripper for grasping in unstructured environments, such as space operations. The robot gripper is inspired from the human hand and kept the hand design close to the structure of human fingers to provide successful grasping capabilities. The main goal is to improve kinematic structure of gripper to increase the grasping capability of large objects, decrease the contact forces and makes a successful grasp of various objects in unstructured environments. This research will describe the development of a self-adaptive and reconfigurable robotic hand for space operations through mechanical compliance which is versatile, robust and easy to control. Our model contains two fingers, two-link and three-link, with combining a kinematic model of thumb index. Moreover, some experimental tests are performed to examine the effectiveness of the hand-made in real, unstructured tasks. The results represent that the successful grasp range is improved about 30% and the contact forces is reduced approximately 10% for a wide range of target object size. According to the obtained results, the proposed approach provides an accommodative kinematic model which makes the better grasping capability by fingers geometries for a robot gripper.

GRASP: A multitasking tether

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Catherine eRabouille

2016-01-01

Full Text Available Originally identified as Golgi stacking factors in vitro, the Golgi reassembly stacking protein (GRASP family has been shown to act as membrane tethers with multiple cellular roles. As an update to previous comprehensive reviews of the GRASP family (Vinke et al., 2011 (Giuliani et al., 2011;Jarvela and Linstedt, 2012, we outline here the latest findings concerning their diverse roles. New insights into the mechanics of GRASP-mediated tethering come from recent crystal structures. The models of how GRASP65 and GRASP55 tether membranes relate directly to their role in Golgi ribbon formation in mammalian cells and the unlinking of the ribbon at the onset of mitosis. However, it is also clear that GRASPs act outside the Golgi with roles at the ER and ER exit sites (ERES. Furthermore, the proteins of this family display other roles upon cellular stress, especially in mediating unconventional secretion of both transmembrane proteins (Golgi bypass and cytoplasmic proteins (through secretory autophagosomes.

Independent development of the Reach and the Grasp in spontaneous self-touching by human infants in the first six months

Directory of Open Access Journals (Sweden)

Brittany L Thomas

2015-01-01

Full Text Available The Dual Visuomotor Channel Theory proposes that visually guided reaching is a composite of two movements, a Reach that advances the hand to contact the target and a Grasp that shapes the digits for target purchase. The theory is supported by biometric analyses of adult reaching, evolutionary contrasts, and differential developmental patterns for the Reach and the Grasp in visually guided reaching in human infants. The present ethological study asked whether there is evidence for a dissociated development for the Reach and the Grasp in nonvisual hand use in very early infancy. The study documents a rich array of spontaneous self-touching behavior in infants during the first six months of life and subjects the movements to analyses of body target, contact type, and Grasp. Video recordings were made of resting alert infants biweekly from birth to 6 months. In younger infants, self-touching targets included the head and trunk. As infants aged, targets became more caudal including the hips, legs, and feet. In younger infants hand contact was mainly made with the dorsum of the hand, but as infants aged contacts included palmar and eventually grasp and manipulatory contacts with the body and clothes. The relative incidence of caudal contacts and palmar contacts increased concurrently and were significantly correlated throughout the period of study. In contrast, developmental increases in self grasping emerged a few weeks after the increases observed in caudal and palmar contacts. The behavioral and temporal pattern of these spontaneous self-touching movements suggest that the Reach, in which the hand extends to make a palmar self-contact, and the Grasp, in which the digits close and make manipulatory movements, have partially independent developmental profiles. The results additionally suggest that self-touching behavior is an important developmental phase that allows for the coordination of the Reach and the Grasp prior to their use under visual

Independent development of the Reach and the Grasp in spontaneous self-touching by human infants in the first 6 months.

Science.gov (United States)

Thomas, Brittany L; Karl, Jenni M; Whishaw, Ian Q

2014-01-01

The Dual Visuomotor Channel Theory proposes that visually guided reaching is a composite of two movements, a Reach that advances the hand to contact the target and a Grasp that shapes the digits for target purchase. The theory is supported by biometric analyses of adult reaching, evolutionary contrasts, and differential developmental patterns for the Reach and the Grasp in visually guided reaching in human infants. The present ethological study asked whether there is evidence for a dissociated development for the Reach and the Grasp in nonvisual hand use in very early infancy. The study documents a rich array of spontaneous self-touching behavior in infants during the first 6 months of life and subjected the Reach movements to an analysis in relation to body target, contact type, and Grasp. Video recordings were made of resting alert infants biweekly from birth to 6 months. In younger infants, self-touching targets included the head and trunk. As infants aged, targets became more caudal and included the hips, then legs, and eventually the feet. In younger infants hand contact was mainly made with the dorsum of the hand, but as infants aged, contacts included palmar contacts and eventually grasp and manipulation contacts with the body and clothes. The relative incidence of caudal contacts and palmar contacts increased concurrently and were significantly correlated throughout the period of study. Developmental increases in self-grasping contacts occurred a few weeks after the increase in caudal and palmar contacts. The behavioral and temporal pattern of these spontaneous self-touching movements suggest that the Reach, in which the hand extends to make a palmar self-contact, and the Grasp, in which the digits close and make manipulatory movements, have partially independent developmental profiles. The results additionally suggest that self-touching behavior is an important developmental phase that allows the coordination of the Reach and the Grasp prior to and

Prosthetic hand sensor placement: Analysis of touch perception during the grasp

Directory of Open Access Journals (Sweden)

Mirković Bojana

2014-01-01

Full Text Available Humans rely on their hands to perform everyday tasks. The hand is used as a tool, but also as the interface to “sense” the world. Current prosthetic hands are based on sophisticated multi-fingered structures, and include many sensors which counterpart natural proprioceptors and exteroceptors. The sensory information is used for control, but not sent to the user of the hand (amputee. Grasping without sensing is not good enough. This research is part of the development of the sensing interface for amputees, specifically addressing the analysis of human perception while grasping. The goal is to determine the small number of preferred positions of sensors on the prosthetic hand. This task has previously been approached by trying to replicate a natural sensory system characteristic for healthy humans, resulting in a multitude of redundant sensors and basic inability to make the patient aware of the sensor readings on the subconscious level. We based our artificial perception system on the reported sensations of humans when grasping various objects without seeing the objects (obstructed visual feedback. Subjects, with no known sensory deficits, were asked to report on the touch sensation while grasping. The analysis included objects of various sizes, weights, textures and temperatures. Based on this data we formed a map of the preferred positions for the sensors that is appropriate for five finger human-like robotic hand. The final map was intentionally minimized in size (number of sensors.

TMS over the supramarginal gyrus delays selection of appropriate grasp orientation during reaching and grasping tools for use.

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McDowell, Tomás; Holmes, Nicholas P; Sunderland, Alan; Schürmann, Martin

2018-03-09

Tool use, a ubiquitous part of human behaviour, requires manipulation control and knowledge of tool purpose. Neuroimaging and neuropsychological research posit that these two processes are supported by separate brain regions, ventral premotor and inferior parietal for manipulation control, and posterior middle temporal cortex for tool knowledge, lateralised to the left hemisphere. Action plans for tool use need to integrate these two separate processes, which is likely supported by the left supramarginal gyrus (SMG). However, whether this integration occurs during action execution is not known. To clarify the role of the SMG we conducted two experiments in which healthy participants reached to grasp everyday tools with the explicit instruction to use them directly following their grasp. To study the integration of manipulation control and tool knowledge within a narrow time window we mechanically perturbed the orientation of the tool to force participants to correct grasp orientation 'on-line' during the reaching movement. In experiment 1, twenty healthy participants reached with their left hand to grasp a tool. Double-pulse transcranial magnetic stimulation (TMS) was applied, in different blocks over left or right SMG at the onset of perturbation. Kinematic data revealed delayed and erroneous online correction after TMS over left and right SMG. In Experiment 2 twelve participants reached, in different blocks, with their left or right hand and TMS was applied over SMG ipsilateral to the reaching hand. A similar effect on correction was observed for ipsilateral stimulation when reaching with the left and right hands, and no effect of or interaction with hemisphere was observed. Our findings implicate a bilateral role of the SMG in correcting movements and selection of appropriate grasp orientation during reaching to grasp tools for use. Copyright © 2018 Elsevier Ltd. All rights reserved.

Identification of the unstable human postural control system

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Sungjae eHwang

2016-03-01

Full Text Available Maintaining upright bipedal posture requires a control system that continually adapts to changing environmental conditions, such as different support surfaces. Behavioral changes associated with different support surfaces, such as the predominance of an ankle or hip strategy, is considered to reflect a change in the control strategy. However, tracing such behavioral changes to a specific component in a closed loop control system is challenging. Here we used the joint input-output (JIO method of closed-loop system identification to identify the musculoskeletal and neural feedback components of the human postural control loop. The goal was to establish changes in the control loop corresponding to behavioral changes observed on different support surfaces. Subjects were simultaneously perturbed by two independent mechanical and two independent sensory perturbations while standing on a normal or short support surface. The results show a dramatic phase reversal between visual input and body kinematics due to the change in surface condition from trunk leads legs to legs lead trunk with increasing frequency of the visual perturbation. Through decomposition of the control loop, we found that behavioral change is not necessarily due to a change in control strategy, but in the case of different support surfaces, is linked to changes in properties of the plant. The JIO method is an important tool to identify the contribution of specific components within a closed loop control system to overall postural behavior and may be useful to devise better treatment of balance disorders.

[A case with apraxia of tool use: selective inability to form a hand posture for a tool].

Science.gov (United States)

Hayakawa, Yuko; Fujii, Toshikatsu; Yamadori, Atsushi; Meguro, Kenichi; Suzuki, Kyoko

2015-03-01

Impaired tool use is recognized as a symptom of ideational apraxia. While many studies have focused on difficulties in producing gestures as a whole, using tools involves several steps; these include forming hand postures appropriate for the use of certain tool, selecting objects or body parts to act on, and producing gestures. In previously reported cases, both producing and recognizing hand postures were impaired. Here we report the first case showing a selective impairment of forming hand postures appropriate for tools with preserved recognition of the required hand postures. A 24-year-old, right-handed man was admitted to hospital because of sensory impairment of the right side of the body, mild aphasia, and impaired tool use due to left parietal subcortical hemorrhage. His ability to make symbolic gestures, copy finger postures, and orient his hand to pass a slit was well preserved. Semantic knowledge for tools and hand postures was also intact. He could flawlessly select the correct hand postures in recognition tasks. He only demonstrated difficulties in forming a hand posture appropriate for a tool. Once he properly grasped a tool by trial and error, he could use it without hesitation. These observations suggest that each step of tool use should be thoroughly examined in patients with ideational apraxia.

Grasp force sensor for robotic hands

Science.gov (United States)

Scheinman, Victor D. (Inventor); Bejczy, Antal K. (Inventor); Primus, Howard C. (Inventor)

1989-01-01

A grasp force sensor for robotic hands is disclosed. A flexible block is located in the base of each claw through which the grasp force is exerted. The block yields minute parallelogram deflection when the claws are subjected to grasping forces. A parallelogram deflection closely resembles pure translational deflection, whereby the claws remain in substantial alignment with each other during grasping. Strain gauge transducers supply signals which provide precise knowledge of and control over grasp forces.

A synergy-based hand control is encoded in human motor cortical areas

Science.gov (United States)

Leo, Andrea; Handjaras, Giacomo; Bianchi, Matteo; Marino, Hamal; Gabiccini, Marco; Guidi, Andrea; Scilingo, Enzo Pasquale; Pietrini, Pietro; Bicchi, Antonio; Santello, Marco; Ricciardi, Emiliano

2016-01-01

How the human brain controls hand movements to carry out different tasks is still debated. The concept of synergy has been proposed to indicate functional modules that may simplify the control of hand postures by simultaneously recruiting sets of muscles and joints. However, whether and to what extent synergic hand postures are encoded as such at a cortical level remains unknown. Here, we combined kinematic, electromyography, and brain activity measures obtained by functional magnetic resonance imaging while subjects performed a variety of movements towards virtual objects. Hand postural information, encoded through kinematic synergies, were represented in cortical areas devoted to hand motor control and successfully discriminated individual grasping movements, significantly outperforming alternative somatotopic or muscle-based models. Importantly, hand postural synergies were predicted by neural activation patterns within primary motor cortex. These findings support a novel cortical organization for hand movement control and open potential applications for brain-computer interfaces and neuroprostheses. DOI: http://dx.doi.org/10.7554/eLife.13420.001 PMID:26880543

Task Requirements Influence Sensory Integration during Grasping in Humans

Science.gov (United States)

Safstrom, Daniel; Edin, Benoni B.

2004-01-01

The sensorimotor transformations necessary for generating appropriate motor commands depend on both current and previously acquired sensory information. To investigate the relative impact (or weighting) of visual and haptic information about object size during grasping movements, we let normal subjects perform a task in which, unbeknownst to the…

Effective seat-to-head transmissibility in whole-body vibration: Effects of posture and arm position

Science.gov (United States)

Rahmatalla, Salam; DeShaw, Jonathan

2011-12-01

Seat-to-head transmissibility is a biomechanical measure that has been widely used for many decades to evaluate seat dynamics and human response to vibration. Traditionally, transmissibility has been used to correlate single-input or multiple-input with single-output motion; it has not been effectively used for multiple-input and multiple-output scenarios due to the complexity of dealing with the coupled motions caused by the cross-axis effect. This work presents a novel approach to use transmissibility effectively for single- and multiple-input and multiple-output whole-body vibrations. In this regard, the full transmissibility matrix is transformed into a single graph, such as those for single-input and single-output motions. Singular value decomposition and maximum distortion energy theory were used to achieve the latter goal. Seat-to-head transmissibility matrices for single-input/multiple-output in the fore-aft direction, single-input/multiple-output in the vertical direction, and multiple-input/multiple-output directions are investigated in this work. A total of ten subjects participated in this study. Discrete frequencies of 0.5-16 Hz were used for the fore-aft direction using supported and unsupported back postures. Random ride files from a dozer machine were used for the vertical and multiple-axis scenarios considering two arm postures: using the armrests or grasping the steering wheel. For single-input/multiple-output, the results showed that the proposed method was very effective in showing the frequencies where the transmissibility is mostly sensitive for the two sitting postures and two arm positions. For multiple-input/multiple-output, the results showed that the proposed effective transmissibility indicated higher values for the armrest-supported posture than for the steering-wheel-supported posture.

Continuum robots and underactuated grasping

Directory of Open Access Journals (Sweden)

N. Giri

2011-02-01

Full Text Available We discuss the capabilities of continuum (continuous backbone robot structures in the performance of under-actuated grasping. Continuum robots offer the potential of robust grasps over a wide variety of object classes, due to their ability to adapt their shape to interact with the environment via non-local continuum contact conditions. Furthermore, this capability can be achieved with simple, low degree of freedom hardware. However, there are practical issues which currently limit the application of continuum robots to grasping. We discuss these issues and illustrate via an experimental continuum grasping case study.

This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

Catecholamine responses to changes in posture during human pregnancy.

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Whittaker, P G; Gerrard, J; Lind, T

1985-06-01

Human pregnancy may induce changes in the sensitivity of the cardiovascular system to endogenous catecholamines. This was investigated in multigravid women with little likelihood of unsuspected vascular disease. The responses of blood pressure, pulse rate, plasma noradrenaline and adrenaline to a change in posture from semi-recumbency to standing were assessed in six normotensive women at 36 weeks gestation and in six non-pregnant control subjects. Standing for 10 min caused a surge in blood pressure, pulse rate and plasma noradrenaline in non-pregnant women. The pregnant women, whose basal levels of noradrenaline were higher than those in non-pregnant women, showed a slower noradrenergic response to postural change, and this response had less effect upon the cardiovascular indices. Blood pressure dropped immediately on standing and pulse rate remained unaffected throughout. It is suggested that some women may maintain a non-pregnant level of pressor sensitivity during pregnancy and thereby become hypertensive.

Evaluation of validity and reliability of a methodology for measuring human postural attitude and its relation to temporomandibular joint disorders

Science.gov (United States)

Fernández, Ramón Fuentes; Carter, Pablo; Muñoz, Sergio; Silva, Héctor; Venegas, Gonzalo Hernán Oporto; Cantin, Mario; Ottone, Nicolás Ernesto

2016-01-01

INTRODUCTION Temporomandibular joint disorders (TMJDs) are caused by several factors such as anatomical, neuromuscular and psychological alterations. A relationship has been established between TMJDs and postural alterations, a type of anatomical alteration. An anterior position of the head requires hyperactivity of the posterior neck region and shoulder muscles to prevent the head from falling forward. This compensatory muscular function may cause fatigue, discomfort and trigger point activation. To our knowledge, a method for assessing human postural attitude in more than one plane has not been reported. Thus, the aim of this study was to design a methodology to measure the external human postural attitude in frontal and sagittal planes, with proper validity and reliability analyses. METHODS The variable postures of 78 subjects (36 men, 42 women; age 18–24 years) were evaluated. The postural attitudes of the subjects were measured in the frontal and sagittal planes, using an acromiopelvimeter, grid panel and Fox plane. RESULTS The method we designed for measuring postural attitudes had adequate reliability and validity, both qualitatively and quantitatively, based on Cohen’s Kappa coefficient (> 0.87) and Pearson’s correlation coefficient (r = 0.824, > 80%). CONCLUSION This method exhibits adequate metrical properties and can therefore be used in further research on the association of human body posture with skeletal types and TMJDs. PMID:26768173

How to grasp a ripe tomato

NARCIS (Netherlands)

Verhagen, L.

2012-01-01

Fortunately, we don’t have to think about this when we are standing in the supermarket after a busy day. We adjust our grip without effort, making sure we don’t squish an overripe tomato, while we firmly grasp a hard green one. This is actually a complex task in which humans are surprisingly

The modulation of the motor resonance triggered by reach-to-grasp movements: No role of human physical similarity as conveyed by age.

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Marino, Barbara F M; Ricciardelli, Paola

2017-07-01

The activation of the mirror-neuron circuit during the observation of motor acts is thought to be the basis of human capacity to read the intentions behind the behavior of others. Growing empirical evidence shows a different activation of the mirror-neuron resonance mechanism depending on how much the observer and the observed agent share their motor repertoires. Here, the possible modulatory effect of physical similarity between the observer and the agent was investigated in three studies. We used a visuo-motor priming task in which participants were asked to categorize manipulable and non-manipulable objects into natural or man-made kinds after having watched precision and power reach-to-grasp movements. Physical similarity was manipulated by presenting reach-to-grasp movements performed by the hands of actors of three different age ranges that are adults of the same age as the participants, children, and elderly. Faster responses were observed in trials where power grip movements were performed by the adults and precision grip movements were performed by the elderly (Main Study). This finding is not in keeping with the idea that physical similarity shapes the mirror-neuron resonance. Instead, it suggests an effect of the kinematic organization of the reach-to-grasp movements, which systematically changed with the actor age as revealed by a kinematic analysis. The differential effect played by adult and elderly actor primes was lost when static grasping hands (Control Study 1) and reach-to-grasp movements with uniform kinematic profiles (Control Study 2) were used. Therefore, we found preliminary evidence that mirror-neuron resonance is not shaped by physical similarity but by the kinematics of the observed action. This finding is novel as it suggests that human ability to read the intentions behind the behavior of others may benefit from a mere visual processing of spatiotemporal patterns.

The extended object-grasping network.

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Gerbella, Marzio; Rozzi, Stefano; Rizzolatti, Giacomo

2017-10-01

Grasping is the most important skilled motor act of primates. It is based on a series of sensorimotor transformations through which the affordances of the objects to be grasped are transformed into appropriate hand movements. It is generally accepted that a circuit formed by inferior parietal areas AIP and PFG and ventral premotor area F5 represents the core circuit for sensorimotor transformations for grasping. However, selection and control of appropriate grip should also depend on higher-order information, such as the meaning of the object to be grasped, and the overarching goal of the action in which grasping is embedded. In this review, we describe recent findings showing that specific sectors of the ventrolateral prefrontal cortex are instrumental in controlling higher-order aspects of grasping. We show that these prefrontal sectors control the premotor cortex through two main gateways: the anterior subdivision of ventral area F5-sub-area F5a-, and the pre-supplementary area (area F6). We then review functional studies showing that both F5a and F6, besides being relay stations of prefrontal information, also play specific roles in grasping. Namely, sub-area F5a is involved in stereoscopic analysis of 3D objects, and in planning cue-dependent grasping activity. As for area F6, this area appears to play a crucial role in determining when to execute the motor program encoded in the parieto-premotor circuit. The recent discovery that area F6 contains a set of neurons encoding specific grip types suggests that this area, besides controlling "when to go", also may control the grip type, i.e., "how to go". We conclude by discussing clinical syndromes affecting grasping actions and their possible mechanisms.

Characterizing the human postural control system using detrended fluctuation analysis

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Teresa Blázquez, M.; Anguiano, Marta; de Saavedra, Fernando Arias; Lallena, Antonio M.; Carpena, Pedro

2010-01-01

Detrended fluctuation analysis is used to study the behaviour of the time series of the position of the center of pressure, output from the activity of a human postural control system. The results suggest that these trajectories present a crossover in their scaling properties from persistent (for high frequencies, short-range time scale) to anti-persistent (for low frequencies, long-range time scale) behaviours. The values of the scaling exponent found for the persistent parts of the trajectories are very similar for all the cases analysed. The similarity of the results obtained for the measurements done with both eyes open and both eyes closed indicate either that the visual system may be disregarded by the postural control system, while maintaining quiet standing, or that the control mechanisms associated with each type of information (visual, vestibular and somatosensory) cannot be disentangled with this technique.

Exploring manual asymmetries during grasping: a dynamic causal modeling approach.

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Chiara eBegliomini

2015-02-01

Full Text Available Recording of neural activity during grasping actions in macaques showed that grasp-related sensorimotor transformations are accomplished in a circuit constituted by the anterior part of the intraparietal sulcus (AIP, the ventral (F5 and the dorsal (F2 region of the premotor area. In humans, neuroimaging studies have revealed the existence of a similar circuit, involving the putative homolog of macaque areas AIP, F5 and F2. These studies have mainly considered grasping movements performed with the right dominant hand and only a few studies have measured brain activity associated with a movement performed with the left non-dominant hand. As a consequence of this gap, how the brain controls for grasping movement performed with the dominant and the non-dominant hand still represents an open question. A functional resonance imaging experiment (fMRI has been conducted, and effective connectivity (Dynamic Causal Modelling, DCM was used to assess how connectivity among grasping-related areas is modulated by hand (i.e., left and right during the execution of grasping movements towards a small object requiring precision grasping. Results underlined boosted inter-hemispheric couplings between dorsal premotor cortices during the execution of movements performed with the left rather than the right dominant hand. More specifically, they suggest that the dorsal premotor cortices may play a fundamental role in monitoring the configuration of fingers when grasping movements are performed by either the right and the left hand. This role becomes particularly evident when the hand less-skilled (i.e., the left hand to perform such action is utilized. The results are discussed in light of recent theories put forward to explain how parieto-frontal connectivity is modulated by the execution of prehensile movements.

Holistic processing of human body postures: evidence from the composite effect.

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Willems, Sam; Vrancken, Leia; Germeys, Filip; Verfaillie, Karl

2014-01-01

The perception of socially relevant stimuli (e.g., faces and bodies) has received considerable attention in the vision science community. It is now widely accepted that human faces are processed holistically and not only analytically. One observation that has been taken as evidence for holistic face processing is the face composite effect: two identical top halves of a face tend to be perceived as being different when combined with different bottom halves. This supports the hypothesis that face processing proceeds holistically. Indeed, the interference effect disappears when the two face parts are misaligned (blocking holistic perception). In the present study, we investigated whether there is also a composite effect for the perception of body postures: are two identical body halves perceived as being in different poses when the irrelevant body halves differ from each other? Both a horizontal (i.e., top-bottom body halves; Experiment 1) and a vertical composite effect (i.e., left-right body halves; Experiment 2) were examined by means of a delayed matching-to-sample task. Results of both experiments indicate the existence of a body posture composite effect. This provides evidence for the hypothesis that body postures, as faces, are processed holistically.

Body posture modulates action perception.

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Zimmermann, Marius; Toni, Ivan; de Lange, Floris P

2013-04-03

Recent studies have highlighted cognitive and neural similarities between planning and perceiving actions. Given that action planning involves a simulation of potential action plans that depends on the actor's body posture, we reasoned that perceiving actions may also be influenced by one's body posture. Here, we test whether and how this influence occurs by measuring behavioral and cerebral (fMRI) responses in human participants predicting goals of observed actions, while manipulating postural congruency between their own body posture and postures of the observed agents. Behaviorally, predicting action goals is facilitated when the body posture of the observer matches the posture achieved by the observed agent at the end of his action (action's goal posture). Cerebrally, this perceptual postural congruency effect modulates activity in a portion of the left intraparietal sulcus that has previously been shown to be involved in updating neural representations of one's own limb posture during action planning. This intraparietal area showed stronger responses when the goal posture of the observed action did not match the current body posture of the observer. These results add two novel elements to the notion that perceiving actions relies on the same predictive mechanism as planning actions. First, the predictions implemented by this mechanism are based on the current physical configuration of the body. Second, during both action planning and action observation, these predictions pertain to the goal state of the action.

Cortical control of object-specific grasp relies on adjustments of both activity and effective connectivity

DEFF Research Database (Denmark)

Tia, Banty; Takemi, Mitsuaki; Kosugi, Akito

2017-01-01

The cortical mechanisms of grasping have been extensively studied in macaques and humans. Here, we investigated whether common marmosets could rely on similar mechanisms despite striking differences in manual dexterity. Two common marmosets were trained to grasp-and-pull three objects eliciting d...

Fall prevention in the young old using an exoskeleton human body posturizer: a randomized controlled trial.

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Verrusio, W; Gianturco, V; Cacciafesta, M; Marigliano, V; Troisi, G; Ripani, M

2017-04-01

Fall risk in elderly has been related with physical decline, low quality of life and reduced survival. To evaluate the impact of exoskeleton human body posturizer (HBP) on the fall risk in the elderly. 150 subjects (mean age 64.85; 79 M/71 F) with mild fall risk were randomized into two groups: 75 for group treated with human body posturizer (HBP group) and 75 for physical training without HBP group (exercise group). The effects of interventions were assessed by differences in tests related to balance and falls. Medically eligible patients were screened with Tinetti balance and Gait evaluation scale, short physical performance battery and numeric pain rating scale to determine fall risk in elderly people. In the HBP group there was a significant improvement in short physical performance battery, Tinetti scale and Pain Numeric rating scale with a significant reduction in fall risk (p fall risk and improving quality of life by reducing pain. The use of exoskeleton human body posturizer seems to be a new significant device for prevention of fall in elderly patients. Further research should be carried out to obtain more evidence on effects of robotic technology for fall prevention in the elderly.

Do already grasped objects activate motor affordances?

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Iani, Cristina; Ferraro, Luca; Maiorana, Natale Vincenzo; Gallese, Vittorio; Rubichi, Sandro

2018-04-07

This study investigated whether in a stimulus-response compatibility (SRC) task affordance effects in response to picture of graspable objects emerge when these objects appear as already grasped. It also assessed whether the observed effects could be explained as due to spatial compatibility between the most salient part in the object/display and the hand of response rather than to action potentiation. To this aim, we conducted three behavioural experiments in which participants were required to discriminate the vertical orientation (upright vs. inverted) of an object presented in the centre of the screen, while ignoring the right-left orientation of its handle. The object could be presented alone, as already grasped, as partially masked (Experiment 1) or with a human hand close to its graspable side (Experiment 2). In addition, to assess the role of perceptual salience, the object could be presented with a human hand or a non-biological (a geometrical shape) distractor located opposite to the object's graspable side. Results showed faster responses when the object's handle was located on the same side of the responding hand with a larger effect when upright objects were shown as already grasped (Experiment 1) or when a hand was displayed close to its handle (Experiment 2), and a smaller reversed effect when the hand or the geometrical shape was located opposite to the handled side (Experiment 3). We interpreted these findings as indicating that handle orientation effects emerging in SRC tasks may result from the interplay between motor affordance and spatial compatibility mechanisms.

Posture recognition based on fuzzy logic for home monitoring of the elderly.

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Brulin, Damien; Benezeth, Yannick; Courtial, Estelle

2012-09-01

We propose in this paper a computer vision-based posture recognition method for home monitoring of the elderly. The proposed system performs human detection prior to the posture analysis; posture recognition is performed only on a human silhouette. The human detection approach has been designed to be robust to different environmental stimuli. Thus, posture is analyzed with simple and efficient features that are not designed to manage constraints related to the environment but only designed to describe human silhouettes. The posture recognition method, based on fuzzy logic, identifies four static postures and is robust to variation in the distance between the camera and the person, and to the person's morphology. With an accuracy of 74.29% of satisfactory posture recognition, this approach can detect emergency situations such as a fall within a health smart home.

Holistic processing of human body postures: Evidence from the composite effect

Directory of Open Access Journals (Sweden)

Sam eWillems

2014-06-01

Full Text Available The perception of socially relevant stimuli (e.g., faces and bodies has received considerable attention in the vision science community. It is now widely accepted that human faces are processed holistically and not only analytically. One observation that has been taken as evidence for holistic face processing is the face composite effect: Two identical top halves of a face tend to be perceived as being different when combined with different bottom halves. This supports the hypothesis that face processing proceeds holistically. Indeed, the interference effect disappears when the two face parts are misaligned (blocking holistic perception. In the present study, we investigated whether there is also a composite effect for the perception of body postures: Are two identical body halves perceived as being in different poses when the irrelevant body halves differ from each other? Both a horizontal (i.e., top-bottom body halves; Experiment 1 and a vertical composite effect (i.e., left-right body halves; Experiment 2 were examined by means of a delayed matching-to-sample task. Results of both experiments indicate the existence of a body posture composite effect. This provides evidence for the hypothesis that body postures, as faces, are processed holistically.

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

Science.gov (United States)

Ascari, Luca; Bertocchi, Ulisse; Corradi, Paolo; Laschi, Cecilia; Dario, Paolo

2009-02-01

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

Refining Grasp Affordance Models by Experience

DEFF Research Database (Denmark)

Detry, Renaud; Kraft, Dirk; Buch, Anders Glent

2010-01-01

We present a method for learning object grasp affordance models in 3D from experience, and demonstrate its applicability through extensive testing and evaluation on a realistic and largely autonomous platform. Grasp affordance refers here to relative object-gripper configurations that yield stable...... with a visual model of the object they characterize. We explore a batch-oriented, experience-based learning paradigm where grasps sampled randomly from a density are performed, and an importance-sampling algorithm learns a refined density from the outcomes of these experiences. The first such learning cycle...... is bootstrapped with a grasp density formed from visual cues. We show that the robot effectively applies its experience by downweighting poor grasp solutions, which results in increased success rates at subsequent learning cycles. We also present success rates in a practical scenario where a robot needs...

From grasp to language: embodied concepts and the challenge of abstraction.

Science.gov (United States)

Arbib, Michael A

2008-01-01

The discovery of mirror neurons in the macaque monkey and the discovery of a homologous "mirror system for grasping" in Broca's area in the human brain has revived the gestural origins theory of the evolution of the human capability for language, enriching it with the suggestion that mirror neurons provide the neurological core for this evolution. However, this notion of "mirror neuron support for the transition from grasp to language" has been worked out in very different ways in the Mirror System Hypothesis model [Arbib, M.A., 2005a. From monkey-like action recognition to human language: an evolutionary framework for neurolinguistics (with commentaries and author's response). Behavioral and Brain Sciences 28, 105-167; Rizzolatti, G., Arbib, M.A., 1998. Language within our grasp. Trends in Neuroscience 21(5), 188-194] and the Embodied Concept model [Gallese, V., Lakoff, G., 2005. The brain's concepts: the role of the sensory-motor system in reason and language. Cognitive Neuropsychology 22, 455-479]. The present paper provides a critique of the latter to enrich analysis of the former, developing the role of schema theory [Arbib, M.A., 1981. Perceptual structures and distributed motor control. In: Brooks, V.B. (Ed.), Handbook of Physiology--The Nervous System II. Motor Control. American Physiological Society, pp. 1449-1480].

Evaluation of Pressure Capacitive Sensors for Application in Grasping and Manipulation Analysis.

Science.gov (United States)

Pessia, Paola; Cordella, Francesca; Schena, Emiliano; Davalli, Angelo; Sacchetti, Rinaldo; Zollo, Loredana

2017-12-08

The analysis of the human grasping and manipulation capabilities is paramount for investigating human sensory-motor control and developing prosthetic and robotic hands resembling the human ones. A viable solution to perform this analysis is to develop instrumented objects measuring the interaction forces with the hand. In this context, the performance of the sensors embedded in the objects is crucial. This paper focuses on the experimental characterization of a class of capacitive pressure sensors suitable for biomechanical analysis. The analysis was performed in three loading conditions (Distributed load, 9 Tips load, and Wave-shaped load, thanks to three different inter-elements) via a traction/compression testing machine. Sensor assessment was also carried out under human- like grasping condition by placing a silicon material with the same properties of prosthetic cosmetic gloves in between the sensor and the inter-element in order to simulate the human skin. Data show that the input-output relationship of the analyzed, sensor is strongly influenced by both the loading condition (i.e., type of inter-element) and the grasping condition (with or without the silicon material). This needs to be taken into account to avoid significant measurement error. To go over this hurdle, the sensors have to be calibrated under each specific condition in order to apply suitable corrections to the sensor output and significantly improve the measurement accuracy.

Functional classification of grasp strategies used by hemiplegic patients.

Directory of Open Access Journals (Sweden)

Alicia García Álvarez

Full Text Available This study aimed to identify and qualify grasp-types used by patients with stroke and determine the clinical parameters that could explain the use of each grasp. Thirty-eight patients with chronic stroke-related hemiparesis and a range of motor and functional capacities (17 females and 21 males, aged 25-78, and 10 healthy subjects were included. Four objects were used (tissue packet, teaspoon, bottle and tennis ball. Participants were instructed to "grasp the object as if you are going to use it". Three trials were video-recorded for each object. A total of 456 grasps were analysed and rated using a custom-designed Functional Grasp Scale. Eight grasp-types were identified from the analysis: healthy subjects used Multi-pulpar, Pluri-digital, Lateral-pinch and Palmar grasps (Standard Grasps. Patients used the same grasps with in addition Digito-palmar, Raking, Ulnar and Interdigital grasps (Alternative Grasps. Only patients with a moderate or relatively good functional ability used Standard grasps. The correlation and regression analyses showed this was conditioned by sufficient finger and elbow extensor strength (Pluri-digital grasp; thumb extensor and wrist flexor strength (Lateral pinch or in forearm supinator strength (Palmar grasp. By contrast, the patients who had severe impairment used Alternative grasps that did not involve the thumb. These strategies likely compensate specific impairments. Regression and correlation analyses suggested that weakness had a greater influence over grasp strategy than spasticity. This would imply that treatment should focus on improving hand strength and control although reducing spasticity may be useful in some cases.

Generating human-like movements on an anthropomorphic robot using an interior point method

Science.gov (United States)

Costa e Silva, E.; Araújo, J. P.; Machado, D.; Costa, M. F.; Erlhagen, W.; Bicho, E.

2013-10-01

In previous work we have presented a model for generating human-like arm and hand movements on an anthropomorphic robot involved in human-robot collaboration tasks. This model was inspired by the Posture-Based Motion-Planning Model of human movements. Numerical results and simulations for reach-to-grasp movements with two different grip types have been presented previously. In this paper we extend our model in order to address the generation of more complex movement sequences which are challenged by scenarios cluttered with obstacles. The numerical results were obtained using the IPOPT solver, which was integrated in our MATLAB simulator of an anthropomorphic robot.

Tactile Gloves for Autonomous Grasping With the NASA/DARPA Robonaut

Science.gov (United States)

Martin, T. B.; Ambrose, R. O.; Diftler, M. A.; Platt, R., Jr.; Butzer, M. J.

2004-01-01

Tactile data from rugged gloves are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. These custom gloves compliment the human like dexterity available in the Robonaut hands. Multiple versions of the gloves are discussed, showing a progression in using advanced materials and construction techniques to enhance sensitivity and overall sensor coverage. The force data provided by the gloves can be used to improve dexterous, tool and power grasping primitives. Experiments with the latest gloves focus on the use of tools, specifically a power drill used to approximate an astronaut's torque tool.

Model-based automatic generation of grasping regions

Science.gov (United States)

Bloss, David A.

1993-01-01

The problem of automatically generating stable regions for a robotic end effector on a target object, given a model of the end effector and the object is discussed. In order to generate grasping regions, an initial valid grasp transformation from the end effector to the object is obtained based on form closure requirements, and appropriate rotational and translational symmetries are associated with that transformation in order to construct a valid, continuous grasping region. The main result of this algorithm is a list of specific, valid grasp transformations of the end effector to the target object, and the appropriate combinations of translational and rotational symmetries associated with each specific transformation in order to produce a continuous grasp region.

Imaging Posture Veils Neural Signals

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Robert T Thibault

2016-10-01

Full Text Available Whereas modern brain imaging often demands holding body positions incongruent with everyday life, posture governs both neural activity and cognitive performance. Humans commonly perform while upright; yet, many neuroimaging methodologies require participants to remain motionless and adhere to non-ecological comportments within a confined space. This inconsistency between ecological postures and imaging constraints undermines the transferability and generalizability of many a neuroimaging assay.Here we highlight the influence of posture on brain function and behavior. Specifically, we challenge the tacit assumption that brain processes and cognitive performance are comparable across a spectrum of positions. We provide an integrative synthesis regarding the increasingly prominent influence of imaging postures on autonomic function, mental capacity, sensory thresholds, and neural activity. Arguing that neuroimagers and cognitive scientists could benefit from considering the influence posture wields on both general functioning and brain activity, we examine existing imaging technologies and the potential of portable and versatile imaging devices (e.g., functional near infrared spectroscopy. Finally, we discuss ways that accounting for posture may help unveil the complex brain processes of everyday cognition.

Grasping without sight: insights from the congenitally blind.

Directory of Open Access Journals (Sweden)

Kayla D Stone

Full Text Available We reach for and grasp different sized objects numerous times per day. Most of these movements are visually-guided, but some are guided by the sense of touch (i.e. haptically-guided, such as reaching for your keys in a bag, or for an object in a dark room. A marked right-hand preference has been reported during visually-guided grasping, particularly for small objects. However, little is known about hand preference for haptically-guided grasping. Recently, a study has shown a reduction in right-hand use in blindfolded individuals, and an absence of hand preference if grasping was preceded by a short haptic experience. These results suggest that vision plays a major role in hand preference for grasping. If this were the case, then one might expect congenitally blind (CB individuals, who have never had a visual experience, to exhibit no hand preference. Two novel findings emerge from the current study: first, the results showed that contrary to our expectation, CB individuals used their right hand during haptically-guided grasping to the same extent as visually-unimpaired (VU individuals did during visually-guided grasping. And second, object size affected hand use in an opposite manner for haptically- versus visually-guided grasping. Big objects were more often picked up with the right hand during haptically-guided, but less often during visually-guided grasping. This result highlights the different demands that object features pose on the two sensory systems. Overall the results demonstrate that hand preference for grasping is independent of visual experience, and they suggest a left-hemisphere specialization for the control of grasping that goes beyond sensory modality.

Gaze strategies during visually-guided versus memory-guided grasping.

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Prime, Steven L; Marotta, Jonathan J

2013-03-01

Vision plays a crucial role in guiding motor actions. But sometimes we cannot use vision and must rely on our memory to guide action-e.g. remembering where we placed our eyeglasses on the bedside table when reaching for them with the lights off. Recent studies show subjects look towards the index finger grasp position during visually-guided precision grasping. But, where do people look during memory-guided grasping? Here, we explored the gaze behaviour of subjects as they grasped a centrally placed symmetrical block under open- and closed-loop conditions. In Experiment 1, subjects performed grasps in either a visually-guided task or memory-guided task. The results show that during visually-guided grasping, gaze was first directed towards the index finger's grasp point on the block, suggesting gaze targets future grasp points during the planning of the grasp. Gaze during memory-guided grasping was aimed closer to the blocks' centre of mass from block presentation to the completion of the grasp. In Experiment 2, subjects performed an 'immediate grasping' task in which vision of the block was removed immediately at the onset of the reach. Similar to the visually-guided results from Experiment 1, gaze was primarily directed towards the index finger location. These results support the 2-stream theory of vision in that motor planning with visual feedback at the onset of the movement is driven primarily by real-time visuomotor computations of the dorsal stream, whereas grasping remembered objects without visual feedback is driven primarily by the perceptual memory representations mediated by the ventral stream.

Learning Grasp Strategies Composed of Contact Relative Motions

Science.gov (United States)

Platt, Robert, Jr.

2007-01-01

Of central importance to grasp synthesis algorithms are the assumptions made about the object to be grasped and the sensory information that is available. Many approaches avoid the issue of sensing entirely by assuming that complete information is available. In contrast, this paper proposes an approach to grasp synthesis expressed in terms of units of control that simultaneously change the contact configuration and sense information about the object and the relative manipulator-object pose. These units of control, known as contact relative motions (CRMs), allow the grasp synthesis problem to be recast as an optimal control problem where the goal is to find a strategy for executing CRMs that leads to a grasp in the shortest number of steps. An experiment is described that uses Robonaut, the NASA-JSC space humanoid, to show that CRMs are a viable means of synthesizing grasps. However, because of the limited amount of information that a single CRM can sense, the optimal control problem may be partially observable. This paper proposes expressing the problem as a k-order Markov Decision Process (MDP) and solving it using Reinforcement Learning. This approach is tested in a simulation of a two-contact manipulator that learns to grasp an object. Grasp strategies learned in simulation are tested on the physical Robonaut platform and found to lead to grasp configurations consistently.

Ground Robotic Hand Applications for the Space Program study (GRASP)

Science.gov (United States)

Grissom, William A.; Rafla, Nader I. (Editor)

1992-01-01

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time.

Fast grasping of unknown objects using principal component analysis

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Lei, Qujiang; Chen, Guangming; Wisse, Martijn

2017-09-01

Fast grasping of unknown objects has crucial impact on the efficiency of robot manipulation especially subjected to unfamiliar environments. In order to accelerate grasping speed of unknown objects, principal component analysis is utilized to direct the grasping process. In particular, a single-view partial point cloud is constructed and grasp candidates are allocated along the principal axis. Force balance optimization is employed to analyze possible graspable areas. The obtained graspable area with the minimal resultant force is the best zone for the final grasping execution. It is shown that an unknown object can be more quickly grasped provided that the component analysis principle axis is determined using single-view partial point cloud. To cope with the grasp uncertainty, robot motion is assisted to obtain a new viewpoint. Virtual exploration and experimental tests are carried out to verify this fast gasping algorithm. Both simulation and experimental tests demonstrated excellent performances based on the results of grasping a series of unknown objects. To minimize the grasping uncertainty, the merits of the robot hardware with two 3D cameras can be utilized to suffice the partial point cloud. As a result of utilizing the robot hardware, the grasping reliance is highly enhanced. Therefore, this research demonstrates practical significance for increasing grasping speed and thus increasing robot efficiency under unpredictable environments.

Visual Descriptor Learning for Predicting Grasping Affordances

DEFF Research Database (Denmark)

Thomsen, Mikkel Tang

2016-01-01

by the task of grasping unknown objects given visual sensor information. The contributions from this thesis stem from three works that all relate to the task of grasping unknown objects but with particular focus on the visual representation part of the problem. First an investigation of a visual feature space...... consisting of surface features was performed. Dimensions in the visual space were varied and the effects were evaluated with the task of grasping unknown object. The evaluation was performed using a novel probabilistic grasp prediction approach based on neighbourhood analysis. The resulting success......-rates for predicting grasps were between 75% and 90% depending on the object class. The investigations also provided insights into the importance of selecting a proper visual feature space when utilising it for predicting affordances. As a consequence of the gained insights, a semi-local surface feature, the Sliced...

End-state comfort trumps handedness in object manipulation.

Science.gov (United States)

Coelho, Chase J; Studenka, Breanna E; Rosenbaum, David A

2014-04-01

A goal of research on human perception and performance is to explore the relative importance of constraints shaping action selection. The present study concerned the relative importance of two constraints that have not been directly contrasted: (1) the tendency to grasp objects in ways that afford comfortable or easy-to-control final postures; and (2) the tendency to grasp objects with the dominant rather than the nondominant hand. We asked participants to reach out and grasp a horizontal rod whose left or right end was to be placed into a target after a 90° rotation. In one condition, we told participants which hand to use and let them choose an overhand or underhand initial grasp. In another condition, we told participants which grasp to use and let them choose either hand. Participants sacrificed hand preference to perform the task in a way that ensured a comfortable or easy to control thumb-up posture at the time of object placement, indicating that comfort trumped handedness. A second experiment confirmed that comfort was indeed higher for thumb-down postures than thumb-up postures. A third experiment confirmed that the choice data could be linked to objective performance differences. The results point to the importance of identifying constraint weightings for action selection and support an account of hand selection that ascribes hand preference to sensitivity to performance differences. The results do not support the hypothesis that hand preference simply reflects a bias to use the dominant hand.

Robot Grasp Learning by Demonstration without Predefined Rules

Directory of Open Access Journals (Sweden)

César Fernández

2011-12-01

Full Text Available A learning-based approach to autonomous robot grasping is presented. Pattern recognition techniques are used to measure the similarity between a set of previously stored example grasps and all the possible candidate grasps for a new object. Two sets of features are defined in order to characterize grasps: point attributes describe the surroundings of a contact point; point-set attributes describe the relationship between the set of n contact points (assuming an n-fingered robot gripper is used. In the experiments performed, the nearest neighbour classifier outperforms other approaches like multilayer perceptrons, radial basis functions or decision trees, in terms of classification accuracy, while computational load is not excessive for a real time application (a grasp is fully synthesized in 0.2 seconds. The results obtained on a synthetic database show that the proposed system is able to imitate the grasping behaviour of the user (e.g. the system learns to grasp a mug by its handle. All the code has been made available for testing purposes.

Grasping Unknown Objects in an Early Cognitive Vision System

DEFF Research Database (Denmark)

Popovic, Mila

2011-01-01

Grasping of unknown objects presents an important and challenging part of robot manipulation. The growing area of service robotics depends upon the ability of robots to autonomously grasp and manipulate a wide range of objects in everyday environments. Simple, non task-specific grasps of unknown ...... and comparing vision-based grasping methods, and the creation of algorithms for bootstrapping a process of acquiring world understanding for artificial cognitive agents....... presents a system for robotic grasping of unknown objects us- ing stereo vision. Grasps are defined based on contour and surface information provided by the Early Cognitive Vision System, that organizes visual informa- tion into a biologically motivated hierarchical representation. The contributions...... of the thesis are: the extension of the Early Cognitive Vision representation with a new type of feature hierarchy in the texture domain, the definition and evaluation of contour based grasping methods, the definition and evaluation of surface based grasping methods, the definition of a benchmark for testing...

Does a crouched leg posture enhance running stability and robustness?

Science.gov (United States)

Blum, Yvonne; Birn-Jeffery, Aleksandra; Daley, Monica A; Seyfarth, Andre

2011-07-21

Humans and birds both walk and run bipedally on compliant legs. However, differences in leg architecture may result in species-specific leg control strategies as indicated by the observed gait patterns. In this work, control strategies for stable running are derived based on a conceptual model and compared with experimental data on running humans and pheasants (Phasianus colchicus). From a model perspective, running with compliant legs can be represented by the planar spring mass model and stabilized by applying swing leg control. Here, linear adaptations of the three leg parameters, leg angle, leg length and leg stiffness during late swing phase are assumed. Experimentally observed kinematic control parameters (leg rotation and leg length change) of human and avian running are compared, and interpreted within the context of this model, with specific focus on stability and robustness characteristics. The results suggest differences in stability characteristics and applied control strategies of human and avian running, which may relate to differences in leg posture (straight leg posture in humans, and crouched leg posture in birds). It has been suggested that crouched leg postures may improve stability. However, as the system of control strategies is overdetermined, our model findings suggest that a crouched leg posture does not necessarily enhance running stability. The model also predicts different leg stiffness adaptation rates for human and avian running, and suggests that a crouched avian leg posture, which is capable of both leg shortening and lengthening, allows for stable running without adjusting leg stiffness. In contrast, in straight-legged human running, the preparation of the ground contact seems to be more critical, requiring leg stiffness adjustment to remain stable. Finally, analysis of a simple robustness measure, the normalized maximum drop, suggests that the crouched leg posture may provide greater robustness to changes in terrain height

Research of Human Postural Balance Parameters

Directory of Open Access Journals (Sweden)

Julius Griškevičius

2011-02-01

Full Text Available In present article postural balance between subjects with stroke and healthy subjects, is being investigated with eyes opened and eyes closed. In the research participated 30 healthy subjects and 15 subjects with stroke. At the same time two experimental measurements were performed – postural balance was measured using balance platform and oscillations of the centre of mass were observed using two-axial accelerometer. It was noted, that amplitudes of subjects with stroke were larger almost two times than control group’s of healthy subjects. It was find out, that ratios of pressure distribution on both left and right legs are in range from 1 to 0.9 for healthy subjects, and ratios below 0.9 are common for subjects with stroke. When subjects were standing with eyes closed, sway amplitudes were higher and the ratios of load distribution on left and right legs were lower.Article in Lithuanian

A Biologically Inspired Learning to Grasp System

Science.gov (United States)

2001-10-25

possible extensive discussions of data on the premotor cortex and monkey grasping circuit with Giacomo Rizzolatti , Vittorio Gallese, to whom we express...premotor specialisation for the different types of grasps that Rizzolatti group [3] has found be formed at this age yet. Infants will need to...our gratitude. REFERENCES [1] M. Jeannerod, M.A. Arbib, G. Rizzolatti , H. Sakata, “Grasping objects: the cortical mechanisms of visuomotor

Emergent coordination underlying learning to reach to grasp with a brain-machine interface.

Science.gov (United States)

Vaidya, Mukta; Balasubramanian, Karthikeyan; Southerland, Joshua; Badreldin, Islam; Eleryan, Ahmed; Shattuck, Kelsey; Gururangan, Suchin; Slutzky, Marc; Osborne, Leslie; Fagg, Andrew; Oweiss, Karim; Hatsopoulos, Nicholas G

2018-04-01

The development of coordinated reach-to-grasp movement has been well studied in infants and children. However, the role of motor cortex during this development is unclear because it is difficult to study in humans. We took the approach of using a brain-machine interface (BMI) paradigm in rhesus macaques with prior therapeutic amputations to examine the emergence of novel, coordinated reach to grasp. Previous research has shown that after amputation, the cortical area previously involved in the control of the lost limb undergoes reorganization, but prior BMI work has largely relied on finding neurons that already encode specific movement-related information. In this study, we taught macaques to cortically control a robotic arm and hand through operant conditioning, using neurons that were not explicitly reach or grasp related. Over the course of training, stereotypical patterns emerged and stabilized in the cross-covariance between the reaching and grasping velocity profiles, between pairs of neurons involved in controlling reach and grasp, and to a comparable, but lesser, extent between other stable neurons in the network. In fact, we found evidence of this structured coordination between pairs composed of all combinations of neurons decoding reach or grasp and other stable neurons in the network. The degree of and participation in coordination was highly correlated across all pair types. Our approach provides a unique model for studying the development of novel, coordinated reach-to-grasp movement at the behavioral and cortical levels. NEW & NOTEWORTHY Given that motor cortex undergoes reorganization after amputation, our work focuses on training nonhuman primates with chronic amputations to use neurons that are not reach or grasp related to control a robotic arm to reach to grasp through the use of operant conditioning, mimicking early development. We studied the development of a novel, coordinated behavior at the behavioral and cortical level, and the neural

Study of the human postural control system during quiet standing using detrended fluctuation analysis

Science.gov (United States)

Teresa Blázquez, M.; Anguiano, Marta; de Saavedra, Fernando Arias; Lallena, Antonio M.; Carpena, Pedro

2009-05-01

The detrended fluctuation analysis is used to study the behavior of different time series obtained from the trajectory of the center of pressure, the output of the activity of the human postural control system. The results suggest that these trajectories present two different regimes in their scaling properties: persistent (for high frequencies, short-range time scale) to antipersistent (for low frequencies, long-range time scale) behaviors. The similitude between the results obtained for the measurements, done with both eyes open and eyes closed, indicate either that the visual system may be disregarded by the postural control system while maintaining the quiet standing, or that the control mechanisms associated with each type of information (visual, vestibular and somatosensory) cannot be disentangled with the type of analysis performed here.

Optimization by GRASP greedy randomized adaptive search procedures

CERN Document Server

Resende, Mauricio G C

2016-01-01

This is the first book to cover GRASP (Greedy Randomized Adaptive Search Procedures), a metaheuristic that has enjoyed wide success in practice with a broad range of applications to real-world combinatorial optimization problems. The state-of-the-art coverage and carefully crafted pedagogical style lends this book highly accessible as an introductory text not only to GRASP, but also to combinatorial optimization, greedy algorithms, local search, and path-relinking, as well as to heuristics and metaheuristics, in general. The focus is on algorithmic and computational aspects of applied optimization with GRASP with emphasis given to the end-user, providing sufficient information on the broad spectrum of advances in applied optimization with GRASP. For the more advanced reader, chapters on hybridization with path-relinking and parallel and continuous GRASP present these topics in a clear and concise fashion. Additionally, the book offers a very complete annotated bibliography of GRASP and combinatorial optimizat...

Human body modeling method to simulate the biodynamic characteristics of spine in vivo with different sitting postures.

Science.gov (United States)

Dong, Rui-Chun; Guo, Li-Xin

2017-11-01

The aim of this study is to model the computational model of seated whole human body including skeleton, muscle, viscera, ligament, intervertebral disc, and skin to predict effect of the factors (sitting postures, muscle and skin, buttocks, viscera, arms, gravity, and boundary conditions) on the biodynamic characteristics of spine. Two finite element models of seated whole body and a large number of finite element models of different ligamentous motion segments were developed and validated. Static, modal, and transient dynamic analyses were performed. The predicted vertical resonant frequency of seated body model was in the range of vertical natural frequency of 4 to 7 Hz. Muscle, buttocks, viscera, and the boundary conditions of buttocks have influence on the vertical resonant frequency of spine. Muscle played a very important role in biodynamic response of spine. Compared with the vertical posture, the posture of lean forward or backward led to an increase in stress on anterior or lateral posterior of lumbar intervertebral discs. This indicated that keeping correct posture could reduce the injury of vibration on lumbar intervertebral disc under whole-body vibration. The driving posture not only reduced the load of spine but also increased the resonant frequency of spine. Copyright © 2017 John Wiley & Sons, Ltd.

Effects of grasp compatibility on long-term memory for objects.

Science.gov (United States)

Canits, Ivonne; Pecher, Diane; Zeelenberg, René

2018-01-01

Previous studies have shown action potentiation during conceptual processing of manipulable objects. In four experiments, we investigated whether these motor actions also play a role in long-term memory. Participants categorized objects that afforded either a power grasp or a precision grasp as natural or artifact by grasping cylinders with either a power grasp or a precision grasp. In all experiments, responses were faster when the affordance of the object was compatible with the type of grasp response. However, subsequent free recall and recognition memory tasks revealed no better memory for object pictures and object names for which the grasp affordance was compatible with the grasp response. The present results therefore do not support the hypothesis that motor actions play a role in long-term memory. Copyright © 2017 Elsevier B.V. All rights reserved.

An investigation of the neural circuits underlying reaching and reach-to-grasp movements: from planning to execution.

Directory of Open Access Journals (Sweden)

Chiara eBegliomini

2014-09-01

Full Text Available Experimental evidence suggests the existence of a sophisticated brain circuit specifically dedicated to reach-to-grasp planning and execution, both in human and non human primates (Castiello, 2005. Studies accomplished by means of neuroimaging techniques suggest the hypothesis of a dichotomy between a reach-to-grasp circuit, involving the intraparietal area (AIP, the dorsal and ventral premotor cortices (PMd and PMv - Castiello and Begliomini, 2008; Filimon, 2010 and a reaching circuit involving the medial intraparietal area (mIP and the Superior Parieto-Occipital Cortex (SPOC (Culham et al., 2006. However, the time course characterizing the involvement of these regions during the planning and execution of these two types of movements has yet to be delineated. A functional magnetic resonance imaging (fMRI study has been conducted, including reach-to grasp and reaching only movements, performed towards either a small or a large stimulus, and Finite Impulse Response model (FIR - Henson, 2003 was adopted to monitor activation patterns from stimulus onset for a time window of 10 seconds duration. Data analysis focused on brain regions belonging either to the reaching or to the grasping network, as suggested by Castiello & Begliomini (2008.Results suggest that reaching and grasping movements planning and execution might share a common brain network, providing further confirmation to the idea that the neural underpinnings of reaching and grasping may overlap in both spatial and temporal terms (Verhagen et al., 2013.

Grasp Assist Device with Automatic Mode Control Logic

Science.gov (United States)

Davis, Donald R. (Inventor); Ihrke, Chris A. (Inventor); Laske, Evan (Inventor)

2018-01-01

A system includes a glove, sensors, actuator assemblies, and controller. The sensors include load sensors which measure an actual grasping force and attitude sensors which determine a glove attitude. The actuator assembly provides a grasp assist force to the glove. Respective locations of work cells in the work environment and permitted work tasks for each work cell are programmed into the controller. The controller detects the glove location and attitude. A work task is selected by the controller for the location. The controller calculates a required grasp assist force using measured actual grasping forces from the load sensors. The required grasp assist force is applied via the glove using the actuator assembly to thereby assist the operator in performing the identified work task.

Grasp Algorithms For Optotactile Robotic Sample Acquisition, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Robotic sample acquisition is basically grasping. Multi-finger robot sample grasping devices are controlled to securely pick up samples. While optimal grasps for...

Automatic Grasp Generation and Improvement for Industrial Bin-Picking

DEFF Research Database (Denmark)

Kraft, Dirk; Ellekilde, Lars-Peter; Rytz, Jimmy Alison

2014-01-01

and achieve comparable results and that our learning approach can improve system performance significantly. Automatic bin-picking is an important industrial process that can lead to significant savings and potentially keep production in countries with high labour cost rather than outsourcing it. The presented......This paper presents work on automatic grasp generation and grasp learning for reducing the manual setup time and increase grasp success rates within bin-picking applications. We propose an approach that is able to generate good grasps automatically using a dynamic grasp simulator, a newly developed...

Postural Coordination during Socio-motor Improvisation.

Science.gov (United States)

Gueugnon, Mathieu; Salesse, Robin N; Coste, Alexandre; Zhao, Zhong; Bardy, Benoît G; Marin, Ludovic

2016-01-01

Human interaction often relies on socio-motor improvisation. Creating unprepared movements during social interaction is not a random process but relies on rules of synchronization. These situations do not only involve people to be coordinated, but also require the adjustment of their posture in order to maintain balance and support movements. The present study investigated posture in such a context. More precisely, we first evaluated the impact of amplitude and complexity of arm movements on posture in solo situation. Then, we assessed the impact of interpersonal coordination on posture using the mirror game in which dyads performed improvised and synchronized movements (i.e., duo situation). Posture was measured through ankle-hip coordination in medio-lateral and antero-posterior directions (ML and AP respectively). Our results revealed the spontaneous emergence of in-phase pattern in ML direction and antiphase pattern in AP direction for solo and duo situations. These two patterns respectively refer to the simultaneous flexion/extension of the ankles and the hips in the same or opposite direction. It suggests different functional roles of postural coordination patterns in each direction, with in-phase supporting task performance in ML (dynamical stability) and antiphase supporting postural control in AP (mechanical stability). Although amplitude of movement did not influence posture, movement complexity disturbed postural stability in both directions. Conversely, interpersonal coordination promoted postural stability in ML but not in AP direction. These results are discussed in terms of the difference in coupling strength between ankle-hip coordination and interpersonal coordination.

Postural coordination during socio-motor improvisation

Directory of Open Access Journals (Sweden)

Mathieu Gueugnon

2016-08-01

Full Text Available Human interaction often relies on socio-motor improvisation. Creating unprepared movements during social interaction is not a random process but relies on rules of synchronization. These situations do not only involve people to be coordinated, but also require the adjustment of their posture in order to maintain balance and support movements. The present study investigated posture in such a context. More precisely, we first evaluated the impact of amplitude and complexity of arm movements on posture in solo situation. Then, we assessed the impact of interpersonal coordination on posture using the mirror game in which dyads performed improvised and synchronized movements (i.e., duo situation. Posture was measured through ankle-hip coordination in medio-lateral and antero-posterior directions (ML and AP respectively. Our results revealed the spontaneous emergence of in-phase pattern in ML direction and anti-phase pattern in AP direction for solo and duo situations. These two patterns respectively refer to the simultaneous flexion/extension of the ankles and the hips in the same or opposite direction. It suggests different functional roles of postural coordination patterns in each direction, with in-phase supporting task performance in ML (dynamical stability and antiphase supporting postural control in AP (mechanical stability. Although amplitude of movement did not influence posture, movement complexity disturbed postural stability in both directions. Conversely, interpersonal coordination promoted postural stability in ML but not in AP direction. These results are discussed in terms of the difference in coupling strength between ankle-hip coordination and interpersonal coordination.

Bone indicators of grasping hands in lizards

Directory of Open Access Journals (Sweden)

Gabriela Fontanarrosa

2016-05-01

Full Text Available Grasping is one of a few adaptive mechanisms that, in conjunction with clinging, hooking, arm swinging, adhering, and flying, allowed for incursion into the arboreal eco-space. Little research has been done that addresses grasping as an enhanced manual ability in non-mammalian tetrapods, with the exception of studies comparing the anatomy of muscle and tendon structure. Previous studies showed that grasping abilities allow exploitation for narrow branch habitats and that this adaptation has clear osteological consequences. The objective of this work is to ascertain the existence of morphometric descriptors in the hand skeleton of lizards related to grasping functionality. A morphological matrix was constructed using 51 morphometric variables in 278 specimens, from 24 genera and 13 families of Squamata. To reduce the dimensions of the dataset and to organize the original variables into a simpler system, three PCAs (Principal Component Analyses were performed using the subsets of (1 carpal variables, (2 metacarpal variables, and (3 phalanges variables. The variables that demonstrated the most significant contributions to the construction of the PCA synthetic variables were then used in subsequent analyses. To explore which morphological variables better explain the variations in the functional setting, we ran Generalized Linear Models for the three different sets. This method allows us to model the morphology that enables a particular functional trait. Grasping was considered the only response variable, taking the value of 0 or 1, while the original variables retained by the PCAs were considered predictor variables. Our analyses yielded six variables associated with grasping abilities: two belong to the carpal bones, two belong to the metacarpals and two belong to the phalanges. Grasping in lizards can be performed with hands exhibiting at least two different independently originated combinations of bones. The first is a combination of a highly

Can smartwatches replace smartphones for posture tracking?

Science.gov (United States)

Mortazavi, Bobak; Nemati, Ebrahim; VanderWall, Kristina; Flores-Rodriguez, Hector G; Cai, Jun Yu Jacinta; Lucier, Jessica; Naeim, Arash; Sarrafzadeh, Majid

2015-10-22

This paper introduces a human posture tracking platform to identify the human postures of sitting, standing or lying down, based on a smartwatch. This work develops such a system as a proof-of-concept study to investigate a smartwatch's ability to be used in future remote health monitoring systems and applications. This work validates the smartwatches' ability to track the posture of users accurately in a laboratory setting while reducing the sampling rate to potentially improve battery life, the first steps in verifying that such a system would work in future clinical settings. The algorithm developed classifies the transitions between three posture states of sitting, standing and lying down, by identifying these transition movements, as well as other movements that might be mistaken for these transitions. The system is trained and developed on a Samsung Galaxy Gear smartwatch, and the algorithm was validated through a leave-one-subject-out cross-validation of 20 subjects. The system can identify the appropriate transitions at only 10 Hz with an F-score of 0.930, indicating its ability to effectively replace smart phones, if needed.

Use of Video Analysis System for Working Posture Evaluations

Science.gov (United States)

McKay, Timothy D.; Whitmore, Mihriban

1994-01-01

In a work environment, it is important to identify and quantify the relationship among work activities, working posture, and workplace design. Working posture may impact the physical comfort and well-being of individuals, as well as performance. The Posture Video Analysis Tool (PVAT) is an interactive menu and button driven software prototype written in Supercard (trademark). Human Factors analysts are provided with a predefined set of options typically associated with postural assessments and human performance issues. Once options have been selected, the program is used to evaluate working posture and dynamic tasks from video footage. PVAT has been used to evaluate postures from Orbiter missions, as well as from experimental testing of prototype glove box designs. PVAT can be used for video analysis in a number of industries, with little or no modification. It can contribute to various aspects of workplace design such as training, task allocations, procedural analyses, and hardware usability evaluations. The major advantage of the video analysis approach is the ability to gather data, non-intrusively, in restricted-access environments, such as emergency and operation rooms, contaminated areas, and control rooms. Video analysis also provides the opportunity to conduct preliminary evaluations of existing work areas.

Effects of posture on FDTD calculations of specific absorption rate in a voxel model of the human body

Energy Technology Data Exchange (ETDEWEB)

Findlay, R P; Dimbylow, P J [National Radiological Protection Board, Chilton, Didcot, Oxon OX11 0RQ (United Kingdom)

2005-08-21

A change in the posture of the human body can significantly affect the way in which it absorbs radiofrequency electromagnetic radiation. To study this, an anatomically realistic model of the body has been modified to develop new voxel models in postures other than the standard standing position with arms to the side. These postures were sitting, arms stretched out horizontally to the side and vertically above the head. Finite-difference time-domain (FDTD) calculations of the whole-body averaged specific energy absorption rate (SAR) have been performed from 10 MHz to 300 MHz at a resolution of 4 mm. Calculations show that the effect of a raised arm above the head posture was to increase the value of the whole-body averaged SAR at resonance by up to 35% when compared to the standard, arms by the side position. SAR values, both whole-body averaged and localized in the ankle, were used to derive the external electric field values required to produce the SAR basic restrictions of the ICNIRP guidelines. It was found that, in certain postures, external electric field reference levels alone would not provide a conservative estimate of localized SAR exposure and it would be necessary to invoke secondary reference levels on limb currents to provide compliance with restrictions.

Effects of posture on FDTD calculations of specific absorption rate in a voxel model of the human body

International Nuclear Information System (INIS)

Findlay, R P; Dimbylow, P J

2005-01-01

A change in the posture of the human body can significantly affect the way in which it absorbs radiofrequency electromagnetic radiation. To study this, an anatomically realistic model of the body has been modified to develop new voxel models in postures other than the standard standing position with arms to the side. These postures were sitting, arms stretched out horizontally to the side and vertically above the head. Finite-difference time-domain (FDTD) calculations of the whole-body averaged specific energy absorption rate (SAR) have been performed from 10 MHz to 300 MHz at a resolution of 4 mm. Calculations show that the effect of a raised arm above the head posture was to increase the value of the whole-body averaged SAR at resonance by up to 35% when compared to the standard, arms by the side position. SAR values, both whole-body averaged and localized in the ankle, were used to derive the external electric field values required to produce the SAR basic restrictions of the ICNIRP guidelines. It was found that, in certain postures, external electric field reference levels alone would not provide a conservative estimate of localized SAR exposure and it would be necessary to invoke secondary reference levels on limb currents to provide compliance with restrictions

Effects of posture on FDTD calculations of specific absorption rate in a voxel model of the human body

Science.gov (United States)

Findlay, R. P.; Dimbylow, P. J.

2005-08-01

A change in the posture of the human body can significantly affect the way in which it absorbs radiofrequency electromagnetic radiation. To study this, an anatomically realistic model of the body has been modified to develop new voxel models in postures other than the standard standing position with arms to the side. These postures were sitting, arms stretched out horizontally to the side and vertically above the head. Finite-difference time-domain (FDTD) calculations of the whole-body averaged specific energy absorption rate (SAR) have been performed from 10 MHz to 300 MHz at a resolution of 4 mm. Calculations show that the effect of a raised arm above the head posture was to increase the value of the whole-body averaged SAR at resonance by up to 35% when compared to the standard, arms by the side position. SAR values, both whole-body averaged and localized in the ankle, were used to derive the external electric field values required to produce the SAR basic restrictions of the ICNIRP guidelines. It was found that, in certain postures, external electric field reference levels alone would not provide a conservative estimate of localized SAR exposure and it would be necessary to invoke secondary reference levels on limb currents to provide compliance with restrictions.

Postural Response Signal Characteristics Identified by Method of Developed Statokinesigram

Directory of Open Access Journals (Sweden)

Barbolyas Boris

2015-12-01

Full Text Available Human postural system is taken as complex biological system with specific input and output time characteristics, in this study. Evaluation of measured output characteristics is useful in medical diagnostics or in describing postural system disorders. System theory principle provide suitable basis for postural signals analysis. Participating volunteers were instructed to maintain quiet upright stance posture on firm support surface of stabilometric platform for 60s. Postural system actuation was realized by vibration stimuli applied bilaterally on Achilles tendons for 20s. Postural reaction signal, its time profile and static and dynamic characteristics were evaluated by Method of Developed Statokinesigram Trajectory (MDST.

Body posture measurement in a context of example-based teaching

International Nuclear Information System (INIS)

Benoit, Eric; Perrin, Stephane; Coquin, Didier

2015-01-01

This paper presents a measurement process of body postures operated in a context of humanoid robot learning. The basic measured quantities are the angle joints of a human skeleton and the angle joints of a humanoid robot. Due to the differences between the two mechanical structures, the measurement results are expressed into a common representation space by the way of fuzzy scales. This paper shows how the common representation space can be defined, and presents a method to match weakly defined postures with uncertain measurements of a human posture

Mena–GRASP65 interaction couples actin polymerization to Golgi ribbon linking

Science.gov (United States)

Tang, Danming; Zhang, Xiaoyan; Huang, Shijiao; Yuan, Hebao; Li, Jie; Wang, Yanzhuang

2016-01-01

In mammalian cells, the Golgi reassembly stacking protein 65 (GRASP65) has been implicated in both Golgi stacking and ribbon linking by forming trans-oligomers through the N-terminal GRASP domain. Because the GRASP domain is globular and relatively small, but the gaps between stacks are large and heterogeneous, it remains puzzling how GRASP65 physically links Golgi stacks into a ribbon. To explore the possibility that other proteins may help GRASP65 in ribbon linking, we used biochemical methods and identified the actin elongation factor Mena as a novel GRASP65-binding protein. Mena is recruited onto the Golgi membranes through interaction with GRASP65. Depleting Mena or disrupting actin polymerization resulted in Golgi fragmentation. In cells, Mena and actin were required for Golgi ribbon formation after nocodazole washout; in vitro, Mena and microfilaments enhanced GRASP65 oligomerization and Golgi membrane fusion. Thus Mena interacts with GRASP65 to promote local actin polymerization, which facilitates Golgi ribbon linking. PMID:26538023

Fast Grasp Contact Computation for a Serial Robot

Science.gov (United States)

Shi, Jianying (Inventor); Hargrave, Brian (Inventor); Diftler, Myron A. (Inventor)

2015-01-01

A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.

On transferability and contexts when using simulated grasp databases

DEFF Research Database (Denmark)

Jørgensen, Jimmy Alison; Ellekilde, Lars-Peter; Kraft, Dirk

2015-01-01

It has become a common practice to use simulation to generate large databases of good grasps for grasp planning in robotics research. However, the existence of a generic simulation context that enables the generation of high quality grasps that can be used in several different contexts such as bi...

Visual Field Preferences of Object Analysis for Grasping with One Hand

Directory of Open Access Journals (Sweden)

Ada eLe

2014-10-01

Full Text Available When we grasp an object using one hand, the opposite hemisphere predominantly guides the motor control of grasp movements (Davare et al. 2007; Rice et al. 2007. However, it is unclear whether visual object analysis for grasp control relies more on inputs (a from the contralateral than the ipsilateral visual field, (b from one dominant visual field regardless of the grasping hand, or (c from both visual fields equally. For bimanual grasping of a single object we have recently demonstrated a visual field preference for the left visual field (Le and Niemeier 2013a, 2013b, consistent with a general right-hemisphere dominance for sensorimotor control of bimanual grasps (Le et al., 2013. But visual field differences have never been tested for unimanual grasping. Therefore, here we asked right-handed participants to fixate to the left or right of an object and then grasp the object either with their right or left hand using a precision grip. We found that participants grasping with their right hand performed better with objects in the right visual field: maximum grip apertures (MGAs were more closely matched to the object width and were smaller than for objects in the left visual field. In contrast, when people grasped with their left hand, preferences switched to the left visual field. What is more, MGA scaling showed greater visual field differences compared to right-hand grasping. Our data suggest that, visual object analysis for unimanual grasping shows a preference for visual information from the ipsilateral visual field, and that the left hemisphere is better equipped to control grasps in both visual fields.

Assessing Grasp Stability Based on Learning and Haptic Data

DEFF Research Database (Denmark)

Bekiroglu, Yasemin; Laaksonen, Janne; Jørgensen, Jimmy Alison

2011-01-01

a probabilistic learning framework to assess grasp stability and demonstrate that knowledge about grasp stability can be inferred using information from tactile sensors. Experiments on both simulated and real data are shown. The results indicate that the idea to exploit the learning approach is applicable...... data and machine-learning methods, including AdaBoost, support vector machines (SVMs), and hidden Markov models (HMMs). In particular, we study the effect of different sensory streams to grasp stability. This includes object information such as shape; grasp information such as approach vector; tactile...

Human cerebral venous outflow pathway depends on posture and central venous pressure

Science.gov (United States)

Gisolf, J; van Lieshout, J J; van Heusden, K; Pott, F; Stok, W J; Karemaker, J M

2004-01-01

Internal jugular veins are the major cerebral venous outflow pathway in supine humans. In upright humans the positioning of these veins above heart level causes them to collapse. An alternative cerebral outflow pathway is the vertebral venous plexus. We set out to determine the effect of posture and central venous pressure (CVP) on the distribution of cerebral outflow over the internal jugular veins and the vertebral plexus, using a mathematical model. Input to the model was a data set of beat-to-beat cerebral blood flow velocity and CVP measurements in 10 healthy subjects, during baseline rest and a Valsalva manoeuvre in the supine and standing position. The model, consisting of 2 jugular veins, each a chain of 10 units containing nonlinear resistances and capacitors, and a vertebral plexus containing a resistance, showed blood flow mainly through the internal jugular veins in the supine position, but mainly through the vertebral plexus in the upright position. A Valsalva manoeuvre while standing completely re-opened the jugular veins. Results of ultrasound imaging of the right internal jugular vein cross-sectional area at the level of the laryngeal prominence in six healthy subjects, before and during a Valsalva manoeuvre in both body positions, correlate highly with model simulation of the jugular cross-sectional area (R2 = 0.97). The results suggest that the cerebral venous flow distribution depends on posture and CVP: in supine humans the internal jugular veins are the primary pathway. The internal jugular veins are collapsed in the standing position and blood is shunted to an alternative venous pathway, but a marked increase in CVP while standing completely re-opens the jugular veins. PMID:15284348

General Rotorcraft Aeromechanical Stability Program (GRASP): Theory manual

Science.gov (United States)

Hodges, Dewey H.; Hopkins, A. Stewart; Kunz, Donald L.; Hinnant, Howard E.

1990-01-01

The general rotorcraft aeromechanical stability program (GRASP) was developed to calculate aeroelastic stability for rotorcraft in hovering flight, vertical flight, and ground contact conditions. GRASP is described in terms of its capabilities and its philosophy of modeling. The equations of motion that govern the physical system are described, as well as the analytical approximations used to derive them. The equations include the kinematical equation, the element equations, and the constraint equations. In addition, the solution procedures used by GRASP are described. GRASP is capable of treating the nonlinear static and linearized dynamic behavior of structures represented by arbitrary collections of rigid-body and beam elements. These elements may be connected in an arbitrary fashion, and are permitted to have large relative motions. The main limitation of this analysis is that periodic coefficient effects are not treated, restricting rotorcraft flight conditions to hover, axial flight, and ground contact. Instead of following the methods employed in other rotorcraft programs. GRASP is designed to be a hybrid of the finite-element method and the multibody methods used in spacecraft analysis. GRASP differs from traditional finite-element programs by allowing multiple levels of substructure in which the substructures can move and/or rotate relative to others with no small-angle approximations. This capability facilitates the modeling of rotorcraft structures, including the rotating/nonrotating interface and the details of the blade/root kinematics for various types. GRASP differs from traditional multibody programs by considering aeroelastic effects, including inflow dynamics (simple unsteady aerodynamics) and nonlinear aerodynamic coefficients.

Grasping trajectories in a virtual environment adhere to Weber's law.

Science.gov (United States)

Ozana, Aviad; Berman, Sigal; Ganel, Tzvi

2018-06-01

Virtual-reality and telerobotic devices simulate local motor control of virtual objects within computerized environments. Here, we explored grasping kinematics within a virtual environment and tested whether, as in normal 3D grasping, trajectories in the virtual environment are performed analytically, violating Weber's law with respect to object's size. Participants were asked to grasp a series of 2D objects using a haptic system, which projected their movements to a virtual space presented on a computer screen. The apparatus also provided object-specific haptic information upon "touching" the edges of the virtual targets. The results showed that grasping movements performed within the virtual environment did not produce the typical analytical trajectory pattern obtained during 3D grasping. Unlike as in 3D grasping, grasping trajectories in the virtual environment adhered to Weber's law, which indicates relative resolution in size processing. In addition, the trajectory patterns differed from typical trajectories obtained during 3D grasping, with longer times to complete the movement, and with maximum grip apertures appearing relatively early in the movement. The results suggest that grasping movements within a virtual environment could differ from those performed in real space, and are subjected to irrelevant effects of perceptual information. Such atypical pattern of visuomotor control may be mediated by the lack of complete transparency between the interface and the virtual environment in terms of the provided visual and haptic feedback. Possible implications of the findings to movement control within robotic and virtual environments are further discussed.

Biomedical research on the International Space Station postural and manipulation problems of the human upper limb in weightlessness

Science.gov (United States)

Neri, Gianluca; Zolesi, Valfredo

2000-01-01

Accumulated evidence, based on information gathered on space flight missions and ground based models involving both humans and animals, clearly suggests that exposure to states of microgravity conditions for varying duration induces certain physiological changes; they involve cardiovascular deconditioning, balance disorders, bone weakening, muscle hypertrophy, disturbed sleep patterns and depressed immune responses. The effects of the microgravity on the astronauts' movement and attitude have been studied during different space missions, increasing the knowledge of the human physiology in weightlessness. The purpose of the research addressed in the present paper is to understand and to assess the performances of the upper limb, especially during grasp. Objects of the research are the physiological changes related to the long-term duration spaceflight environment. Specifically, the changes concerning the upper limb are investigated, with particular regard to the performances of the hand in zero-g environments. This research presents also effects on the Earth, improving the studies on a number of pathological states, on the health care and the rehabilitation. In this perspective, a set of experiments are proposed, aimed at the evaluation of the effects of the zero-g environments on neurophysiology of grasping movements, fatigue assessment, precision grip. .

Learning Objects and Grasp Affordances through Autonomous Exploration

DEFF Research Database (Denmark)

Kraft, Dirk; Detry, Renaud; Pugeault, Nicolas

2009-01-01

We describe a system for autonomous learning of visual object representations and their grasp affordances on a robot-vision system. It segments objects by grasping and moving 3D scene features, and creates probabilistic visual representations for object detection, recognition and pose estimation...... image sequences as well as (3) a number of built-in behavioral modules on the one hand, and autonomous exploration on the other hand, the system is able to generate object and grasping knowledge through interaction with its environment....

Modelling and Simulation of a Manipulator with Stable Viscoelastic Grasping Incorporating Friction

Directory of Open Access Journals (Sweden)

A. Khurshid

2016-12-01

Full Text Available Design, dynamics and control of a humanoid robotic hand based on anthropological dimensions, with joint friction, is modelled, simulated and analysed in this paper by using computer aided design and multibody dynamic simulation. Combined joint friction model is incorporated in the joints. Experimental values of coefficient of friction of grease lubricated sliding contacts representative of manipulator joints are presented. Human fingers deform to the shape of the grasped object (enveloping grasp at the area of interaction. A mass-spring-damper model of the grasp is developed. The interaction of the viscoelastic gripper of the arm with objects is analysed by using Bond Graph modelling method. Simulations were conducted for several material parameters. These results of the simulation are then used to develop a prototype of the proposed gripper. Bond graph model is experimentally validated by using the prototype. The gripper is used to successfully transport soft and fragile objects. This paper provides information on optimisation of friction and its inclusion in both dynamic modelling and simulation to enhance mechanical efficiency.

Mechanisms of inhibition of vasopressin release during moderate antiorthostatic posture change in humans

DEFF Research Database (Denmark)

Pump, B.; Gabrielsen, A.; Christensen, N.J.

1999-01-01

The hypothesis was tested that the carotid baroreceptor stimulation caused by a posture change from upright seated with legs horizontal (Seat) to supine (Sup) participates in the suppression of arginine vasopressin (AVP) release. Ten healthy males underwent this posture change for 30 min without...... decreased from 0.9 +/- 0.2 to 0.5 +/- 0.1 pg/ml (P posture...

Microsoft kinect-based artificial perception system for control of functional electrical stimulation assisted grasping.

Science.gov (United States)

Strbac, Matija; Kočović, Slobodan; Marković, Marko; Popović, Dejan B

2014-01-01

We present a computer vision algorithm that incorporates a heuristic model which mimics a biological control system for the estimation of control signals used in functional electrical stimulation (FES) assisted grasping. The developed processing software acquires the data from Microsoft Kinect camera and implements real-time hand tracking and object analysis. This information can be used to identify temporal synchrony and spatial synergies modalities for FES control. Therefore, the algorithm acts as artificial perception which mimics human visual perception by identifying the position and shape of the object with respect to the position of the hand in real time during the planning phase of the grasp. This artificial perception used within the heuristically developed model allows selection of the appropriate grasp and prehension. The experiments demonstrate that correct grasp modality was selected in more than 90% of tested scenarios/objects. The system is portable, and the components are low in cost and robust; hence, it can be used for the FES in clinical or even home environment. The main application of the system is envisioned for functional electrical therapy, that is, intensive exercise assisted with FES.

Effect of pencil grasp on the speed and legibility of handwriting in children.

Science.gov (United States)

Schwellnus, Heidi; Carnahan, Heather; Kushki, Azadeh; Polatajko, Helene; Missiuna, Cheryl; Chau, Tom

2012-01-01

Pencil grasps other than the dynamic tripod may be functional for handwriting. This study examined the impact of grasp on handwriting speed and legibility. We videotaped 120 typically developing fourth-grade students while they performed a writing task. We categorized the grasps they used and evaluated their writing for speed and legibility using a handwriting assessment. Using linear regression analysis, we examined the relationship between grasp and handwriting. We documented six categories of pencil grasp: four mature grasp patterns, one immature grasp pattern, and one alternating grasp pattern. Multiple linear regression results revealed no significant effect for mature grasp on either legibility or speed. Pencil grasp patterns did not influence handwriting speed or legibility in this sample of typically developing children. This finding adds to the mounting body of evidence that alternative grasps may be acceptable for fast and legible handwriting. Copyright © 2012 by the American Occupational Therapy Association, Inc.

Postural adjustments are modulated by manual task complexity

Directory of Open Access Journals (Sweden)

Luis Augusto Teixeira

2009-09-01

Full Text Available Daily life activities of humans are characterized by dual tasks, in which a manual task is performed concomitantly with a postural task. Based on the assumption that both manual and postural tasks require attentional resources, no consensus exists as to how the central nervous system modulates postural adjustments in dual tasks. The aim of the present study was to analyze the effect of a manual task requiring attentional resources on shoulder and ankle adjustments as a function of the direction and predictability of postural perturbation. The participants (n=6 were evaluated during the performance of a simple and a complex manual task, while the base of support was moved backward or forward. Latency of activation of the tibialis anterior and gastroc-nemius muscles and angular acceleration of the shoulder were analyzed. The results showed that execution of the complex manual task delayed postural adjustment. Moreover, this delay occurred differently depending on the direction of postural perturbation. The delay in postural adjustment occurred proximally in the case of anterior displacement of the platform, and distally in the case of posterior displacement. Postural adjustments were more affected by the attentional task than by the predictability of platform displacement. These results are consistent with the concept of an integrated control between manual actions and the maintenance of static posture.

Reference Values for Human Posture Measurements Based on Computerized Photogrammetry: A Systematic Review.

Science.gov (United States)

Macedo Ribeiro, Ana Freire; Bergmann, Anke; Lemos, Thiago; Pacheco, Antônio Guilherme; Mello Russo, Maitê; Santos de Oliveira, Laura Alice; de Carvalho Rodrigues, Erika

The main objective of this study was to review the literature to identify reference values for angles and distances of body segments related to upright posture in healthy adult women with the Postural Assessment Software (PAS/SAPO). Electronic databases (BVS, PubMed, SciELO and Scopus) were assessed using the following descriptors: evaluation, posture, photogrammetry, physical therapy, postural alignment, postural assessment, and physiotherapy. Studies that performed postural evaluation in healthy adult women with PAS/SAPO and were published in English, Portuguese and Spanish, between the years 2005 and 2014 were included. Four studies met the inclusion criteria. Data from the included studies were grouped to establish the statistical descriptors (mean, variance, and standard deviation) of the body angles and distances. A total of 29 variables were assessed (10 in the anterior views, 16 in the lateral right and left views, and 3 in the posterior views), and its respective mean and standard deviation were calculated. Reference values for the anterior and posterior views showed no symmetry between the right and left sides of the body in the frontal plane. There were also small differences in the calculated reference values for the lateral view. The proposed reference values for quantitative evaluation of the upright posture in healthy adult women estimated in the present study using PAS/SAPO could guide future studies and help clinical practice. Copyright © 2017. Published by Elsevier Inc.

Real-Time Hand Posture Recognition Using a Range Camera

Science.gov (United States)

Lahamy, Herve

The basic goal of human computer interaction is to improve the interaction between users and computers by making computers more usable and receptive to the user's needs. Within this context, the use of hand postures in replacement of traditional devices such as keyboards, mice and joysticks is being explored by many researchers. The goal is to interpret human postures via mathematical algorithms. Hand posture recognition has gained popularity in recent years, and could become the future tool for humans to interact with computers or virtual environments. An exhaustive description of the frequently used methods available in literature for hand posture recognition is provided. It focuses on the different types of sensors and data used, the segmentation and tracking methods, the features used to represent the hand postures as well as the classifiers considered in the recognition process. Those methods are usually presented as highly robust with a recognition rate close to 100%. However, a couple of critical points necessary for a successful real-time hand posture recognition system require major improvement. Those points include the features used to represent the hand segment, the number of postures simultaneously recognizable, the invariance of the features with respect to rotation, translation and scale and also the behavior of the classifiers against non-perfect hand segments for example segments including part of the arm or missing part of the palm. A 3D time-of-flight camera named SR4000 has been chosen to develop a new methodology because of its capability to provide in real-time and at high frame rate 3D information on the scene imaged. This sensor has been described and evaluated for its capability for capturing in real-time a moving hand. A new recognition method that uses the 3D information provided by the range camera to recognize hand postures has been proposed. The different steps of this methodology including the segmentation, the tracking, the hand

Virtual grasping: closed-loop force control using electrotactile feedback.

Science.gov (United States)

Jorgovanovic, Nikola; Dosen, Strahinja; Djozic, Damir J; Krajoski, Goran; Farina, Dario

2014-01-01

Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously "unseen" objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.

Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback

Directory of Open Access Journals (Sweden)

Nikola Jorgovanovic

2014-01-01

Full Text Available Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously “unseen” objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.

Mena-GRASP65 interaction couples actin polymerization to Golgi ribbon linking.

Science.gov (United States)

Tang, Danming; Zhang, Xiaoyan; Huang, Shijiao; Yuan, Hebao; Li, Jie; Wang, Yanzhuang

2016-01-01

In mammalian cells, the Golgi reassembly stacking protein 65 (GRASP65) has been implicated in both Golgi stacking and ribbon linking by forming trans-oligomers through the N-terminal GRASP domain. Because the GRASP domain is globular and relatively small, but the gaps between stacks are large and heterogeneous, it remains puzzling how GRASP65 physically links Golgi stacks into a ribbon. To explore the possibility that other proteins may help GRASP65 in ribbon linking, we used biochemical methods and identified the actin elongation factor Mena as a novel GRASP65-binding protein. Mena is recruited onto the Golgi membranes through interaction with GRASP65. Depleting Mena or disrupting actin polymerization resulted in Golgi fragmentation. In cells, Mena and actin were required for Golgi ribbon formation after nocodazole washout; in vitro, Mena and microfilaments enhanced GRASP65 oligomerization and Golgi membrane fusion. Thus Mena interacts with GRASP65 to promote local actin polymerization, which facilitates Golgi ribbon linking. © 2016 Tang et al. This article is distributed by The American Society for Cell Biology under license from the author(s). Two months after publication it is available to the public under an Attribution–Noncommercial–Share Alike 3.0 Unported Creative Commons License (http://creativecommons.org/licenses/by-nc-sa/3.0).

Getting the right grasp on executive function

Directory of Open Access Journals (Sweden)

Claudia L R Gonzalez

2014-04-01

Full Text Available Executive Function (EF refers to important socio-emotional and cognitive skills that are known to be highly correlated with both academic and life success. EF is a blanket term that is considered to include self-regulation, working memory, and planning. Recent studies have shown a relationship between EF and motor control. The emergence of motor control coincides with that of EF, hence understanding the relationship between these two domains could have significant implications for early detection and remediation of later EF deficits. The purpose of the current study was to investigate this relationship in young children. This study incorporated the Behavioural Rating Inventory of Executive Function (BRIEF and two motor assessments with a focus on precision grasping to test this hypothesis. The BRIEF is comprised of two indices of EF: 1 the Behavioral Regulation Index (BRI containing three subscales: Inhibit, Shift, and Emotional Control; 2 the Metacognition Index (MI containing five subscales: Initiate, Working Memory, Plan/Organize, Organization of Materials, and Monitor. A global executive composite (GEC is derived from the two indices. In this study, right-handed children aged 5-6 and 9-10 were asked to: grasp-to-construct (Lego® models; and grasp-to-place (wooden blocks, while their parents completed the BRIEF questionnaire. Analysis of results indicated significant correlations between the strength of right hand preference for grasping and numerous elements of the BRIEF including the BRI, MI, and GEC. Specifically, the more the right hand was used for grasping the better the EF ratings. In addition, patterns of space-use correlated with the GEC in several subscales of the BRIEF. Finally and remarkably, the results also showed a reciprocal relationship between hand and space use for grasping and EF. These findings are discussed with respect to: 1 the developmental overlap of motor and executive functions; 2 detection of EF deficits through

Real-time vision, tactile cues, and visual form agnosia in pantomimed grasping: removing haptic feedback induces a switch from natural to pantomime-like grasps

Directory of Open Access Journals (Sweden)

Robert Leslie Whitwell

2015-05-01

Full Text Available Investigators study the kinematics of grasping movements (prehension under a variety of conditions to probe visuomotor function in normal and brain-damaged individuals. When patient DF, who suffers from visual form agnosia, performs natural grasps, her in-flight hand aperture is scaled to the widths of targets ('grip scaling' that she cannot discriminate amongst. In contrast, when DF's pantomime grasps are based on a memory of a previewed object, her grip scaling is very poor. Her failure on this task has been interpreted as additional support for the dissociation between the use of object vision for action and object vision for perception. Curiously, however, when DF directs her pantomimed grasps towards a displaced imagined copy of a visible object where her fingers make contact with the surface of the table, her grip scaling does not appear to be particularly poor. In the first of two experiments, we revisit this previous work and show that her grip scaling in this real-time pantomime grasping task does not differ from controls, suggesting that terminal tactile feedback from a proxy of the target can maintain DF's grip scaling. In a second experiment with healthy participants, we tested a recent variant of a grasping task in which no tactile feedback is available (i.e. no haptic feedback by comparing the kinematics of target-directed grasps with and without haptic feedback to those of real-time pantomime grasps without haptic feedback. Compared to natural grasps, removing haptic feedback increased RT, slowed the velocity of the reach, reduced grip aperture, sharpened the slopes relating grip aperture to target width, and reduced the final grip aperture. All of these effects were also observed in the pantomime grasping task. Taken together, these results provide compelling support for the view that removing haptic feedback induces a switch from real-time visual control to one that depends more on visual perception and cognitive supervision.

Effect of postural changes on ICP in healthy and ill subjects

DEFF Research Database (Denmark)

Petersen, Lonnie G; Juhler, Marianne

2015-01-01

to distinguish normal human physiology from disease entities such as idiopathic intracranial hypertension and normal pressure hydrocephalus, we investigated ICP in different body postures in both normal and ill subjects. METHODS: Thirty-one patients were included: four normal patients following complete removal......: upright standing, sitting in a chair, supine and right lateral lumbar puncture position. RESULTS: Linear regression of median ICP based on patient posture, group, and purpose of monitoring presented a significant model (p ... of differences in median ICP between body postures and supine ICP as the baseline, presented a highly significant model (p posture (p postures enabled...

Resolving conflicts in task demands during balance recovery: does holding an object inhibit compensatory grasping?

Science.gov (United States)

Bateni, Hamid; Zecevic, Aleksandra; McIlroy, William E; Maki, Brian E

2004-07-01

The ability to reach and "grasp" (grip or touch) structures for support in reaction to instability is an important element of the postural repertoire. It is unclear, however, how the central nervous system (CNS) resolves the potential conflict between holding an object and the need to release the held object and grasp alternative support, particularly if the held object is perceived to be relevant to the task of stabilizing the body, e.g. an assistive device. This study examined whether compensatory grasping is inhibited when holding an object, and whether the influence differs when holding an assistive device (cane) versus a task-irrelevant object (top handle portion of a cane). We also investigated the influence of preloading the assistive device, to determine whether conflicting demands for arm-muscle activation (requiring disengagement of ongoing agonist or antagonist activity) would influence the inhibition of compensatory grasping. Unpredictable forward and backward platform translations were used to evoke the balancing reactions in 16 healthy young adults. A handrail was mounted to the right and foot motion was constrained by barriers, with the intent that successful balance recovery would (in large-perturbation trials) require subjects to release the held object and contact the rail with the right hand. Results showed that grasping reactions were commonly used to recover equilibrium when the hand was free (rail contact in 71% of large-perturbation trials). However, holding either the cane or canetop had a potent modulating effect: although early biceps activation was almost never inhibited completely (significant activity within 200 ms in 98% of trials), the average activation amplitude was attenuated by 30-64% and the average frequency of handrail contact was reduced by a factor of two or more. This reduced use of the rail occurred even though the consequence often involved falling against a safety harness or barriers. Handrail contact occurred least

Attention and reach-to-grasp movements in Parkinson's disease.

Science.gov (United States)

Lu, Cathy; Bharmal, Aamir; Kiss, Zelma H; Suchowersky, Oksana; Haffenden, Angela M

2010-08-01

The role of attention in grasping movements directed at common objects has not been examined in Parkinson's disease (PD), though these movements are critical to activities of daily living. Our primary objective was to determine whether patients with PD demonstrate automaticity in grasping movements directed toward common objects. Automaticity is assumed when tasks can be performed with little or no interference from concurrent tasks. Grasping performance in three patient groups (newly diagnosed, moderate, and advanced/surgically treated PD) on and off of their medication or deep brain stimulation was compared to performance in an age-matched control group. Automaticity was demonstrated by the absence of a decrement in grasping performance when attention was consumed by a concurrent spatial-visualization task. Only the control group and newly diagnosed PD group demonstrated automaticity in their grasping movements. The moderate and advanced PD groups did not demonstrate automaticity. Furthermore, the well-known effects of pharmacotherapy and surgical intervention on movement speed and muscle activation patterns did not appear to reduce the impact of attention-demanding tasks on grasping movements in those with moderate to advanced PD. By the moderate stage of PD, grasping is an attention-demanding process; this change is not ameliorated by dopaminergic or surgical treatments. These findings have important implications for activities of daily living, as devoting attention to the simplest of daily tasks would interfere with complex activities and potentially exacerbate fatigue.

Modeling and Simulation of Grasping of Deformable Objects

DEFF Research Database (Denmark)

Fugl, Andreas Rune

Automated robot solutions have for decades been increasing productivity around the world. They are attractive for being fast, accurate and able to work in dangerous and repetitive environments. In traditional applications the grasped object is kinematically attached to the Tool Center Point....... The purpose of this thesis is to address the modeling and simulation of deformable objects, as applied to robotic grasping and manipulation. The main contributions of this work are: An evaluation of 3D linear elasticity used for robot grasping as implemented by a Finite Difference Method supporting regular...

Grasping devices and methods in automated production processes

DEFF Research Database (Denmark)

Fantoni, Gualtiero; Santochi, Marco; Dini, Gino

2014-01-01

assembly to disassembly, from aerospace to food industry, from textile to logistics) are discussed. Finally, the most recent research is reviewed in order to introduce the new trends in grasping. They provide an outlook on the future of both grippers and robotic hands in automated production processes. (C......In automated production processes grasping devices and methods play a crucial role in the handling of many parts, components and products. This keynote paper starts with a classification of grasping phases, describes how different principles are adopted at different scales in different applications...

Voluntarily controlled but not merely observed visual feedback affects postural sway

Science.gov (United States)

Asai, Tomohisa; Hiromitsu, Kentaro; Imamizu, Hiroshi

2018-01-01

Online stabilization of human standing posture utilizes multisensory afferences (e.g., vision). Whereas visual feedback of spontaneous postural sway can stabilize postural control especially when observers concentrate on their body and intend to minimize postural sway, the effect of intentional control of visual feedback on postural sway itself remains unclear. This study assessed quiet standing posture in healthy adults voluntarily controlling or merely observing visual feedback. The visual feedback (moving square) had either low or high gain and was either horizontally flipped or not. Participants in the voluntary-control group were instructed to minimize their postural sway while voluntarily controlling visual feedback, whereas those in the observation group were instructed to minimize their postural sway while merely observing visual feedback. As a result, magnified and flipped visual feedback increased postural sway only in the voluntary-control group. Furthermore, regardless of the instructions and feedback manipulations, the experienced sense of control over visual feedback positively correlated with the magnitude of postural sway. We suggest that voluntarily controlled, but not merely observed, visual feedback is incorporated into the feedback control system for posture and begins to affect postural sway. PMID:29682421

Distinct neural patterns enable grasp types decoding in monkey dorsal premotor cortex

Science.gov (United States)

Hao, Yaoyao; Zhang, Qiaosheng; Controzzi, Marco; Cipriani, Christian; Li, Yue; Li, Juncheng; Zhang, Shaomin; Wang, Yiwen; Chen, Weidong; Chiara Carrozza, Maria; Zheng, Xiaoxiang

2014-12-01

Objective. Recent studies have shown that dorsal premotor cortex (PMd), a cortical area in the dorsomedial grasp pathway, is involved in grasp movements. However, the neural ensemble firing property of PMd during grasp movements and the extent to which it can be used for grasp decoding are still unclear. Approach. To address these issues, we used multielectrode arrays to record both spike and local field potential (LFP) signals in PMd in macaque monkeys performing reaching and grasping of one of four differently shaped objects. Main results. Single and population neuronal activity showed distinct patterns during execution of different grip types. Cluster analysis of neural ensemble signals indicated that the grasp related patterns emerged soon (200-300 ms) after the go cue signal, and faded away during the hold period. The timing and duration of the patterns varied depending on the behaviors of individual monkey. Application of support vector machine model to stable activity patterns revealed classification accuracies of 94% and 89% for each of the two monkeys, indicating a robust, decodable grasp pattern encoded in the PMd. Grasp decoding using LFPs, especially the high-frequency bands, also produced high decoding accuracies. Significance. This study is the first to specify the neuronal population encoding of grasp during the time course of grasp. We demonstrate high grasp decoding performance in PMd. These findings, combined with previous evidence for reach related modulation studies, suggest that PMd may play an important role in generation and maintenance of grasp action and may be a suitable locus for brain-machine interface applications.

Haptically guided grasping. FMRI shows right-hemisphere parietal stimulus encoding, and bilateral dorso-ventral parietal gradients of object- and action-related processing during grasp execution

Directory of Open Access Journals (Sweden)

Mattia eMarangon

2016-01-01

Full Text Available The neural bases of haptically-guided grasp planning and execution are largely unknown, especially for stimuli having no visual representations. Therefore, we used functional magnetic resonance imaging (fMRI to monitor brain activity during haptic exploration of novel 3D complex objects, subsequent grasp planning, and the execution of the pre-planned grasps. Haptic object exploration, involving extraction of shape, orientation and length of the to-be-grasped targets, was associated with the fronto-parietal, temporo-occipital, and insular cortex activity. Yet, only the anterior divisions of the posterior parietal cortex (PPC of the right hemisphere were significantly more engaged in exploration of complex objects (vs. simple control disks. None of these regions were re-recruited during the planning phase. Even more surprisingly, the left-hemisphere intraparietal, temporal, and occipital areas that were significantly invoked for grasp planning did not show sensitivity to object features. Finally, grasp execution, involving the re-recruitment of the critical right-hemisphere PPC clusters, was also significantly associated with two kinds of bilateral parieto-frontal processes. The first represents transformations of grasp-relevant target features and is linked to the dorso-dorsal (lateral and medial parieto-frontal networks. The second monitors grasp kinematics and belongs to the ventro-dorsal networks. Indeed, signal modulations associated with these distinct functions follow dorso-ventral gradients, with left aIPS showing significant sensitivity to both target features and the characteristics of the required grasp. Thus, our results from the haptic domain are consistent with the notion that the parietal processing for action guidance reflects primarily transformations from object-related to effector-related coding, and these mechanisms are rather independent of sensory input modality.

Passive Aerial Grasping of Ferrous Objects

KAUST Repository

Fiaz, Usman Amin

2017-10-19

Aerial transportation is probably the most efficient way to supply quick and effective aid especially in cases of emergency like search and rescue operations. Thus the ability to grasp and deliver objects is of vital importance in all sorts of unmanned and autonomous aerial operations. We detail a simple yet novel approach for aerial grasping of ferrous objects using a passive magnetic pickup and an impulse based drop mechanism. The design enables our gripper to grasp ferrous objects using single as well as multiple gripping pads, with visual as well as pickup and drop feedback. We describe the various components of the gripper with emphasis on its low mass and high lift capability since weight is a matter of high consideration in all aerial applications. In addition, we investigate and address the issues that may cause our design to fail. We demonstrate by experiments that the proposed design is robust and effective, based on its high payload capability, its sturdiness against possible slide during aggressive aerial maneuvers, and optimum performance of the drop mechanism for the designed range of payloads. We also show that the gripper is able to pick up and drop a single as well as multiple ferrous objects of different shapes, curvature, and inclination, which also involves picking up an object and then grasping the next, while keeping hold of the previous one.

Passive Aerial Grasping of Ferrous Objects

KAUST Repository

Fiaz, Usman; Toumi, Noureddine; Shamma, Jeff S.

2017-01-01

Aerial transportation is probably the most efficient way to supply quick and effective aid especially in cases of emergency like search and rescue operations. Thus the ability to grasp and deliver objects is of vital importance in all sorts of unmanned and autonomous aerial operations. We detail a simple yet novel approach for aerial grasping of ferrous objects using a passive magnetic pickup and an impulse based drop mechanism. The design enables our gripper to grasp ferrous objects using single as well as multiple gripping pads, with visual as well as pickup and drop feedback. We describe the various components of the gripper with emphasis on its low mass and high lift capability since weight is a matter of high consideration in all aerial applications. In addition, we investigate and address the issues that may cause our design to fail. We demonstrate by experiments that the proposed design is robust and effective, based on its high payload capability, its sturdiness against possible slide during aggressive aerial maneuvers, and optimum performance of the drop mechanism for the designed range of payloads. We also show that the gripper is able to pick up and drop a single as well as multiple ferrous objects of different shapes, curvature, and inclination, which also involves picking up an object and then grasping the next, while keeping hold of the previous one.

Intrinsic Hand Muscle Activation for Grasp and Horizontal Transport

OpenAIRE

Winges, Sara A.; Kundu, Bornali; Soechting, John F.; Flanders, Martha

2007-01-01

During object manipulation, the hand and arm muscles produce internal forces on the object (grasping forces) and forces that result in external translation or rotation of the object in space (transport forces). The present study tested whether the intrinsic hand muscles are actively involved in transport as well as grasping. Intrinsic hand muscle activity increased with increasing demands for grasp stability, but also showed the timing and directional tuning patterns appropriate for actively ...

The differences in postural reactions between scoliosis and scoliotic posture

Directory of Open Access Journals (Sweden)

Jacek Wilczyński

2017-05-01

Full Text Available The aim of the research was to demonstrate the differences in amplitudes of postural reactions in girls with scoliotic posture and idiopathic scoliosis. 28 girls aged 7-18 years old were involved in the study. Children attended to the Interschool Centre of Corrective Exercises in Starachowice. The research was conducted in June 2011. Spine research was made by Exhibeon digital radiography. Based on the size of the angle of spinal curvature there were identified: scoliotic posture: 1-9° and scoliosis: ≥10°. Postural reactions were examined by static-dynamic Tecnobody’s ST 310 Plus Stability System platform. There were 21 (75% children with scoliotic posture, and 7 (25% with idiopathic scoliosis. Student's t-test showed a significantly higher postural reactions for scoliosis in relation to scoliotic postures in case of: Average Forward-Backward Speed (OE, (p=0,05, Medium-Lateral Standard Deviation X (CE, (p=0,002, and Ellipse area (CE, (p=0,012. To verify the significant differences, demonstrating the lack of homogeneity of variance, the Mann–Whitney U-test has been used, which showed a significant differences between the scoliotic posture and scoliosis in case of: Medium-Lateral Standard Deviation X (CE, (p=0,0012, Average Forward-Backward Speed (OE, (p=0,0548, and Ellipse area (CE (p=0,0047. Together with an increase of the angle of curvature, the value of these postural reactions also grew. Most of postural reactions didn’t fit the norm.

Neuromechanical tuning of nonlinear postural control dynamics

Science.gov (United States)

Ting, Lena H.; van Antwerp, Keith W.; Scrivens, Jevin E.; McKay, J. Lucas; Welch, Torrence D. J.; Bingham, Jeffrey T.; DeWeerth, Stephen P.

2009-06-01

Postural control may be an ideal physiological motor task for elucidating general questions about the organization, diversity, flexibility, and variability of biological motor behaviors using nonlinear dynamical analysis techniques. Rather than presenting "problems" to the nervous system, the redundancy of biological systems and variability in their behaviors may actually be exploited to allow for the flexible achievement of multiple and concurrent task-level goals associated with movement. Such variability may reflect the constant "tuning" of neuromechanical elements and their interactions for movement control. The problem faced by researchers is that there is no one-to-one mapping between the task goal and the coordination of the underlying elements. We review recent and ongoing research in postural control with the goal of identifying common mechanisms underlying variability in postural control, coordination of multiple postural strategies, and transitions between them. We present a delayed-feedback model used to characterize the variability observed in muscle coordination patterns during postural responses to perturbation. We emphasize the significance of delays in physiological postural systems, requiring the modulation and coordination of both the instantaneous, "passive" response to perturbations as well as the delayed, "active" responses to perturbations. The challenge for future research lies in understanding the mechanisms and principles underlying neuromechanical tuning of and transitions between the diversity of postural behaviors. Here we describe some of our recent and ongoing studies aimed at understanding variability in postural control using physical robotic systems, human experiments, dimensional analysis, and computational models that could be enhanced from a nonlinear dynamics approach.

Linear and nonlinear subspace analysis of hand movements during grasping.

Science.gov (United States)

Cui, Phil Hengjun; Visell, Yon

2014-01-01

This study investigated nonlinear patterns of coordination, or synergies, underlying whole-hand grasping kinematics. Prior research has shed considerable light on roles played by such coordinated degrees-of-freedom (DOF), illuminating how motor control is facilitated by structural and functional specializations in the brain, peripheral nervous system, and musculoskeletal system. However, existing analyses suppose that the patterns of coordination can be captured by means of linear analyses, as linear combinations of nominally independent DOF. In contrast, hand kinematics is itself highly nonlinear in nature. To address this discrepancy, we sought to to determine whether nonlinear synergies might serve to more accurately and efficiently explain human grasping kinematics than is possible with linear analyses. We analyzed motion capture data acquired from the hands of individuals as they grasped an array of common objects, using four of the most widely used linear and nonlinear dimensionality reduction algorithms. We compared the results using a recently developed algorithm-agnostic quality measure, which enabled us to assess the quality of the dimensional reductions that resulted by assessing the extent to which local neighborhood information in the data was preserved. Although qualitative inspection of this data suggested that nonlinear correlations between kinematic variables were present, we found that linear modeling, in the form of Principle Components Analysis, could perform better than any of the nonlinear techniques we applied.

Does increased postural threat lead to more conscious control of posture?

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Huffman, J L; Horslen, B C; Carpenter, M G; Adkin, A L

2009-11-01

Although it is well established that postural threat modifies postural control, little is known regarding the underlying mechanism(s) responsible for these changes. It is possible that changes in postural control under conditions of elevated postural threat result from a shift to a more conscious control of posture. The purpose of this study was to determine the influence of elevated postural threat on conscious control of posture and to determine the relationship between conscious control and postural control measures. Forty-eight healthy young adults stood on a force plate at two different surface heights: ground level (LOW) and 3.2-m above ground level (HIGH). Centre of pressure measures calculated in the anterior-posterior (AP) direction were mean position (AP-MP), root mean square (AP-RMS) and mean power frequency (AP-MPF). A modified state-specific version of the Movement Specific Reinvestment Scale was used to measure conscious motor processing (CMP) and movement self-consciousness (MSC). Balance confidence, fear of falling, perceived stability, and perceived and actual anxiety indicators were also collected. A significant effect of postural threat was found for movement reinvestment as participants reported more conscious control and a greater concern about their posture at the HIGH height. Significant correlations between CMP and MSC with AP-MP were observed as participants who consciously controlled and were more concerned for their posture leaned further away from the platform edge. It is possible that changes in movement reinvestment can influence specific aspects of posture (leaning) but other aspects may be immune to these changes (amplitude and frequency).

Single-Grasp Object Classification and Feature Extraction with Simple Robot Hands and Tactile Sensors.

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Spiers, Adam J; Liarokapis, Minas V; Calli, Berk; Dollar, Aaron M

2016-01-01

Classical robotic approaches to tactile object identification often involve rigid mechanical grippers, dense sensor arrays, and exploratory procedures (EPs). Though EPs are a natural method for humans to acquire object information, evidence also exists for meaningful tactile property inference from brief, non-exploratory motions (a 'haptic glance'). In this work, we implement tactile object identification and feature extraction techniques on data acquired during a single, unplanned grasp with a simple, underactuated robot hand equipped with inexpensive barometric pressure sensors. Our methodology utilizes two cooperating schemes based on an advanced machine learning technique (random forests) and parametric methods that estimate object properties. The available data is limited to actuator positions (one per two link finger) and force sensors values (eight per finger). The schemes are able to work both independently and collaboratively, depending on the task scenario. When collaborating, the results of each method contribute to the other, improving the overall result in a synergistic fashion. Unlike prior work, the proposed approach does not require object exploration, re-grasping, grasp-release, or force modulation and works for arbitrary object start positions and orientations. Due to these factors, the technique may be integrated into practical robotic grasping scenarios without adding time or manipulation overheads.

Grasping with mechanical intelligence. M.S. Thesis

Science.gov (United States)

Ulrich, Nathan Thatcher

1988-01-01

Many robotic hands have been designed and a number have been built. Because of the difficulty of controlling and using complex hands, which usually have nine or more degrees of freedom, the simple one- or two-degree-of-freedom gripper is still the most common robotic end effector. A new category of device is presented: a medium-complexity end effector. With three to five degrees of freedom, such a tool is much easier to control and use, as well as more economical, compact and lightweight than complex hands. In order to increase the versatility, it was necessary to identify grasping primitives and to implement them in the mechanism. In addition, power and enveloping grasps are stressed over fingertip and precision grasps. The design is based upon analysis of object apprehension types, requisite characteristics for active sensing, and a determination of necessary environmental interactions. Contained are the general concepts necessary to the design of a medium-complexity end effector, an analysis of typical performance, and a computer simulation of a grasp planning algorithm specific to this type of mechanism. Finally, some details concerning the UPenn Hand-a tool designed for the research laboratory-are presented.

Electromyographic Grasp Recognition for a Five Fingered Robotic Hand

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Nayan M. Kakoty

2012-09-01

Full Text Available This paper presents classification of grasp types based on surface electromyographic signals. Classification is through radial basis function kernel support vector machine using sum of wavelet decomposition coefficients of the EMG signals. In a study involving six subjects, we achieved an average recognition rate of 86%. The electromyographic grasp recognition together with a 8-bit microcontroller has been employed to control a fivefingered robotic hand to emulate six grasp types used during 70% daily living activities.

Determining postural stability

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Lieberman, Erez (Inventor); Forth, Katharine E. (Inventor); Paloski, William H. (Inventor)

2011-01-01

A method for determining postural stability of a person can include acquiring a plurality of pressure data points over a period of time from at least one pressure sensor. The method can also include the step of identifying a postural state for each pressure data point to generate a plurality of postural states. The method can include the step of determining a postural state of the person at a point in time based on at least the plurality of postural states.

Study I: effects of 0.06% and 0.10% blood alcohol concentration on human postural control.

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Modig, F; Patel, M; Magnusson, M; Fransson, P A

2012-03-01

Alcohol intoxication causes many accidental falls presented at emergency departments, with the injury severity often related to level of blood alcohol concentration (BAC). One way to evaluate the decline in postural control and the fall risk is to assess standing stability when challenged. The study objective was to comprehensively investigate alcohol-related impairments on postural control and adaptive motor learning at specific BAC levels. Effects of alcohol intoxication at 0.06% and 0.10% BAC were examined with posturography when unperturbed or perturbed by calf vibration. Twenty-five participants (mean age 25.1 years) were investigated standing with either eyes open or closed. Our results revealed several significant findings: (1) stability declined much faster from alcohol intoxication between 0.06% and 0.10% BAC (60-140%) compared with between 0.0% and 0.06% BAC (30%); (2) sustained exposure to repeated balance perturbations augmented the alcohol-related destabilization; (3) there were stronger effects of alcohol intoxication on stability in lateral direction than in anteroposterior direction; and (4) there was a gradual degradation of postural control particularly in lateral direction when the balance perturbations were repeated at 0.06% and 0.10% BAC, indicating adaptation deficits when intoxicated. To summarize, alcohol has profound deteriorating effects on human postural control, which are dose dependent, time dependent and direction specific. The maximal effects of alcohol intoxication on physiological performance might not be evident initially, but may be revealed first when under sustained sensory-motor challenges. Copyright © 2011 Elsevier B.V. All rights reserved.

Shaping of Reach-to-Grasp Kinematics by Intentions

DEFF Research Database (Denmark)

Egmose, Ida; Køppe, Simo

2017-01-01

is primarily associated with transporting the hand to the object (i.e., extrinsic object properties), the decelerating part of the reach is used as a preparation for object manipulation (i.e., prepare the grasp or the subsequent action), and the grasp is associated with manipulating the object's intrinsic...

Haptically Guided Grasping. fMRI Shows Right-Hemisphere Parietal Stimulus Encoding, and Bilateral Dorso-Ventral Parietal Gradients of Object- and Action-Related Processing during Grasp Execution.

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Marangon, Mattia; Kubiak, Agnieszka; Króliczak, Gregory

2015-01-01

The neural bases of haptically-guided grasp planning and execution are largely unknown, especially for stimuli having no visual representations. Therefore, we used functional magnetic resonance imaging (fMRI) to monitor brain activity during haptic exploration of novel 3D complex objects, subsequent grasp planning, and the execution of the pre-planned grasps. Haptic object exploration, involving extraction of shape, orientation, and length of the to-be-grasped targets, was associated with the fronto-parietal, temporo-occipital, and insular cortex activity. Yet, only the anterior divisions of the posterior parietal cortex (PPC) of the right hemisphere were significantly more engaged in exploration of complex objects (vs. simple control disks). None of these regions were re-recruited during the planning phase. Even more surprisingly, the left-hemisphere intraparietal, temporal, and occipital areas that were significantly invoked for grasp planning did not show sensitivity to object features. Finally, grasp execution, involving the re-recruitment of the critical right-hemisphere PPC clusters, was also significantly associated with two kinds of bilateral parieto-frontal processes. The first represents transformations of grasp-relevant target features and is linked to the dorso-dorsal (lateral and medial) parieto-frontal networks. The second monitors grasp kinematics and belongs to the ventro-dorsal networks. Indeed, signal modulations associated with these distinct functions follow dorso-ventral gradients, with left aIPS showing significant sensitivity to both target features and the characteristics of the required grasp. Thus, our results from the haptic domain are consistent with the notion that the parietal processing for action guidance reflects primarily transformations from object-related to effector-related coding, and these mechanisms are rather independent of sensory input modality.

Robotic Hand with Flexible Fingers for Grasping Cylindrical Objects

OpenAIRE

柴田, 瑞穂

2015-01-01

In this manuscript, a robotic hand for grasping a cylindrical object is proposed. This robotic hand has flexible fingers that can hold a cylindrical object during moving. We introduce a grasping strategy for a cylindrical object in terms of state transition graph. In this strategy the robotic hand picks up the cylindrical object utilizing a suction device before the hand grasp the object. We also design the flexible fingers; then, we investigate the validity of this robotic hand via several e...

Differences in fixations between grasping and viewing objects

NARCIS (Netherlands)

Brouwer, A.M.; Franz, V.H.; Gegenfurtner, K.R.

2009-01-01

Where exactly do people look when they grasp an object? An object is usually contacted at two locations, whereas the gaze can only be at one location at the time. We investigated participants' fixation locations when they grasp objects with the contact positions of both index finger and thumb being

Otolith and Vertical Canal Contributions to Dynamic Postural Control

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Black, F. Owen

1999-01-01

The objective of this project is to determine: 1) how do normal subjects adjust postural movements in response to changing or altered otolith input, for example, due to aging? and 2) how do patients adapt postural control after altered unilateral or bilateral vestibular sensory inputs such as ablative inner ear surgery or ototoxicity, respectively? The following hypotheses are under investigation: 1) selective alteration of otolith input or abnormalities of otolith receptor function will result in distinctive spatial, frequency, and temporal patterns of head movements and body postural sway dynamics. 2) subjects with reduced, altered, or absent vertical semicircular canal receptor sensitivity but normal otolith receptor function or vice versa, should show predictable alterations of body and head movement strategies essential for the control of postural sway and movement. The effect of altered postural movement control upon compensation and/or adaptation will be determined. These experiments provide data for the development of computational models of postural control in normals, vestibular deficient subjects and normal humans exposed to unusual force environments, including orbital space flight.

Dog experts' brains distinguish socially relevant body postures similarly in dogs and humans.

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Kujala, Miiamaaria V; Kujala, Jan; Carlson, Synnöve; Hari, Riitta

2012-01-01

We read conspecifics' social cues effortlessly, but little is known about our abilities to understand social gestures of other species. To investigate the neural underpinnings of such skills, we used functional magnetic resonance imaging to study the brain activity of experts and non-experts of dog behavior while they observed humans or dogs either interacting with, or facing away from a conspecific. The posterior superior temporal sulcus (pSTS) of both subject groups dissociated humans facing toward each other from humans facing away, and in dog experts, a distinction also occurred for dogs facing toward vs. away in a bilateral area extending from the pSTS to the inferior temporo-occipital cortex: the dissociation of dog behavior was significantly stronger in expert than control group. Furthermore, the control group had stronger pSTS responses to humans than dogs facing toward a conspecific, whereas in dog experts, the responses were of similar magnitude. These findings suggest that dog experts' brains distinguish socially relevant body postures similarly in dogs and humans.

Writing forces associated with four pencil grasp patterns in grade 4 children.

Science.gov (United States)

Schwellnus, Heidi; Carnahan, Heather; Kushki, Azadeh; Polatajko, Helene; Missiuna, Cheryl; Chau, Tom

2013-01-01

OBJECTIVE. We investigated differences in handwriting kinetics, speed, and legibility among four pencil grasps after a 10-min copy task. METHOD. Seventy-four Grade 4 students completed a handwriting assessment before and after a copy task. Grip and axial forces were measured with an instrumented stylus and force-sensitive tablet. We used multiple linear regression to analyze the relationship between grasp pattern and grip and axial forces. RESULTS. We found no kinetic differences among grasps, whether considered individually or grouped by the number of fingers on the barrel. However, when grasps were grouped according to the thumb position, the adducted grasps exhibited higher mean grip and axial forces. CONCLUSION. Grip forces were generally similar across the different grasps. Kinetic differences resulting from thumb position seemed to have no bearing on speed and legibility. Interventions for handwriting difficulties should focus more on speed and letter formation than on grasp pattern. Copyright © 2013 by the American Occupational Therapy Association, Inc.

A Grasp-Pose Generation Method Based on Gaussian Mixture Models

Directory of Open Access Journals (Sweden)

Wenjia Wu

2015-11-01

Full Text Available A Gaussian Mixture Model (GMM-based grasp-pose generation method is proposed in this paper. Through offline training, the GMM is set up and used to depict the distribution of the robot's reachable orientations. By dividing the robot's workspace into small 3D voxels and training the GMM for each voxel, a look-up table covering all the workspace is built with the x, y and z positions as the index and the GMM as the entry. Through the definition of Task Space Regions (TSR, an object's feasible grasp poses are expressed as a continuous region. With the GMM, grasp poses can be preferentially sampled from regions with high reachability probabilities in the online grasp-planning stage. The GMM can also be used as a preliminary judgement of a grasp pose's reachability. Experiments on both a simulated and a real robot show the superiority of our method over the existing method.

Grasp cueing and joint attention.

Science.gov (United States)

Tschentscher, Nadja; Fischer, Martin H

2008-10-01

We studied how two different hand posture cues affect joint attention in normal observers. Visual targets appeared over lateralized objects, with different delays after centrally presented hand postures. Attention was cued by either hand direction or the congruency between hand aperture and object size. Participants pressed a button when they detected a target. Direction cues alone facilitated target detection following short delays but aperture cues alone were ineffective. In contrast, when hand postures combined direction and aperture cues, aperture congruency effects without directional congruency effects emerged and persisted, but only for power grips. These results suggest that parallel parameter specification makes joint attention mechanisms exquisitely sensitive to the timing and content of contextual cues.

Video Analysis of Human Gait and Posture to Determine Neurological Disorders

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Ivan Lee

2008-08-01

Full Text Available This paper investigates the application of digital image processing techniques to the detection of neurological disorder. Visual information extracted from the postures and movements of a human gait cycle can be used by an experienced neurologist to determine the mental health of the person. However, the current visual assessment of diagnosing neurological disorder is based very much on subjective observation, and hence the accuracy of diagnosis heavily relies on experience. Other diagnostic techniques employed involve the use of imaging systems which can only be operated under highly constructed environment. A prototype has been developed in this work that is able to capture the subject's gait on video in a relatively simple setup, and from which to process the selected frames of the gait in a computer. Based on the static visual features such as swing distances and joint angles of human limbs, the system identifies patients with Parkinsonism from the test subjects. To our knowledge, it is the first time swing distances are utilized and identified as an effective means for characterizing human gait. The experimental results have shown a promising potential in medical application to assist the clinicians in diagnosing Parkinsonism.

The Effect of Body Posture on Brain Glymphatic Transport.

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Lee, Hedok; Xie, Lulu; Yu, Mei; Kang, Hongyi; Feng, Tian; Deane, Rashid; Logan, Jean; Nedergaard, Maiken; Benveniste, Helene

2015-08-05

The glymphatic pathway expedites clearance of waste, including soluble amyloid β (Aβ) from the brain. Transport through this pathway is controlled by the brain's arousal level because, during sleep or anesthesia, the brain's interstitial space volume expands (compared with wakefulness), resulting in faster waste removal. Humans, as well as animals, exhibit different body postures during sleep, which may also affect waste removal. Therefore, not only the level of consciousness, but also body posture, might affect CSF-interstitial fluid (ISF) exchange efficiency. We used dynamic-contrast-enhanced MRI and kinetic modeling to quantify CSF-ISF exchange rates in anesthetized rodents' brains in supine, prone, or lateral positions. To validate the MRI data and to assess specifically the influence of body posture on clearance of Aβ, we used fluorescence microscopy and radioactive tracers, respectively. The analysis showed that glymphatic transport was most efficient in the lateral position compared with the supine or prone positions. In the prone position, in which the rat's head was in the most upright position (mimicking posture during the awake state), transport was characterized by "retention" of the tracer, slower clearance, and more CSF efflux along larger caliber cervical vessels. The optical imaging and radiotracer studies confirmed that glymphatic transport and Aβ clearance were superior in the lateral and supine positions. We propose that the most popular sleep posture (lateral) has evolved to optimize waste removal during sleep and that posture must be considered in diagnostic imaging procedures developed in the future to assess CSF-ISF transport in humans. The rodent brain removes waste better during sleep or anesthesia compared with the awake state. Animals exhibit different body posture during the awake and sleep states, which might affect the brain's waste removal efficiency. We investigated the influence of body posture on brainwide transport of inert

Body posture and postural stability of people practicing qigong

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Jacek Wilczyński

2015-07-01

Full Text Available Introduction: Correct and stable posture is essential for the implementation of the majority of voluntary movements and locomotion. The study of postural stability is an element of clinical trials evaluating physical activity in order to determine the optimal therapeutic procedures. Qigong exercises are not only a form of prevention, helpful in maintaining wellbeing, but also a means of therapy in many diseases, including disorders of postural stability. Aim of the research: To analyse the association between the quality of posture and postural stability of people practicing qigong. Material and methods : The study involved 32 people. The mean age of those tested was 54 years. Posture study used optoelectronic method Diers formetric III 4D. Postural stability was tested on the platform Biodex Balance System. The studies were performed at the Posture Laboratory of the Institute of Physiotherapy at Jan Kochanowski University in Kielce. Results and conclusions : Spearman rank order correlation showed a positive correlation of relative rotation of the spine area with a general indicator of stability (p = 0.0206 at an average level (R = 0.4075 and with the index of the stability A/P (p = 0.0310, although at a lower level (R = 0.3819. With the increase in the relative rotation of the spine area the overall stability indicator and stability indicator A/P also increased. Significant positive correlations were also seen for the surface rotation (+max and a general indication of the stability and the stability index A/P. With the increase of surface rotation (+max of the spine the overall stability indicator and stability indicator A/P also increased.

Collision-Avoidance Characteristics of Grasping. Early Signs in Hand and Arm Kinematics

NARCIS (Netherlands)

Lommertzen, J.; Costa e Silva, E.; Meulenbroek, R.G.J.

2009-01-01

Grasping an object successfully implies avoiding colliding into it before the hand is closed around the object. The present study focuses on prehension kinematics that typically reflect collision-avoidance characteristics of grasping movements. Twelve participants repeatedly grasped

Human cerebral venous outflow pathway depends on posture and central venous pressure

DEFF Research Database (Denmark)

Gisolf, J; van Lieshout, J J; van Heusden, K

2004-01-01

and central venous pressure (CVP) on the distribution of cerebral outflow over the internal jugular veins and the vertebral plexus, using a mathematical model. Input to the model was a data set of beat-to-beat cerebral blood flow velocity and CVP measurements in 10 healthy subjects, during baseline rest......Internal jugular veins are the major cerebral venous outflow pathway in supine humans. In upright humans the positioning of these veins above heart level causes them to collapse. An alternative cerebral outflow pathway is the vertebral venous plexus. We set out to determine the effect of posture...... and a Valsalva manoeuvre in the supine and standing position. The model, consisting of 2 jugular veins, each a chain of 10 units containing nonlinear resistances and capacitors, and a vertebral plexus containing a resistance, showed blood flow mainly through the internal jugular veins in the supine position...

The continuous end-state comfort effect: weighted integration of multiple biases.

Science.gov (United States)

Herbort, Oliver; Butz, Martin V

2012-05-01

The grasp orientation when grasping an object is frequently aligned in anticipation of the intended rotation of the object (end-state comfort effect). We analyzed grasp orientation selection in a continuous task to determine the mechanisms underlying the end-state comfort effect. Participants had to grasp a box by a circular handle-which allowed for arbitrary grasp orientations-and then had to rotate the box by various angles. Experiments 1 and 2 revealed both that the rotation's direction considerably determined grasp orientations and that end-postures varied considerably. Experiments 3 and 4 further showed that visual stimuli and initial arm postures biased grasp orientations if the intended rotation could be easily achieved. The data show that end-state comfort but also other factors determine grasp orientation selection. A simple mechanism that integrates multiple weighted biases can account for the data.

Grasp movement decoding from premotor and parietal cortex.

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Townsend, Benjamin R; Subasi, Erk; Scherberger, Hansjörg

2011-10-05

Despite recent advances in harnessing cortical motor-related activity to control computer cursors and robotic devices, the ability to decode and execute different grasping patterns remains a major obstacle. Here we demonstrate a simple Bayesian decoder for real-time classification of grip type and wrist orientation in macaque monkeys that uses higher-order planning signals from anterior intraparietal cortex (AIP) and ventral premotor cortex (area F5). Real-time decoding was based on multiunit signals, which had similar tuning properties to cells in previous single-unit recording studies. Maximum decoding accuracy for two grasp types (power and precision grip) and five wrist orientations was 63% (chance level, 10%). Analysis of decoder performance showed that grip type decoding was highly accurate (90.6%), with most errors occurring during orientation classification. In a subsequent off-line analysis, we found small but significant performance improvements (mean, 6.25 percentage points) when using an optimized spike-sorting method (superparamagnetic clustering). Furthermore, we observed significant differences in the contributions of F5 and AIP for grasp decoding, with F5 being better suited for classification of the grip type and AIP contributing more toward decoding of object orientation. However, optimum decoding performance was maximal when using neural activity simultaneously from both areas. Overall, these results highlight quantitative differences in the functional representation of grasp movements in AIP and F5 and represent a first step toward using these signals for developing functional neural interfaces for hand grasping.

A mathematical model for incorporating biofeedback into human postural control

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Ersal Tulga

2013-02-01

Full Text Available Abstract Background Biofeedback of body motion can serve as a balance aid and rehabilitation tool. To date, mathematical models considering the integration of biofeedback into postural control have represented this integration as a sensory addition and limited their application to a single degree-of-freedom representation of the body. This study has two objectives: 1 to develop a scalable method for incorporating biofeedback into postural control that is independent of the model’s degrees of freedom, how it handles sensory integration, and the modeling of its postural controller; and 2 to validate this new model using multidirectional perturbation experimental results. Methods Biofeedback was modeled as an additional torque to the postural controller torque. For validation, this biofeedback modeling approach was applied to a vibrotactile biofeedback device and incorporated into a two-link multibody model with full-state-feedback control that represents the dynamics of bipedal stance. Average response trajectories of body sway and center of pressure (COP to multidirectional surface perturbations of subjects with vestibular deficits were used for model parameterization and validation in multiple perturbation directions and for multiple display resolutions. The quality of fit was quantified using average error and cross-correlation values. Results The mean of the average errors across all tactor configurations and perturbations was 0.24° for body sway and 0.39 cm for COP. The mean of the cross-correlation value was 0.97 for both body sway and COP. Conclusions The biofeedback model developed in this study is capable of capturing experimental response trajectory shapes with low average errors and high cross-correlation values in both the anterior-posterior and medial-lateral directions for all perturbation directions and spatial resolution display configurations considered. The results validate that biofeedback can be modeled as an additional

A mathematical model for incorporating biofeedback into human postural control

Science.gov (United States)

2013-01-01

Background Biofeedback of body motion can serve as a balance aid and rehabilitation tool. To date, mathematical models considering the integration of biofeedback into postural control have represented this integration as a sensory addition and limited their application to a single degree-of-freedom representation of the body. This study has two objectives: 1) to develop a scalable method for incorporating biofeedback into postural control that is independent of the model’s degrees of freedom, how it handles sensory integration, and the modeling of its postural controller; and 2) to validate this new model using multidirectional perturbation experimental results. Methods Biofeedback was modeled as an additional torque to the postural controller torque. For validation, this biofeedback modeling approach was applied to a vibrotactile biofeedback device and incorporated into a two-link multibody model with full-state-feedback control that represents the dynamics of bipedal stance. Average response trajectories of body sway and center of pressure (COP) to multidirectional surface perturbations of subjects with vestibular deficits were used for model parameterization and validation in multiple perturbation directions and for multiple display resolutions. The quality of fit was quantified using average error and cross-correlation values. Results The mean of the average errors across all tactor configurations and perturbations was 0.24° for body sway and 0.39 cm for COP. The mean of the cross-correlation value was 0.97 for both body sway and COP. Conclusions The biofeedback model developed in this study is capable of capturing experimental response trajectory shapes with low average errors and high cross-correlation values in both the anterior-posterior and medial-lateral directions for all perturbation directions and spatial resolution display configurations considered. The results validate that biofeedback can be modeled as an additional torque to the postural

Decoding Grasping Movements from the Parieto-Frontal Reaching Circuit in the Nonhuman Primate.

Science.gov (United States)

Nelissen, Koen; Fiave, Prosper Agbesi; Vanduffel, Wim

2018-04-01

Prehension movements typically include a reaching phase, guiding the hand toward the object, and a grip phase, shaping the hand around it. The dominant view posits that these components rely upon largely independent parieto-frontal circuits: a dorso-medial circuit involved in reaching and a dorso-lateral circuit involved in grasping. However, mounting evidence suggests a more complex arrangement, with dorso-medial areas contributing to both reaching and grasping. To investigate the role of the dorso-medial reaching circuit in grasping, we trained monkeys to reach-and-grasp different objects in the dark and determined if hand configurations could be decoded from functional magnetic resonance imaging (MRI) responses obtained from the reaching and grasping circuits. Indicative of their established role in grasping, object-specific grasp decoding was found in anterior intraparietal (AIP) area, inferior parietal lobule area PFG and ventral premotor region F5 of the lateral grasping circuit, and primary motor cortex. Importantly, the medial reaching circuit also conveyed robust grasp-specific information, as evidenced by significant decoding in parietal reach regions (particular V6A) and dorsal premotor region F2. These data support the proposed role of dorso-medial "reach" regions in controlling aspects of grasping and demonstrate the value of complementing univariate with more sensitive multivariate analyses of functional MRI (fMRI) data in uncovering information coding in the brain.

The contributions of vision and haptics to reaching and grasping

Directory of Open Access Journals (Sweden)

Kayla Dawn Stone

2015-09-01

Full Text Available This review aims to provide a comprehensive outlook on the sensory (visual and haptic contributions to reaching and grasping. The focus is on studies in developing children, normal and neuropsychological populations, and in sensory-deprived individuals. Studies have suggested a right-hand/left-hemisphere specialization for visually-guided grasping and a left-hand/right-hemisphere specialization for haptically-guided object recognition. This poses the interesting possibility that when vision is not available and grasping relies heavily on the haptic system, there is an advantage to use the left hand. We review the evidence for this possibility and dissect the unique contributions of the visual and haptic systems to grasping. We ultimately discuss how the integration of these two sensory modalities shape hand preference.

Chiropractic biophysics technique: a linear algebra approach to posture in chiropractic.

Science.gov (United States)

Harrison, D D; Janik, T J; Harrison, G R; Troyanovich, S; Harrison, D E; Harrison, S O

1996-10-01

This paper discusses linear algebra as applied to human posture in chiropractic, specifically chiropractic biophysics technique (CBP). Rotations, reflections and translations are geometric functions studied in vector spaces in linear algebra. These mathematical functions are termed rigid body transformations and are applied to segmental spinal movement in the literature. Review of the literature indicates that these linear algebra concepts have been used to describe vertebral motion. However, these rigid body movers are presented here as applying to the global postural movements of the head, thoracic cage and pelvis. The unique inverse functions of rotations, reflections and translations provide a theoretical basis for making postural corrections in neutral static resting posture. Chiropractic biophysics technique (CBP) uses these concepts in examination procedures, manual spinal manipulation, instrument assisted spinal manipulation, postural exercises, extension traction and clinical outcome measures.

The magic grasp: motor expertise in deception.

Directory of Open Access Journals (Sweden)

Cristiana Cavina-Pratesi

2011-02-01

Full Text Available Most of us are poor at faking actions. Kinematic studies have shown that when pretending to pick up imagined objects (pantomimed actions, we move and shape our hands quite differently from when grasping real ones. These differences between real and pantomimed actions have been linked to separate brain pathways specialized for different kinds of visuomotor guidance. Yet professional magicians regularly use pantomimed actions to deceive audiences.In this study, we tested whether, despite their skill, magicians might still show kinematic differences between grasping actions made toward real versus imagined objects. We found that their pantomimed actions in fact closely resembled real grasps when the object was visible (but displaced (Experiment 1, but failed to do so when the object was absent (Experiment 2.We suggest that although the occipito-parietal visuomotor system in the dorsal stream is designed to guide goal-directed actions, prolonged practice may enable it to calibrate actions based on visual inputs displaced from the action.

Evaluation of Neutral Body Posture on Shuttle Mission STS-57 (SPACEHAB-1). Revision

Science.gov (United States)

Mount, Frances E.; Whitmore, Mihriban; Stealey, Sheryl L.

2003-01-01

Research has shown that the space environment induces physiological changes in the human body, such as fluid shifts in the upper body and chest cavity, spinal lengthening, muscular atrophy, space motion sickness, cardiopulmonary deconditioning, and bone mass loss, as well as some changes in visual perception. These require a period of adaptation and can substantially affect both crew member performance and posture. These physiological effects, when work activities are conducted, have been known to impact the body's center of gravity, reach, flexibility, and dexterity. All these aspects of posture must be considered to safely and efficiently design space systems and hardware. NASA has documented its microgravity body posture in the Man-Systems Integration Standards (MSIS); the space community uses the MSIS posture to design workstations and tools for space application. However, the microgravity body posture should be further investigated for several reasons, including small sample size in previous studies, possible imprecision, and lack of detail. JSC undertook this study to investigate human body posture exhibited under microgravity conditions. STS-57 crew members were instructed to assume a relaxed posture that was not oriented to any work area or task. Crew members were asked to don shorts and tank tops and to be blindfolded while data were recorded. Video data were acquired once during the mission from each of the six crew members. No one crew member exhibited the typical NBP called out in the MSIS; one composite posture is not adequate. A range of postures may be more constructive for design purposes. Future evaluations should define precise posture requirements for workstation, glove box, maintenance, foot-restraint, and handhold activities.

Models of Postural Control: Shared Variance in Joint and COM Motions.

Directory of Open Access Journals (Sweden)

Melissa C Kilby

Full Text Available This paper investigated the organization of the postural control system in human upright stance. To this aim the shared variance between joint and 3D total body center of mass (COM motions was analyzed using multivariate canonical correlation analysis (CCA. The CCA was performed as a function of established models of postural control that varied in their joint degrees of freedom (DOF, namely, an inverted pendulum ankle model (2DOF, ankle-hip model (4DOF, ankle-knee-hip model (5DOF, and ankle-knee-hip-neck model (7DOF. Healthy young adults performed various postural tasks (two-leg and one-leg quiet stances, voluntary AP and ML sway on a foam and rigid surface of support. Based on CCA model selection procedures, the amount of shared variance between joint and 3D COM motions and the cross-loading patterns we provide direct evidence of the contribution of multi-DOF postural control mechanisms to human balance. The direct model fitting of CCA showed that incrementing the DOFs in the model through to 7DOF was associated with progressively enhanced shared variance with COM motion. In the 7DOF model, the first canonical function revealed more active involvement of all joints during more challenging one leg stances and dynamic posture tasks. Furthermore, the shared variance was enhanced during the dynamic posture conditions, consistent with a reduction of dimension. This set of outcomes shows directly the degeneracy of multivariate joint regulation in postural control that is influenced by stance and surface of support conditions.

ESTIMATION OF GRASPING TORQUE USING ROBUST REACTION TORQUE OBSERVER FOR ROBOTIC FORCEPS

OpenAIRE

塚本, 祐介

2015-01-01

Abstract— In this paper, the estimation of the grasping torque of robotic forceps without the use of a force/torque sensor is discussed. To estimate the grasping torque when the robotic forceps driven by a rotary motor with a reduction gear grasps an object, a novel robust reaction torque observer is proposed. In the case where a conventional reaction force/torque observer is applied, the estimated torque includes not only the grasping torque, namely the reaction torque, but also t...

Grasp planning for a reconfigurable parallel robot with an underactuated arm structure

Directory of Open Access Journals (Sweden)

M. Riedel

2010-12-01

Full Text Available In this paper, a novel approach of grasp planning is applied to find out the appropriate grasp points for a reconfigurable parallel robot called PARAGRIP (Parallel Gripping. This new handling system is able to manipulate objects in the six-dimensional Cartesian space by several robotic arms using only six actuated joints. After grasping, the contact elements at the end of the underactuated arm mechanisms are connected to the object which forms a closed loop mechanism similar to the architecture of parallel manipulators. As the mounting and grasp points of the arms can easily be changed, the manipulator can be reconfigured to match the user's preferences and needs. This paper raises the question, how and where these grasp points are to be placed on the object to perform well for a certain manipulation task.

This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

Upper Limb Posture Estimation in Robotic and Virtual Reality-Based Rehabilitation

Science.gov (United States)

Cortés, Camilo; Ardanza, Aitor; Molina-Rueda, F.; Cuesta-Gómez, A.; Ruiz, Oscar E.

2014-01-01

New motor rehabilitation therapies include virtual reality (VR) and robotic technologies. In limb rehabilitation, limb posture is required to (1) provide a limb realistic representation in VR games and (2) assess the patient improvement. When exoskeleton devices are used in the therapy, the measurements of their joint angles cannot be directly used to represent the posture of the patient limb, since the human and exoskeleton kinematic models differ. In response to this shortcoming, we propose a method to estimate the posture of the human limb attached to the exoskeleton. We use the exoskeleton joint angles measurements and the constraints of the exoskeleton on the limb to estimate the human limb joints angles. This paper presents (a) the mathematical formulation and solution to the problem, (b) the implementation of the proposed solution on a commercial exoskeleton system for the upper limb rehabilitation, (c) its integration into a rehabilitation VR game platform, and (d) the quantitative assessment of the method during elbow and wrist analytic training. Results show that this method properly estimates the limb posture to (i) animate avatars that represent the patient in VR games and (ii) obtain kinematic data for the patient assessment during elbow and wrist analytic rehabilitation. PMID:25110698

Upper Limb Posture Estimation in Robotic and Virtual Reality-Based Rehabilitation

Directory of Open Access Journals (Sweden)

Camilo Cortés

2014-01-01

Full Text Available New motor rehabilitation therapies include virtual reality (VR and robotic technologies. In limb rehabilitation, limb posture is required to (1 provide a limb realistic representation in VR games and (2 assess the patient improvement. When exoskeleton devices are used in the therapy, the measurements of their joint angles cannot be directly used to represent the posture of the patient limb, since the human and exoskeleton kinematic models differ. In response to this shortcoming, we propose a method to estimate the posture of the human limb attached to the exoskeleton. We use the exoskeleton joint angles measurements and the constraints of the exoskeleton on the limb to estimate the human limb joints angles. This paper presents (a the mathematical formulation and solution to the problem, (b the implementation of the proposed solution on a commercial exoskeleton system for the upper limb rehabilitation, (c its integration into a rehabilitation VR game platform, and (d the quantitative assessment of the method during elbow and wrist analytic training. Results show that this method properly estimates the limb posture to (i animate avatars that represent the patient in VR games and (ii obtain kinematic data for the patient assessment during elbow and wrist analytic rehabilitation.

Digital evaluation of sitting posture comfort in human-vehicle system under Industry 4.0 framework

Science.gov (United States)

Tao, Qing; Kang, Jinsheng; Sun, Wenlei; Li, Zhaobo; Huo, Xiao

2016-09-01

Most of the previous studies on the vibration ride comfort of the human-vehicle system were focused only on one or two aspects of the investigation. A hybrid approach which integrates all kinds of investigation methods in real environment and virtual environment is described. The real experimental environment includes the WBV(whole body vibration) test, questionnaires for human subjective sensation and motion capture. The virtual experimental environment includes the theoretical calculation on simplified 5-DOF human body vibration model, the vibration simulation and analysis within ADAMS/VibrationTM module, and the digital human biomechanics and occupational health analysis in Jack software. While the real experimental environment provides realistic and accurate test results, it also serves as core and validation for the virtual experimental environment. The virtual experimental environment takes full advantages of current available vibration simulation and digital human modelling software, and makes it possible to evaluate the sitting posture comfort in a human-vehicle system with various human anthropometric parameters. How this digital evaluation system for car seat comfort design is fitted in the Industry 4.0 framework is also proposed.

An electromyographic analysis of two handwriting grasp patterns.

Science.gov (United States)

de Almeida, Pedro Henrique Tavares Queiroz; da Cruz, Daniel Marinho Cezar; Magna, Luis Alberto; Ferrigno, Iracema Serrat Vergotti

2013-08-01

Handwriting is a fundamental skill needed for the development of daily-life activities during lifetime and can be performed using different forms to hold the writing object. In this study, we monitored the sEMG activity of trapezius, biceps brachii, extensor carpi radialis brevis and flexor digitorum superficialis during a handwriting task with two groups of subjects using different grasp patterns. Twenty-four university students (thirteen males and eleven females; mean age of 22.04±2.8years) were included in this study. We randomly invited 12 subjects that used the Dynamic Tripod grasp and 12 subjects that used the Static Tripod grasp. The static tripod group showed statistically significant changes in the sEMG activity of trapezium and biceps brachii muscles during handwriting when compared to dynamic tripod group's subjects. No significant differences were found in extensor carpi radialis brevis and flexor digitorum superficialis activities among the two groups. The findings in this study suggest an increased activity of proximal muscles among subjects using a transitional grasp, indicating potential higher energy expenditure and muscular harm with the maintenance of this motor pattern in handwriting tasks, especially during the progression in academic life. Copyright © 2013 Elsevier Ltd. All rights reserved.

Stereo vision based automated grasp planning

International Nuclear Information System (INIS)

Wilhelmsen, K.; Huber, L.; Silva, D.; Grasz, E.; Cadapan, L.

1995-02-01

The Department of Energy has a need for treating existing nuclear waste. Hazardous waste stored in old warehouses needs to be sorted and treated to meet environmental regulations. Lawrence Livermore National Laboratory is currently experimenting with automated manipulations of unknown objects for sorting, treating, and detailed inspection. To accomplish these tasks, three existing technologies were expanded to meet the increasing requirements. First, a binocular vision range sensor was combined with a surface modeling system to make virtual images of unknown objects. Then, using the surface model information, stable grasp of the unknown shaped objects were planned algorithmically utilizing a limited set of robotic grippers. This paper is an expansion of previous work and will discuss the grasp planning algorithm

Force coordination in static manipulation tasks performed using standard and non-standard grasping techniques.

Science.gov (United States)

de Freitas, Paulo B; Jaric, Slobodan

2009-04-01

We evaluated coordination of the hand grip force (GF; normal component of the force acting at the hand-object contact area) and load force (LF; the tangential component) in a variety of grasping techniques and two LF directions. Thirteen participants exerted a continuous sinusoidal LF pattern against externally fixed handles applying both standard (i.e., using either the tips of the digits or the palms; the precision and palm grasps, respectively) and non-standard grasping techniques (using wrists and the dorsal finger areas; the wrist and fist grasp). We hypothesized (1) that the non-standard grasping techniques would provide deteriorated indices of force coordination when compared with the standard ones, and (2) that the nervous system would be able to adjust GF to the differences in friction coefficients of various skin areas used for grasping. However, most of the indices of force coordination remained similar across the tested grasping techniques, while the GF adjustments for the differences in friction coefficients (highest in the palm and the lowest in the fist and wrist grasp) provided inconclusive results. As hypothesized, GF relative to the skin friction was lowest in the precision grasp, but highest in the palm grasp. Therefore, we conclude that (1) the elaborate coordination of GF and LF consistently seen across the standard grasping techniques could be generalized to the non-standard ones, while (2) the ability to adjust GF using the same grasping technique to the differences in friction of various objects cannot be fully generalized to the GF adjustment when different grasps (i.e., hand segments) are used to manipulate the same object. Due to the importance of the studied phenomena for understanding both the functional and neural control aspects of manipulation, future studies should extend the current research to the transient and dynamic tasks, as well as to the general role of friction in our mechanical interactions with the environment.

Postural orientation and equilibrium processes associated with increased postural sway in autism spectrum disorder (ASD).

Science.gov (United States)

Wang, Zheng; Hallac, Rami R; Conroy, Kaitlin C; White, Stormi P; Kane, Alex A; Collinsworth, Amy L; Sweeney, John A; Mosconi, Matthew W

2016-01-01

Increased postural sway has been repeatedly documented in children with autism spectrum disorder (ASD). Characterizing the control processes underlying this deficit, including postural orientation and equilibrium, may provide key insights into neurophysiological mechanisms associated with ASD. Postural orientation refers to children's ability to actively align their trunk and head with respect to their base of support, while postural equilibrium is an active process whereby children coordinate ankle dorsi-/plantar-flexion and hip abduction/adduction movements to stabilize their upper body. Dynamic engagement of each of these control processes is important for maintaining postural stability, though neither postural orientation nor equilibrium has been studied in ASD. Twenty-two children with ASD and 21 age and performance IQ-matched typically developing (TD) controls completed three standing tests. During static stance, participants were instructed to stand as still as possible. During dynamic stances, participants swayed at a comfortable speed and magnitude in either anterior-posterior (AP) or mediolateral (ML) directions. The center of pressure (COP) standard deviation and trajectory length were examined to determine if children with ASD showed increased postural sway. Postural orientation was assessed using a novel virtual time-to-contact (VTC) approach that characterized spatiotemporal dimensions of children's postural sway (i.e., body alignment) relative to their postural limitation boundary, defined as the maximum extent to which each child could sway in each direction. Postural equilibrium was quantified by evaluating the amount of shared or mutual information of COP time series measured along the AP and ML directions. Consistent with prior studies, children with ASD showed increased postural sway during both static and dynamic stances relative to TD children. In regard to postural orientation processes, children with ASD demonstrated reduced spatial

Cortical involvement in anticipatory postural reactions in man

DEFF Research Database (Denmark)

Petersen, Tue Hvass; Rosenberg, Kasper; Petersen, Nicolas Caesar

2009-01-01

All movements are accompanied by postural reactions which ensure that the balance of the body is maintained. It has not been resolved that to what extent the primary motor cortex and corticospinal tract are involved in the control of these reactions. Here, we investigated the contribution...... of the corticospinal tract to the activation of the soleus (SOL) muscle in standing human subjects (n = 10) in relation to voluntary heel raise, anticipatory postural activation of the soleus muscle when the subject pulled a handle and to reflex activation of the soleus muscle when the subject was suddenly pulled...... was observed prior to EMG onset for the external perturbation. These data suggest that the primary motor cortex is involved in activating the SOL muscle as part of an anticipatory postural reaction....

Toward autonomous avian-inspired grasping for micro aerial vehicles

International Nuclear Information System (INIS)

Thomas, Justin; Loianno, Giuseppe; Polin, Joseph; Kumar, Vijay; Sreenath, Koushil

2014-01-01

Micro aerial vehicles, particularly quadrotors, have been used in a wide range of applications. However, the literature on aerial manipulation and grasping is limited and the work is based on quasi-static models. In this paper, we draw inspiration from agile, fast-moving birds such as raptors, that are able to capture moving prey on the ground or in water, and develop similar capabilities for quadrotors. We address dynamic grasping, an approach to prehensile grasping in which the dynamics of the robot and its gripper are significant and must be explicitly modeled and controlled for successful execution. Dynamic grasping is relevant for fast pick-and-place operations, transportation and delivery of objects, and placing or retrieving sensors. We show how this capability can be realized (a) using a motion capture system and (b) without external sensors relying only on onboard sensors. In both cases we describe the dynamic model, and trajectory planning and control algorithms. In particular, we present a methodology for flying and grasping a cylindrical object using feedback from a monocular camera and an inertial measurement unit onboard the aerial robot. This is accomplished by mapping the dynamics of the quadrotor to a level virtual image plane, which in turn enables dynamically-feasible trajectory planning for image features in the image space, and a vision-based controller with guaranteed convergence properties. We also present experimental results obtained with a quadrotor equipped with an articulated gripper to illustrate both approaches. (papers)

Kinematic characteristics of tenodesis grasp in C6 quadriplegia.

Science.gov (United States)

Mateo, S; Revol, P; Fourtassi, M; Rossetti, Y; Collet, C; Rode, G

2013-02-01

Descriptive control case study. To analyze the kinematics of tenodesis grasp in participants with C6 quadriplegia and healthy control participants in a pointing task and two daily life tasks involving a whole hand grip (apple) or a lateral grip (floppy disk). France. Four complete participants with C6 quadriplegia were age matched with four healthy control participants. All participants were right-handed. The measured kinematic parameters were the movement time (MT), the peak velocity (PV), the time of PV (TPV) and the wrist angle in the sagittal plane at movement onset, at the TPV and at the movement end point. The participants with C6 quadriplegia had significantly longer MTs in both prehension tasks. No significant differences in TPV were found between the two groups. Unlike control participants, for both prehension tasks the wrist of participants with C6 quadriplegia was in a neutral position at movement onset, in flexion at the TPV, and in extension at the movement end point. Two main kinematic parameters characterize tenodesis grasp movements in C6 quadriplegics: wrist flexion during reaching and wrist extension during the grasping phase, and increased MT reflecting the time required to adjust the wrist's position to achieve the tenodesis grasp. These characteristics were observed for two different grips (whole hand and lateral grip). These results suggest sequential planning of reaching and tenodesis grasp, and should be taken into account for prehension rehabilitation in patients with quadriplegia.

Toward autonomous avian-inspired grasping for micro aerial vehicles.

Science.gov (United States)

Thomas, Justin; Loianno, Giuseppe; Polin, Joseph; Sreenath, Koushil; Kumar, Vijay

2014-06-01

Micro aerial vehicles, particularly quadrotors, have been used in a wide range of applications. However, the literature on aerial manipulation and grasping is limited and the work is based on quasi-static models. In this paper, we draw inspiration from agile, fast-moving birds such as raptors, that are able to capture moving prey on the ground or in water, and develop similar capabilities for quadrotors. We address dynamic grasping, an approach to prehensile grasping in which the dynamics of the robot and its gripper are significant and must be explicitly modeled and controlled for successful execution. Dynamic grasping is relevant for fast pick-and-place operations, transportation and delivery of objects, and placing or retrieving sensors. We show how this capability can be realized (a) using a motion capture system and (b) without external sensors relying only on onboard sensors. In both cases we describe the dynamic model, and trajectory planning and control algorithms. In particular, we present a methodology for flying and grasping a cylindrical object using feedback from a monocular camera and an inertial measurement unit onboard the aerial robot. This is accomplished by mapping the dynamics of the quadrotor to a level virtual image plane, which in turn enables dynamically-feasible trajectory planning for image features in the image space, and a vision-based controller with guaranteed convergence properties. We also present experimental results obtained with a quadrotor equipped with an articulated gripper to illustrate both approaches.

Eye Movements Affect Postural Control in Young and Older Females.

Science.gov (United States)

Thomas, Neil M; Bampouras, Theodoros M; Donovan, Tim; Dewhurst, Susan

2016-01-01

Visual information is used for postural stabilization in humans. However, little is known about how eye movements prevalent in everyday life interact with the postural control system in older individuals. Therefore, the present study assessed the effects of stationary gaze fixations, smooth pursuits, and saccadic eye movements, with combinations of absent, fixed and oscillating large-field visual backgrounds to generate different forms of retinal flow, on postural control in healthy young and older females. Participants were presented with computer generated visual stimuli, whilst postural sway and gaze fixations were simultaneously assessed with a force platform and eye tracking equipment, respectively. The results showed that fixed backgrounds and stationary gaze fixations attenuated postural sway. In contrast, oscillating backgrounds and smooth pursuits increased postural sway. There were no differences regarding saccades. There were also no differences in postural sway or gaze errors between age groups in any visual condition. The stabilizing effect of the fixed visual stimuli show how retinal flow and extraocular factors guide postural adjustments. The destabilizing effect of oscillating visual backgrounds and smooth pursuits may be related to more challenging conditions for determining body shifts from retinal flow, and more complex extraocular signals, respectively. Because the older participants matched the young group's performance in all conditions, decreases of posture and gaze control during stance may not be a direct consequence of healthy aging. Further research examining extraocular and retinal mechanisms of balance control and the effects of eye movements, during locomotion, is needed to better inform fall prevention interventions.

A Computational Approach for Automated Posturing of a Human Finite Element Model

Science.gov (United States)

2016-07-01

any bone to be used as the anchor . The foot contains the location of the tibia’s coordinate system that was saved during the ankle function. This is...3.1 Ankle 8 3.2 Knee 10 3.3 Hip 14 3.4 Spine 16 4. Posture Assembly 17 5. Developing Load Curves for Prescribed Postures 19 6. FE Simulations 21 7...system. ................................................6 Fig. 3 The ankle is defined as a ball and socket joint. The tibia coordinate system rotates

A novel algorithm for fast grasping of unknown objects using C-shape configuration

Science.gov (United States)

Lei, Qujiang; Chen, Guangming; Meijer, Jonathan; Wisse, Martijn

2018-02-01

Increasing grasping efficiency is very important for the robots to grasp unknown objects especially subjected to unfamiliar environments. To achieve this, a new algorithm is proposed based on the C-shape configuration. Specifically, the geometric model of the used under-actuated gripper is approximated as a C-shape. To obtain an appropriate graspable position, this C-shape configuration is applied to fit geometric model of an unknown object. The geometric model of unknown object is constructed by using a single-view partial point cloud. To examine the algorithm using simulations, a comparison of the commonly used motion planners is made. The motion planner with the highest number of solved runs, lowest computing time and the shortest path length is chosen to execute grasps found by this grasping algorithm. The simulation results demonstrate that excellent grasping efficiency is achieved by adopting our algorithm. To validate this algorithm, experiment tests are carried out using a UR5 robot arm and an under-actuated gripper. The experimental results show that steady grasping actions are obtained. Hence, this research provides a novel algorithm for fast grasping of unknown objects.

GRASP55 Senses Glucose Deprivation through O-GlcNAcylation to Promote Autophagosome-Lysosome Fusion.

Science.gov (United States)

Zhang, Xiaoyan; Wang, Leibin; Lak, Behnam; Li, Jie; Jokitalo, Eija; Wang, Yanzhuang

2018-04-23

The Golgi apparatus is the central hub for protein trafficking and glycosylation in the secretory pathway. However, how the Golgi responds to glucose deprivation is so far unknown. Here, we report that GRASP55, the Golgi stacking protein located in medial- and trans-Golgi cisternae, is O-GlcNAcylated by the O-GlcNAc transferase OGT under growth conditions. Glucose deprivation reduces GRASP55 O-GlcNAcylation. De-O-GlcNAcylated GRASP55 forms puncta outside of the Golgi area, which co-localize with autophagosomes and late endosomes/lysosomes. GRASP55 depletion reduces autophagic flux and results in autophagosome accumulation, while expression of an O-GlcNAcylation-deficient mutant of GRASP55 accelerates autophagic flux. Biochemically, GRASP55 interacts with LC3-II on the autophagosomes and LAMP2 on late endosomes/lysosomes and functions as a bridge between LC3-II and LAMP2 for autophagosome and lysosome fusion; this function is negatively regulated by GRASP55 O-GlcNAcylation. Therefore, GRASP55 senses glucose levels through O-GlcNAcylation and acts as a tether to facilitate autophagosome maturation. Copyright © 2018 Elsevier Inc. All rights reserved.

DTN routing in body sensor networks with dynamic postural partitioning.

Science.gov (United States)

Quwaider, Muhannad; Biswas, Subir

2010-11-01

This paper presents novel store-and-forward packet routing algorithms for Wireless Body Area Networks ( WBAN ) with frequent postural partitioning. A prototype WBAN has been constructed for experimentally characterizing on-body topology disconnections in the presence of ultra short range radio links, unpredictable RF attenuation, and human postural mobility. On-body DTN routing protocols are then developed using a stochastic link cost formulation, capturing multi-scale topological localities in human postural movements. Performance of the proposed protocols are evaluated experimentally and via simulation, and are compared with a number of existing single-copy DTN routing protocols and an on-body packet flooding mechanism that serves as a performance benchmark with delay lower-bound. It is shown that via multi-scale modeling of the spatio-temporal locality of on-body link disconnection patterns, the proposed algorithms can provide better routing performance compared to a number of existing probabilistic, opportunistic, and utility-based DTN routing protocols in the literature.

Learning to Grasp Unknown Objects Based on 3D Edge Information

DEFF Research Database (Denmark)

Bodenhagen, Leon; Kraft, Dirk; Popovic, Mila

2010-01-01

In this work we refine an initial grasping behavior based on 3D edge information by learning. Based on a set of autonomously generated evaluated grasps and relations between the semi-global 3D edges, a prediction function is learned that computes a likelihood for the success of a grasp using either...... an offline or an online learning scheme. Both methods are implemented using a hybrid artificial neural network containing standard nodes with a sigmoid activation function and nodes with a radial basis function. We show that a significant performance improvement can be achieved....

Software for relativistic atomic structure theory: The grasp project at oxford

International Nuclear Information System (INIS)

Parpia, F.A.; Grant, I.P.

1991-01-01

GRASP is an acronym for General-purpose Relativistic Atomic Structure Program. The objective of the GRASP project at Oxford is to produce user-friendly state-of-the-art multiconfiguration Dirac-Fock (MCDF) software packages for rleativistic atomic structure theory

Grasping convergent evolution in syngnathids: a unique tale of tails

Science.gov (United States)

Neutens, C; Adriaens, D; Christiaens, J; De Kegel, B; Dierick, M; Boistel, R; Van Hoorebeke, L

2014-01-01

Seahorses and pipehorses both possess a prehensile tail, a unique characteristic among teleost fishes, allowing them to grasp and hold onto substrates such as sea grasses. Although studies have focused on tail grasping, the pattern of evolutionary transformations that made this possible is poorly understood. Recent phylogenetic studies show that the prehensile tail evolved independently in different syngnathid lineages, including seahorses, Haliichthys taeniophorus and several types of so-called pipehorses. This study explores the pattern that characterizes this convergent evolution towards a prehensile tail, by comparing the caudal musculoskeletal organization, as well as passive bending capacities in pipefish (representing the ancestral state), pipehorse, seahorse and H. taeniophorus. To study the complex musculoskeletal morphology, histological sectioning, μCT-scanning and phase contrast synchrotron scanning were combined with virtual 3D-reconstructions. Results suggest that the independent evolution towards tail grasping in syngnathids reflects at least two quite different strategies in which the ancestral condition of a heavy plated and rigid system became modified into a highly flexible one. Intermediate skeletal morphologies (between the ancestral condition and seahorses) could be found in the pygmy pipehorses and H. taeniophorus, which are phylogenetically closely affiliated with seahorses. This study suggests that the characteristic parallel myoseptal organization as already described in seahorse (compared with a conical organization in pipefish and pipehorse) may not be a necessity for grasping, but represents an apomorphy for seahorses, as this pattern is not found in other syngnathid species possessing a prehensile tail. One could suggest that the functionality of grasping evolved before the specialized, parallel myoseptal organization seen in seahorses. However, as the grasping system in pipehorses is a totally different one, this cannot be

Sequential phosphorylation of GRASP65 during mitotic Golgi disassembly

Directory of Open Access Journals (Sweden)

Danming Tang

2012-09-01

GRASP65 phosphorylation during mitosis and dephosphorylation after mitosis are required for Golgi disassembly and reassembly during the cell cycle. At least eight phosphorylation sites on GRASP65 have been identified, but whether they are modified in a coordinated fashion during mitosis is so far unknown. In this study, we raised phospho-specific antibodies that recognize phosphorylated T220/T224, S277 and S376 residues of GRASP65, respectively. Biochemical analysis showed that cdc2 phosphorylates all three sites, while plk1 enhances the phosphorylation. Microscopic studies using these antibodies for double and triple labeling demonstrate sequential phosphorylation and dephosphorylation during the cell cycle. S277 and S376 are phosphorylated from late G2 phase through metaphase until telophase when the new Golgi is reassembled. T220/224 is not modified until prophase, but is highly modified from prometaphase to anaphase. In metaphase, phospho-T220/224 signal localizes on both Golgi haze and mitotic Golgi clusters that represent dispersed Golgi vesicles and Golgi remnants, respectively, while phospho-S277 and S376 labeling is more concentrated on mitotic Golgi clusters. Expression of a phosphorylation-resistant GRASP65 mutant T220A/T224A inhibited mitotic Golgi fragmentation to a much larger extent than the expression of the S277A and S376A mutants. In cytokinesis, T220/224 dephosphorylation occurs prior to that of S277, but after S376. This study provides evidence that GRASP65 is sequentially phosphorylated and dephosphorylated during mitosis at different sites to orchestrate Golgi disassembly and reassembly during cell division, with phosphorylation of the T220/224 site being most critical in the process.

Application of a sensor fusion algorithm for improving grasping stability

Energy Technology Data Exchange (ETDEWEB)

Kim, Jae Hyeon; Yoon, Hyun Suck; Moon, Hyung Pil; Choi, Hyouk Ryeol; Koo Ja Choon [Sungkyunkwan University, Suwon (Korea, Republic of)

2015-07-15

A robot hand normally employees various sensors that are packaged in small form factor, perform with delicately accurate, and cost mostly very expensive. Grasping operation of the hand relies especially on accuracy of those sensors. Even with a set of advanced sensory systems embedded in a robot hand, securing a stable grasping is still challenging task. The present work makes an attempt to improve force sensor accuracy by applying sensor fusion method. An optimal weight value sensor fusion method formulated with Kalman filters is presented and tested in the work. Using a set of inexpensive sensors, the work achieves a reliable force sensing and applies the enhanced sensor stability to an object pinch grasping.

Application of a sensor fusion algorithm for improving grasping stability

International Nuclear Information System (INIS)

Kim, Jae Hyeon; Yoon, Hyun Suck; Moon, Hyung Pil; Choi, Hyouk Ryeol; Koo Ja Choon

2015-01-01

A robot hand normally employees various sensors that are packaged in small form factor, perform with delicately accurate, and cost mostly very expensive. Grasping operation of the hand relies especially on accuracy of those sensors. Even with a set of advanced sensory systems embedded in a robot hand, securing a stable grasping is still challenging task. The present work makes an attempt to improve force sensor accuracy by applying sensor fusion method. An optimal weight value sensor fusion method formulated with Kalman filters is presented and tested in the work. Using a set of inexpensive sensors, the work achieves a reliable force sensing and applies the enhanced sensor stability to an object pinch grasping.

Improvement and Neuroplasticity after Combined Rehabilitation to Forced Grasping

Directory of Open Access Journals (Sweden)

Michiko Arima

2017-01-01

Full Text Available The grasp reflex is a distressing symptom but the need to treat or suppress it has rarely been discussed in the literature. We report the case of a 17-year-old man who had suffered cerebral infarction of the right putamen and temporal lobe 10 years previously. Forced grasping of the hemiparetic left upper limb was improved after a unique combined treatment. Botulinum toxin type A (BTX-A was first injected into the left biceps, wrist flexor muscles, and finger flexor muscles. Forced grasping was reduced along with spasticity of the upper limb. In addition, repetitive facilitative exercise and object-related training were performed under low-amplitude continuous neuromuscular electrical stimulation. Since this 2-week treatment improved upper limb function, we compared brain activities, as measured by near-infrared spectroscopy during finger pinching, before and after the combined treatment. Brain activities in the ipsilesional sensorimotor cortex (SMC and medial frontal cortex (MFC during pinching under electrical stimulation after treatment were greater than those before. The results suggest that training under electrical stimulation after BTX-A treatment may modulate the activities of the ipsilesional SMC and MFC and lead to functional improvement of the affected upper limb with forced grasping.

Virtual Control of Prosthetic Hand Based on Grasping Patterns and Estimated Force from Semg

Directory of Open Access Journals (Sweden)

Zhu Gao-Ke

2016-01-01

Full Text Available Myoelectric prosthetic hands aim to serve upper limb amputees. The myoelectric control of the hand grasp action is a kind of real-time or online method. Thus it is of great necessity to carry on a study of online prosthetic hand electrical control. In this paper, the strategy of simultaneous EMG decoding of grasping patterns and grasping force was realized by controlling a virtual multi-degree-freedom prosthetic hand and a real one-degree-freedom prosthetic hand simultaneously. The former realized the grasping patterns from the recognition of the sEMG pattern. The other implemented the grasping force from sEMG force decoding. The results show that the control method is effective and feasible.

Guide to Good Posture

Science.gov (United States)

... you are moving or still, can prevent pain, injuries, and other health problems. What is posture? Posture is how you hold your body. There are two types: Dynamic posture is how you hold yourself when you are moving, like when you are walking, running, or bending over to pick up something. Static ...

Brain Function Overlaps When People Observe Emblems, Speech, and Grasping

Science.gov (United States)

Andric, Michael; Solodkin, Ana; Buccino, Giovanni; Goldin-Meadow, Susan; Rizzolatti, Giacomo; Small, Steven L.

2013-01-01

A hand grasping a cup or gesturing ‘thumbs-up’, while both manual actions, have different purposes and effects. Grasping directly affects the cup, whereas gesturing ‘thumbs-up’ has an effect through an implied verbal (symbolic) meaning. Because grasping and emblematic gestures (‘emblems’) are both goal-oriented hand actions, we pursued the hypothesis that observing each should evoke similar activity in neural regions implicated in processing goal-oriented hand actions. However, because emblems express symbolic meaning, observing them should also evoke activity in regions implicated in interpreting meaning, which is most commonly expressed in language. Using fMRI to test this hypothesis, we had participants watch videos of an actor performing emblems, speaking utterances matched in meaning to the emblems, and grasping objects. Our results show that lateral temporal and inferior frontal regions respond to symbolic meaning, even when it is expressed by a single hand action. In particular, we found that left inferior frontal and right lateral temporal regions are strongly engaged when people observe either emblems or speech. In contrast, we also replicate and extend previous work that implicates parietal and premotor responses in observing goal-oriented hand actions. For hand actions, we found that bilateral parietal and premotor regions are strongly engaged when people observe either emblems or grasping. These findings thus characterize converging brain responses to shared features (e.g., symbolic or manual), despite their encoding and presentation in different stimulus modalities. PMID:23583968

Brain function overlaps when people observe emblems, speech, and grasping.

Science.gov (United States)

Andric, Michael; Solodkin, Ana; Buccino, Giovanni; Goldin-Meadow, Susan; Rizzolatti, Giacomo; Small, Steven L

2013-07-01

A hand grasping a cup or gesturing "thumbs-up", while both manual actions, have different purposes and effects. Grasping directly affects the cup, whereas gesturing "thumbs-up" has an effect through an implied verbal (symbolic) meaning. Because grasping and emblematic gestures ("emblems") are both goal-oriented hand actions, we pursued the hypothesis that observing each should evoke similar activity in neural regions implicated in processing goal-oriented hand actions. However, because emblems express symbolic meaning, observing them should also evoke activity in regions implicated in interpreting meaning, which is most commonly expressed in language. Using fMRI to test this hypothesis, we had participants watch videos of an actor performing emblems, speaking utterances matched in meaning to the emblems, and grasping objects. Our results show that lateral temporal and inferior frontal regions respond to symbolic meaning, even when it is expressed by a single hand action. In particular, we found that left inferior frontal and right lateral temporal regions are strongly engaged when people observe either emblems or speech. In contrast, we also replicate and extend previous work that implicates parietal and premotor responses in observing goal-oriented hand actions. For hand actions, we found that bilateral parietal and premotor regions are strongly engaged when people observe either emblems or grasping. These findings thus characterize converging brain responses to shared features (e.g., symbolic or manual), despite their encoding and presentation in different stimulus modalities. Copyright © 2013 Elsevier Ltd. All rights reserved.

Continuous grasp algorithm applied to economic dispatch problem of thermal units

Energy Technology Data Exchange (ETDEWEB)

Vianna Neto, Julio Xavier [Pontifical Catholic University of Parana - PUCPR, Curitiba, PR (Brazil). Undergraduate Program at Mechatronics Engineering; Bernert, Diego Luis de Andrade; Coelho, Leandro dos Santos [Pontifical Catholic University of Parana - PUCPR, Curitiba, PR (Brazil). Industrial and Systems Engineering Graduate Program, LAS/PPGEPS], e-mail: leandro.coelho@pucpr.br

2010-07-01

The economic dispatch problem (EDP) is one of the fundamental issues in power systems to obtain benefits with the stability, reliability and security. Its objective is to allocate the power demand among committed generators in the most economical manner, while all physical and operational constraints are satisfied. The cost of power generation, particularly in fossil fuel plants, is very high and economic dispatch helps in saving a significant amount of revenue. Recently, as an alternative to the conventional mathematical approaches, modern heuristic optimization techniques such as simulated annealing, evolutionary algorithms, neural networks, ant colony, and tabu search have been given much attention by many researchers due to their ability to find an almost global optimal solution in EDPs. On other hand, continuous GRASP (C-GRASP) is a stochastic local search meta-heuristic for finding cost-efficient solutions to continuous global optimization problems subject to box constraints. Like a greedy randomized adaptive search procedure (GRASP), a C-GRASP is a multi-start procedure where a starting solution for local improvement is constructed in a greedy randomized fashion. The C-GRASP algorithm is validated for a test system consisting of fifteen units, test system that takes into account spinning reserve and prohibited operating zones constrains. (author)

Thermal sensation during mild hyperthermia is modulated by acute postural change in humans.

Science.gov (United States)

Takeda, Ryosuke; Imai, Daiki; Suzuki, Akina; Ota, Akemi; Naghavi, Nooshin; Yamashina, Yoshihiro; Hirasawa, Yoshikazu; Yokoyama, Hisayo; Miyagawa, Toshiaki; Okazaki, Kazunobu

2016-12-01

Thermal sensation represents the primary stimulus for behavioral and autonomic thermoregulation. We assessed whether the sensation of skin and core temperatures for the driving force of behavioral thermoregulation was modified by postural change from the supine (Sup) to sitting (Sit) during mild hyperthermia. Seventeen healthy young men underwent measurements of noticeable increase and decrease (±0.1 °C/s) of skin temperature (thresholds of warm and cold sensation on the skin, 6.25 cm 2 of area) at the forearm and chest and of the whole-body warm sensation in the Sup and Sit during normothermia (NT; esophageal temperature (T es ), ∼36.6 °C) and mild hyperthermia (HT; T es , ∼37.2 °C; lower legs immersion in 42 °C of water). The threshold for cold sensation on the skin at chest was lower during HT than NT in the Sit (P sensation on the skin at both sites remained unchanged with changes in body posture or temperature. The whole-body warm sensation was higher during HT than NT in both postures and higher in the Sit than Sup during both NT and HT (all, P sensation during mild hyperthermia is modulated by postural change from supine to sitting to sense lesser cold on the skin and more whole-body warmth.

Somatic features and body posture in children with scoliosis and scoliotic posture

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Jacek Wilczyński

2017-08-01

Full Text Available Abstract The aim of the study was to evaluate the relationship between somatic features and body posture in children with scoliosis and scoliotic posture. The study included 28 girls aged 7-18 with scoliosis and scoliotic posture. The selection of the subjects was deliberate. Height measurements were conducted with an anthropometer and weight measurements were done with an electronic scale. Body posture tests were performed using Exhibeon 3D digital photogrammetry and digital radiographs. The significant Spearman correlations between postural variables for the sagittal plane and the somatic variables regarded: trunk inclination angle and BMI (R= 0,4553, p= p=0,015, Abs of the trunk inclination angle and BMI (R = 0.5522, p = 0.002, length of thoracic kyphosis and BMI (R=0,4147, p=0.028, lumbar lordosis and BMI (R=0,4509, p=0,016. The significant Spearman correlations between scoliotic posture variables and the somatic variables concerned: length of primary lordosis and body height (R =0,4923, p=0.008, the length of the primary lordosis and body mass (R = 0.3932, p = 0.038, the length of the primary lordosis and BMI (R=0,4923, p=0.008. Variation analysis regarding postural (Exhibeon and somatic variables showed significant correlations between the direction of the primary curvature and body mass (p=0,0432, body height and primary angle location (p=0,0290 and between the height of the body and the location of the secondary angle (p = 0,0278.

Responses of mirror neurons in area F5 to hand and tool grasping observation

Science.gov (United States)

Rochat, Magali J.; Caruana, Fausto; Jezzini, Ahmad; Escola, Ludovic; Intskirveli, Irakli; Grammont, Franck; Gallese, Vittorio; Rizzolatti, Giacomo

2010-01-01

Mirror neurons are a distinct class of neurons that discharge both during the execution of a motor act and during observation of the same or similar motor act performed by another individual. However, the extent to which mirror neurons coding a motor act with a specific goal (e.g., grasping) might also respond to the observation of a motor act having the same goal, but achieved with artificial effectors, is not yet established. In the present study, we addressed this issue by recording mirror neurons from the ventral premotor cortex (area F5) of two monkeys trained to grasp objects with pliers. Neuron activity was recorded during the observation and execution of grasping performed with the hand, with pliers and during observation of an experimenter spearing food with a stick. The results showed that virtually all neurons responding to the observation of hand grasping also responded to the observation of grasping with pliers and, many of them to the observation of spearing with a stick. However, the intensity and pattern of the response differed among conditions. Hand grasping observation determined the earliest and the strongest discharge, while pliers grasping and spearing observation triggered weaker responses at longer latencies. We conclude that F5 grasping mirror neurons respond to the observation of a family of stimuli leading to the same goal. However, the response pattern depends upon the similarity between the observed motor act and the one executed by the hand, the natural motor template. PMID:20577726

Audio-Visual Feedback for Self-monitoring Posture in Ballet Training

DEFF Research Database (Denmark)

Knudsen, Esben Winther; Hølledig, Malte Lindholm; Bach-Nielsen, Sebastian Siem

2017-01-01

An application for ballet training is presented that monitors the posture position (straightness of the spine and rotation of the pelvis) deviation from the ideal position in real-time. The human skeletal data is acquired through a Microsoft Kinect v2. The movement of the student is mirrored......-coded. In an experiment with 9-12 year-old dance students from a ballet school, comparing the audio-visual feedback modality with no feedback leads to an increase in posture accuracy (p

Development of Reaching and Grasping skills in infants with Down syndrome

NARCIS (Netherlands)

de Campos, A.C.; Rocha, N.A.C.F.; Savelsbergh, G.J.P.

2010-01-01

Reaching and grasping skills have been described to emerge from a dynamic interaction between intrinsic and extrinsic factors. The aims of the study were to investigate the effect of such intrinsic factors as age and Down syndrome on the development of reaching and grasping skills and on overall

ANALISIS KETIGGIAN MEJA KERJA YANG IDEAL TERHADAP POSTUR PEKERJA DIVISI CUTTING INDUSTRI GARMEN DENGAN POSTURE EVALUATION (PEI PADA VIRTUAL ENVIROMENT

Directory of Open Access Journals (Sweden)

Boy Nurtjahyo

2012-02-01

Full Text Available Penelitian ini mencoba untuk mengimplementasikan suatu metodologi untuk mempelajari, dalam lingkungan virtual, aspek ergonomi dari suatu tempat kerja di industri garmen. Variabel tempat kerja yang diteliti dalam penelitian ini adalah ketinggian meja kerja. Tujuan penelitian ini adalah mendapatkan konfigurasi ketinggian meja yang ideal bagi pekerja divisi cutting industri garmen. Tool yang digunakan dalam menyelesaikan skripsi ini adalah Posture Evaluation Index yang mengintegrasikan skor Low Back Analysis (LBA, Ovako Working Posture (OWAS, dan Rapid Upper Limb Assessment (RULA. Penentuan konfigurasi yang ideal dilakukan dengan mempertimbangkan jenis pekerjaan dan posisi kerja ketika melakukan pekerjaan tersebut, apakah dalam posisi duduk atau berdiri. Analisis dilakukan dengan menggunakan model manusia digital yang disediakan software Jack pada virtual environment. Hasil penelitian dapat digunakan sebagai referensi dalam merancang tempat kerja yang lebih baik secara ergonomis. Kata kunci : Ergonomi, Virtual Environment, Divisi Cutting  Industri Garmen, Posture Evaluation Index   Abstract   The research deals with the implementation of a methodology in order to study, in a virtual environment, the ergonomics of a work cell in garment industry. The work cell’s variable studied in this research is table height. The goal of this research is to determine an ideal table height for the workers of cutting division in garment industry. The tool to conduct this research is called Posture Evaluation Index (PEI which integrates the score of Low Back Analysis (LBA, Ovako Working Posture (OWAS, dan Rapid Upper Limb Assessment (RULA. The Determination of table height configuration is based on type of work and work position (standing or sitting. The research uses digital human model form Jack software in a virtual environment. The result from this research can be a reference for future work cell design. Keywords: Ergonomics, Virtual Environment, Cutting

Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems

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Tao Liu

2017-02-01

Full Text Available Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments.

Statistical Identification of Composed Visual Features Indicating High Likelihood of Grasp Success

DEFF Research Database (Denmark)

Thomsen, Mikkel Tang; Bodenhagen, Leon; Krüger, Norbert

2013-01-01

configurations of three 3D surface features that predict grasping actions with a high success probability. The strategy is based on first computing spatial relations between visual entities and secondly, exploring the cross-space of these relational feature space and grasping actions. The data foundation...... for identifying such indicative feature constellations is generated in a simulated environment wherein visual features are extracted and a large amount of grasping actions are evaluated through dynamic simulation. Based on the identified feature constellations, we validate by applying the acquired knowledge...

Manipulation of Unknown Objects to Improve the Grasp Quality Using Tactile Information.

Science.gov (United States)

Montaño, Andrés; Suárez, Raúl

2018-05-03

This work presents a novel and simple approach in the area of manipulation of unknown objects considering both geometric and mechanical constraints of the robotic hand. Starting with an initial blind grasp, our method improves the grasp quality through manipulation considering the three common goals of the manipulation process: improving the hand configuration, the grasp quality and the object positioning, and, at the same time, prevents the object from falling. Tactile feedback is used to obtain local information of the contacts between the fingertips and the object, and no additional exteroceptive feedback sources are considered in the approach. The main novelty of this work lies in the fact that the grasp optimization is performed on-line as a reactive procedure using the tactile and kinematic information obtained during the manipulation. Experimental results are shown to illustrate the efficiency of the approach.

Robust Robot Grasp Detection in Multimodal Fusion

Directory of Open Access Journals (Sweden)

Zhang Qiang

2017-01-01

Full Text Available Accurate robot grasp detection for model free objects plays an important role in robotics. With the development of RGB-D sensors, object perception technology has made great progress. Reach feature expression by the colour and the depth data is a critical problem that needs to be addressed in order to accomplish the grasping task. To solve the problem of data fusion, this paper proposes a convolutional neural networks (CNN based approach combined with regression and classification. In the CNN model, the colour and the depth modal data are deeply fused together to achieve accurate feature expression. Additionally, Welsch function is introduced into the approach to enhance robustness of the training process. Experiment results demonstrates the superiority of the proposed method.

Acute Effects of Posture Shirts on Rounded-Shoulder and Forward-Head Posture in College Students.

Science.gov (United States)

Manor, John; Hibberd, Elizabeth; Petschauer, Meredith; Myers, Joseph

2016-12-01

Rounded-shoulder and forward-head posture can be contributing factors to shoulder pain. Corrective techniques such as manual therapy and exercise have been shown to improve these altered postures, but there is little evidence that corrective garments such as posture shirts can alter posture. To determine the acute effects of corrective postureshirt use on rounded-shoulder and forward-head posture in asymptomatic college students. Repeated-measures intervention study with counterbalanced conditions. Research laboratory. 24 members of the general student body of a university, 18-25 y old, with a forward shoulder angle (FSA) >52° and no history of upper-extremity surgery, scoliosis, active shoulder pain, or shoulder pain in the previous 3 mo that restricted participation for 3 consecutive days. Photographic posture assessment under a control condition, under a sham or treatment condition (counterbalanced), under another control condition, and treatment or sham. FSA and forward head angle (FHA) calculated from a lateral photograph. FSA decreased relative to the control condition while participants wore the sham shirt (P = .029) but not the corrective posture shirt (P = 1.00). FHA was unchanged between groups (P = .371). Application of a corrective posture shirt did not acutely alter FSA or FHA, while application of a sham shirt may decrease FSA at rest.

Perinatal Development of the Motor Systems Involved in Postural Control

Directory of Open Access Journals (Sweden)

Laurent Vinay

2005-01-01

Full Text Available Motor behaviors of some species, such as the rat and the human baby, are quite immature at birth. Here we review recent data on some of the mechanisms underlying the postnatal maturation of posture in the rat, in particular the development of pathways descending from the brain stem and projecting onto the lumbar enlargement of the spinal cord. A short-lasting depletion in serotonin affects both posture and the excitability of motoneurons. Here we try to extrapolate to human development and suggest that the abnormalities in motor control observed in childhood—e.g, deficits in motor coordination—might have their roots in the prenatal period, in particular serotonin depletion due to exposure to several environmental and toxicological factors during pregnancy.

Are we real when we fake? Attunement to object weight in natural and pantomimed grasping movements

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Caterina Ansuini

2016-09-01

Full Text Available Behavioural and neuropsychological studies suggest that real actions and pantomimed actions tap, at least in part, different neural systems. Inspired by studies showing weight-attunement in real grasps, here we asked whether (and to what extent kinematics of pantomimed reach-to-grasp movement can reveal the weight of the pretended target. To address this question, we instructed participants (n =15 either to grasp or pretend to grasp towards two differently weighted objects, i.e., a light object and heavy object. Using linear discriminant analysis, we then proceeded to classify the weight of the target – either real or pretended – on the basis of the recorded movement patterns. Classification analysis revealed that pantomimed reach-to-grasp movements retained information about object weight, although to a lesser extent than real grasp movements. These results are discussed in relation to the mechanisms underlying the control of real and pantomimed grasping movements.

Neck pain and postural balance among workers with high postural demands - a cross-sectional study

DEFF Research Database (Denmark)

Jørgensen, Marie B.; Skotte, Jørgen H.; Holtermann, Andreas

2011-01-01

Neck pain is related to impaired postural balance among patients and is highly prevalent among workers with high postural demands, for example, cleaners. We therefore hypothesised, that cleaners with neck pain suffer from postural dysfunction. This cross-sectional study tested if cleaners with neck...... pain have an impaired postural balance compared with cleaners without neck pain. Postural balance of 194 cleaners with (n = 85) and without (N = 109) neck pain was studied using three different tests. Success or failure to maintain the standing position for 30 s in unilateral stance was recorded...... to cleaners without neck/low back pain (p balance, measured as CEA (p

Grasping completions: Towards a new paradigm

NARCIS (Netherlands)

Lommertzen, J.; Meulenbroek, R.G.J.; Lier, R.J. van

2006-01-01

We studied contextual effects of amodal completion in both a primed-matching task, and a grasping task in a within-subjects design with twenty-nine participants. Stimuli were partly occluded cylindrical objects that could have indentations (or protrusions) at regular intervals along the contour. The

Measuring postural control during mini-squat posture in men with early knee osteoarthritis.

Science.gov (United States)

Petrella, M; Gramani-Say, K; Serrão, P R M S; Lessi, G C; Barela, J A; Carvalho, R P; Mattiello, S M

2017-04-01

Studies have suggested a compromised postural control in individuals with knee osteoarthritis (OA) evidenced by larger and faster displacement of center of pressure (COP). However, quantification of postural control in the mini-squat posture performed by patients with early knee OA and its relation to muscle strength and self-reported symptoms have not been investigated. The main aim of this cross-sectional, observational, controlled study was to determine whether postural control in the mini-squat posture differs between individuals with early knee OA and a control group (CG) and verify the relation among knee extensor torque (KET) and self-reported physical function, stiffness and pain. Twenty four individuals with knee OA grades I and II (OAG) (mean age: 52.35±5.00) and twenty subjects without knee injuries (CG) (mean age: 51.40±8.07) participated in this study. Participants were assessed in postural control through a force plate (Bertec Mod. USA), which provided information about the anterior-posterior (AP) and medial-lateral (ML) COP displacement during the mini-squat, in isometric, concentric and eccentric knee extensor torque (KET) (90°/s) through an isokinetic dynamometer (BiodexMulti-Joint System3, Biodex Medical Incorporation, New York, NY, USA), and in self-reported symptoms through the WOMAC questionnaire. The main outcomes measured were the AP and ML COP amplitude and velocity of displacement; isometric, concentric, and eccentric KET and self-reported physical function, stiffness and pain. No significant differences were found between groups for postural control (p>0.05). Significant lower eccentric KET (p=0.01) and higher scores for the WOMAC subscales of pain (p=postural instability and the need to include quadriceps muscle strengthening, especially by eccentric contractions. The relationship between the self-reported symptoms and a lower and slower COP displacement suggest that the postural control strategy during tasks with a semi-flexed knee

Motivational state, reward value, and Pavlovian cues differentially affect skilled forelimb grasping in rats

Science.gov (United States)

de Clauser, Larissa; Kasper, Hansjörg; Schwab, Martin E.

2016-01-01

Motor skills represent high-precision movements performed at optimal speed and accuracy. Such motor skills are learned with practice over time. Besides practice, effects of motivation have also been shown to influence speed and accuracy of movements, suggesting that fast movements are performed to maximize gained reward over time as noted in previous studies. In rodents, skilled motor performance has been successfully modeled with the skilled grasping task, in which animals use their forepaw to grasp for sugar pellet rewards through a narrow window. Using sugar pellets, the skilled grasping task is inherently tied to motivation processes. In the present study, we performed three experiments modulating animals’ motivation during skilled grasping by changing the motivational state, presenting different reward value ratios, and displaying Pavlovian stimuli. We found in all three studies that motivation affected the speed of skilled grasping movements, with the strongest effects seen due to motivational state and reward value. Furthermore, accuracy of the movement, measured in success rate, showed a strong dependence on motivational state as well. Pavlovian cues had only minor effects on skilled grasping, but results indicate an inverse Pavlovian-instrumental transfer effect on movement speed. These findings have broad implications considering the increasing use of skilled grasping in studies of motor system structure, function, and recovery after injuries. PMID:27194796

Modelling the shape hierarchy for visually guided grasping

Directory of Open Access Journals (Sweden)

Omid eRezai

2014-10-01

Full Text Available The monkey anterior intraparietal area (AIP encodes visual information about three-dimensional object shape that is used to shape the hand for grasping. We modelled shape tuning in visual AIP neurons and its relationship with curvature and gradient information from the caudal intraparietal area (CIP. The main goal was to gain insight into the kinds of shape parameterizations that can account for AIP tuning and that are consistent with both the inputs to AIP and the role of AIP in grasping. We first experimented with superquadric shape parameters. We considered superquadrics because they occupy a role in robotics that is similar to AIP, in that superquadric fits are derived from visual input and used for grasp planning. We also experimented with an alternative shape parameterization that was based on an Isomap dimension reduction of spatial derivatives of depth (i.e. distance from the observer to the object surface. We considered an Isomap-based model because its parameters lacked discontinuities between similar shapes. When we matched the dimension of the Isomap to the number of superquadric parameters, the superquadric model fit the AIP data somewhat more closely. However, higher-dimensional Isomaps provided excellent fits. Also, we found that the Isomap parameters could be approximated much more accurately than superquadric parameters by feedforward neural networks with CIP-like inputs. We conclude that Isomaps, or perhaps alternative dimension reductions of visual inputs to AIP, provide a promising model of AIP electrophysiology data. However (in contrast with superquadrics further work is needed to test whether such shape parameterizations actually provide an effective basis for grasp control.

Neural basis of postural focus effect on concurrent postural and motor tasks: phase-locked electroencephalogram responses.

Science.gov (United States)

Huang, Cheng-Ya; Zhao, Chen-Guang; Hwang, Ing-Shiou

2014-11-01

Dual-task performance is strongly affected by the direction of attentional focus. This study investigated neural control of a postural-suprapostural procedure when postural focus strategy varied. Twelve adults concurrently conducted force-matching and maintained stabilometer stance with visual feedback on ankle movement (visual internal focus, VIF) and on stabilometer movement (visual external focus, VEF). Force-matching error, dynamics of ankle and stabilometer movements, and event-related potentials (ERPs) were registered. Postural control with VEF caused superior force-matching performance, more complex ankle movement, and stronger kinematic coupling between the ankle and stabilometer movements than postural control with VIF. The postural focus strategy also altered ERP temporal-spatial patterns. Postural control with VEF resulted in later N1 with less negativity around the bilateral fronto-central and contralateral sensorimotor areas, earlier P2 deflection with more positivity around the bilateral fronto-central and ipsilateral temporal areas, and late movement-related potential commencing in the left frontal-central area, as compared with postural control with VIF. The time-frequency distribution of the ERP principal component revealed phase-locked neural oscillations in the delta (1-4Hz), theta (4-7Hz), and beta (13-35Hz) rhythms. The delta and theta rhythms were more pronounced prior to the timing of P2 positive deflection, and beta rebound was greater after the completion of force-matching in VEF condition than VIF condition. This study is the first to reveal the neural correlation of postural focusing effect on a postural-suprapostural task. Postural control with VEF takes advantage of efficient task-switching to facilitate autonomous postural response, in agreement with the "constrained-action" hypothesis. Copyright © 2014 Elsevier B.V. All rights reserved.

Multisession, noninvasive closed-loop neuroprosthetic control of grasping by upper limb amputees.

Science.gov (United States)

Agashe, H A; Paek, A Y; Contreras-Vidal, J L

2016-01-01

Upper limb amputation results in a severe reduction in the quality of life of affected individuals due to their inability to easily perform activities of daily living. Brain-machine interfaces (BMIs) that translate grasping intent from the brain's neural activity into prosthetic control may increase the level of natural control currently available in myoelectric prostheses. Current BMI techniques demonstrate accurate arm position and single degree-of-freedom grasp control but are invasive and require daily recalibration. In this study we tested if transradial amputees (A1 and A2) could control grasp preshaping in a prosthetic device using a noninvasive electroencephalography (EEG)-based closed-loop BMI system. Participants attempted to grasp presented objects by controlling two grasping synergies, in 12 sessions performed over 5 weeks. Prior to closed-loop control, the first six sessions included a decoder calibration phase using action observation by the participants; thereafter, the decoder was fixed to examine neuroprosthetic performance in the absence of decoder recalibration. Ability of participants to control the prosthetic was measured by the success rate of grasping; ie, the percentage of trials within a session in which presented objects were successfully grasped. Participant A1 maintained a steady success rate (63±3%) across sessions (significantly above chance [41±5%] for 11 sessions). Participant A2, who was under the influence of pharmacological treatment for depression, hormone imbalance, pain management (for phantom pain as well as shoulder joint inflammation), and drug dependence, achieved a success rate of 32±2% across sessions (significantly above chance [27±5%] in only two sessions). EEG signal quality was stable across sessions, but the decoders created during the first six sessions showed variation, indicating EEG features relevant to decoding at a smaller timescale (100ms) may not be stable. Overall, our results show that (a) an EEG

Capacity of small groups of muscles to accomplish precision grasping tasks.

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Towles, Joseph D; Valero-Cuevas, Francisco J; Hentz, Vincent R

2013-01-01

An understanding of the capacity or ability of various muscle groups to generate endpoint forces that enable grasping tasks could provide a stronger biomechanical basis for the design of reconstructive surgery or rehabilitation for the treatment of the paralyzed or paretic hand. We quantified two-dimensional endpoint force distributions for every combination of the muscles of the index finger, in cadaveric specimens, to understand the capability of muscle groups to produce endpoint forces that accomplish three common types of grasps-tripod, tip and lateral pinch-characterized by a representative level of Coulomb friction. We found that muscle groups of 4 or fewer muscles were capable of generating endpoint forces that enabled performance of each of the grasping tasks examined. We also found that flexor muscles were crucial to accomplish tripod pinch; intrinsic muscles, tip pinch; and the dorsal interosseus muscle, lateral pinch. The results of this study provide a basis for decision making in the design of reconstructive surgeries and rehabilitation approaches that attempt to restore the ability to perform grasping tasks with small groups of muscles.

Posture-based processing in visual short-term memory for actions.

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Vicary, Staci A; Stevens, Catherine J

2014-01-01

Visual perception of human action involves both form and motion processing, which may rely on partially dissociable neural networks. If form and motion are dissociable during visual perception, then they may also be dissociable during their retention in visual short-term memory (VSTM). To elicit form-plus-motion and form-only processing of dance-like actions, individual action frames can be presented in the correct or incorrect order. The former appears coherent and should elicit action perception, engaging both form and motion pathways, whereas the latter appears incoherent and should elicit posture perception, engaging form pathways alone. It was hypothesized that, if form and motion are dissociable in VSTM, then recognition of static body posture should be better after viewing incoherent than after viewing coherent actions. However, as VSTM is capacity limited, posture-based encoding of actions may be ineffective with increased number of items or frames. Using a behavioural change detection task, recognition of a single test posture was significantly more likely after studying incoherent than after studying coherent stimuli. However, this effect only occurred for spans of two (but not three) items and for stimuli with five (but not nine) frames. As in perception, posture and motion are dissociable in VSTM.

A soft-contact model for computing safety margins in human prehension.

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Singh, Tarkeshwar; Ambike, Satyajit

2017-10-01

The soft human digit tip forms contact with grasped objects over a finite area and applies a moment about an axis normal to the area. These moments are important for ensuring stability during precision grasping. However, the contribution of these moments to grasp stability is rarely investigated in prehension studies. The more popular hard-contact model assumes that the digits exert a force vector but no free moment on the grasped object. Many sensorimotor studies use this model and show that humans estimate friction coefficients to scale the normal force to grasp objects stably, i.e. the smoother the surface, the tighter the grasp. The difference between the applied normal force and the minimal normal force needed to prevent slipping is called safety margin and this index is widely used as a measure of grasp planning. Here, we define and quantify safety margin using a more realistic contact model that allows digits to apply both forces and moments. Specifically, we adapt a soft-contact model from robotics and demonstrate that the safety margin thus computed is a more accurate and robust index of grasp planning than its hard-contact variant. Previously, we have used the soft-contact model to propose two indices of grasp planning that show how humans account for the shape and inertial properties of an object. A soft-contact based safety margin offers complementary insights by quantifying how humans may account for surface properties of the object and skin tissue during grasp planning and execution. Copyright © 2017 Elsevier B.V. All rights reserved.

Gaze anchoring guides real but not pantomime reach-to-grasp: support for the action-perception theory.

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Kuntz, Jessica R; Karl, Jenni M; Doan, Jon B; Whishaw, Ian Q

2018-04-01

Reach-to-grasp movements feature the integration of a reach directed by the extrinsic (location) features of a target and a grasp directed by the intrinsic (size, shape) features of a target. The action-perception theory suggests that integration and scaling of a reach-to-grasp movement, including its trajectory and the concurrent digit shaping, are features that depend upon online action pathways of the dorsal visuomotor stream. Scaling is much less accurate for a pantomime reach-to-grasp movement, a pretend reach with the target object absent. Thus, the action-perception theory proposes that pantomime movement is mediated by perceptual pathways of the ventral visuomotor stream. A distinguishing visual feature of a real reach-to-grasp movement is gaze anchoring, in which a participant visually fixates the target throughout the reach and disengages, often by blinking or looking away/averting the head, at about the time that the target is grasped. The present study examined whether gaze anchoring is associated with pantomime reaching. The eye and hand movements of participants were recorded as they reached for a ball of one of three sizes, located on a pedestal at arms' length, or pantomimed the same reach with the ball and pedestal absent. The kinematic measures for real reach-to-grasp movements were coupled to the location and size of the target, whereas the kinematic measures for pantomime reach-to-grasp, although grossly reflecting target features, were significantly altered. Gaze anchoring was also tightly coupled to the target for real reach-to-grasp movements, but there was no systematic focus for gaze, either in relation with the virtual target, the previous location of the target, or the participant's reaching hand, for pantomime reach-to-grasp. The presence of gaze anchoring during real vs. its absence in pantomime reach-to-grasp supports the action-perception theory that real, but not pantomime, reaches are online visuomotor actions and is discussed in

Software engineering capability for Ada (GRASP/Ada Tool)

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Cross, James H., II

1995-01-01

The GRASP/Ada project (Graphical Representations of Algorithms, Structures, and Processes for Ada) has successfully created and prototyped a new algorithmic level graphical representation for Ada software, the Control Structure Diagram (CSD). The primary impetus for creation of the CSD was to improve the comprehension efficiency of Ada software and, as a result, improve reliability and reduce costs. The emphasis has been on the automatic generation of the CSD from Ada PDL or source code to support reverse engineering and maintenance. The CSD has the potential to replace traditional prettyprinted Ada Source code. A new Motif compliant graphical user interface has been developed for the GRASP/Ada prototype.

Postural adjustments and reaching in 4-and 6-month-old infants : an EMG and kinematical study

NARCIS (Netherlands)

de Graaf-Peters, Victorine B.; Bakker, Hanneke; van Eykern, Leo A.; Otten, Bert; Hadders-Algra, Mijna

Adequate postural control is a prerequisite for daily activities such as reaching for an object. However, knowledge on the relationship between postural adjustments and the quality of reaching movements during human ontogeny is scarce. Therefore we evaluated the development of the relationship

Infant manual performance during reaching and grasping for objects moving in depth.

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Domellöf, Erik; Barbu-Roth, Marianne; Rönnqvist, Louise; Jacquet, Anne-Yvonne; Fagard, Jacqueline

2015-01-01

Few studies have investigated manual performance in infants when reaching and grasping for objects moving in directions other than across the fronto-parallel plane. The present preliminary study explored object-oriented behavioral strategies and side preference in 8- and 10-month-old infants during reaching and grasping for objects approaching in depth from three positions (midline, and 27° diagonally from the left and right). Effects of task constraint by using objects of three different types and two sizes were further examined for behavioral strategies and hand opening prior to grasping. Additionally, assessments of hand preference by a dedicated handedness test were performed. Regardless of object starting position, the 8-month-old infants predominantly displayed right-handed reaches for objects approaching in depth. In contrast, the older infants showed more varied strategies and performed more ipsilateral reaches in correspondence with the side of the approaching object. Conversely, 10-month-old infants were more successful than the younger infants in grasping the objects, independent of object starting position. The findings regarding infant hand use strategies when reaching and grasping for objects moving in depth are similar to those from earlier studies using objects moving along a horizontal path. Still, initiation times of reaching onset were generally long in the present study, indicating that the object motion paths seemingly affected how the infants perceived the intrinsic properties and spatial locations of the objects, possibly with an effect on motor planning. Findings are further discussed in relation to future investigations of infant reaching and grasping for objects approaching in depth.

Development of Reaching and Grasping Skills in Infants with Down Syndrome

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de Campos, Ana Carolina; Rocha, Nelci Adriana Cicuto Ferreira; Savelsbergh, Geert J. P.

2010-01-01

Reaching and grasping skills have been described to emerge from a dynamic interaction between intrinsic and extrinsic factors. The aims of the study were to investigate the effect of such intrinsic factors as age and Down syndrome on the development of reaching and grasping skills and on overall gross motor skill, and to test the influence of the…

Classification of right-hand grasp movement based on EMOTIV Epoc+

Science.gov (United States)

Tobing, T. A. M. L.; Prawito, Wijaya, S. K.

2017-07-01

Combinations of BCT elements for right-hand grasp movement have been obtained, providing the average value of their classification accuracy. The aim of this study is to find a suitable combination for best classification accuracy of right-hand grasp movement based on EEG headset, EMOTIV Epoc+. There are three movement classifications: grasping hand, relax, and opening hand. These classifications take advantage of Event-Related Desynchronization (ERD) phenomenon that makes it possible to differ relaxation, imagery, and movement state from each other. The combinations of elements are the usage of Independent Component Analysis (ICA), spectrum analysis by Fast Fourier Transform (FFT), maximum mu and beta power with their frequency as features, and also classifier Probabilistic Neural Network (PNN) and Radial Basis Function (RBF). The average values of classification accuracy are ± 83% for training and ± 57% for testing. To have a better understanding of the signal quality recorded by EMOTIV Epoc+, the result of classification accuracy of left or right-hand grasping movement EEG signal (provided by Physionet) also be given, i.e.± 85% for training and ± 70% for testing. The comparison of accuracy value from each combination, experiment condition, and external EEG data are provided for the purpose of value analysis of classification accuracy.

Optimal grasp planning for a dexterous robotic hand using the volume of a generalized force ellipsoid during accepted flattening

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Peng Jia

2017-01-01

Full Text Available A grasp planning method based on the volume and flattening of a generalized force ellipsoid is proposed to improve the grasping ability of a dexterous robotic hand. First, according to the general solution of joint torques for a dexterous robotic hand, a grasping indicator for the dexterous hand—the maximum volume of a generalized external force ellipsoid and the minimum volume of a generalized contact internal force ellipsoid during accepted flattening—is proposed. Second, an optimal grasp planning method based on a task is established using the grasping indicator as an objective function. Finally, a simulation analysis and grasping experiment are performed. Results show that when the grasping experiment is conducted with the grasping configuration and positions of contact points optimized using the proposed grasping indicator, the root-mean-square values of the joint torques and contact internal forces of the dexterous hand are at a minimum. The effectiveness of the proposed grasping planning method is thus demonstrated.

Spinal lordosis optimizes the requirements for a stable erect posture.

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Wagner, Heiko; Liebetrau, Anne; Schinowski, David; Wulf, Thomas; de Lussanet, Marc H E

2012-04-16

Lordosis is the bending of the lumbar spine that gives the vertebral column of humans its characteristic ventrally convex curvature. Infants develop lordosis around the time when they acquire bipedal locomotion. Even macaques develop a lordosis when they are trained to walk bipedally. The aim of this study was to investigate why humans and some animals develop a lumbar lordosis while learning to walk bipedally. We developed a musculoskeletal model of the lumbar spine, that includes an asymmetric, dorsally shifted location of the spinal column in the body, realistic moment arms, and physiological cross-sectional areas (PCSA) of the muscles as well as realistic force-length and force-velocity relationships. The model was used to analyze the stability of an upright body posture. According to our results, lordosis reduces the local joint torques necessary for an equilibrium of the vertebral column during an erect posture. At the same time lordosis increases the demands on the global muscles to provide stability. We conclude that the development of a spinal lordosis is a compromise between the stability requirements of an erect posture and the necessity of torque equilibria at each spinal segment.

Spinal lordosis optimizes the requirements for a stable erect posture

Directory of Open Access Journals (Sweden)

Wagner Heiko

2012-04-01

Full Text Available Abstract Background Lordosis is the bending of the lumbar spine that gives the vertebral column of humans its characteristic ventrally convex curvature. Infants develop lordosis around the time when they acquire bipedal locomotion. Even macaques develop a lordosis when they are trained to walk bipedally. The aim of this study was to investigate why humans and some animals develop a lumbar lordosis while learning to walk bipedally. Results We developed a musculoskeletal model of the lumbar spine, that includes an asymmetric, dorsally shifted location of the spinal column in the body, realistic moment arms, and physiological cross-sectional areas (PCSA of the muscles as well as realistic force-length and force-velocity relationships. The model was used to analyze the stability of an upright body posture. According to our results, lordosis reduces the local joint torques necessary for an equilibrium of the vertebral column during an erect posture. At the same time lordosis increases the demands on the global muscles to provide stability. Conclusions We conclude that the development of a spinal lordosis is a compromise between the stability requirements of an erect posture and the necessity of torque equilibria at each spinal segment.

A Methodology for Investigating Adaptive Postural Control

Science.gov (United States)

McDonald, P. V.; Riccio, G. E.

1999-01-01

Our research on postural control and human-environment interactions provides an appropriate scientific foundation for understanding the skill of mass handling by astronauts in weightless conditions (e.g., extravehicular activity or EVA). We conducted an investigation of such skills in NASA's principal mass-handling simulator, the Precision Air-Bearing Floor, at the Johnson Space Center. We have studied skilled movement-body within a multidisciplinary context that draws on concepts and methods from biological and behavioral sciences (e.g., psychology, kinesiology and neurophysiology) as well as bioengineering. Our multidisciplinary research has led to the development of measures, for manual interactions between individuals and the substantial environment, that plausibly are observable by human sensory systems. We consider these methods to be the most important general contribution of our EVA investigation. We describe our perspective as control theoretic because it draws more on fundamental concepts about control systems in engineering than it does on working constructs from the subdisciplines of biomechanics and motor control in the bio-behavioral sciences. At the same time, we have attempted to identify the theoretical underpinnings of control-systems engineering that are most relevant to control by human beings. We believe that these underpinnings are implicit in the assumptions that cut across diverse methods in control-systems engineering, especially the various methods associated with "nonlinear control", "fuzzy control," and "adaptive control" in engineering. Our methods are based on these theoretical foundations rather than on the mathematical formalisms that are associated with particular methods in control-systems engineering. The most important aspects of the human-environment interaction in our investigation of mass handling are the functional consequences that body configuration and stability have for the pick up of information or the achievement of

How Weight Affects the Perceived Spacing between the Thumb and Fingers during Grasping.

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Annie A Butler

Full Text Available We know much about mechanisms determining the perceived size and weight of lifted objects, but little about how these properties of size and weight affect the body representation (e.g. grasp aperture of the hand. Without vision, subjects (n = 16 estimated spacing between fingers and thumb (perceived grasp aperture while lifting canisters of the same width (6.6cm but varied weights (300, 600, 900, and 1200 g. Lifts were performed by movement of either the wrist, elbow or shoulder to examine whether lifting with different muscle groups affects the judgement of grasp aperture. Results for perceived grasp aperture were compared with changes in perceived weight of objects of different sizes (5.2, 6.6, and 10 cm but the same weight (600 g. When canisters of the same width but different weights were lifted, perceived grasp aperture decreased 4.8% [2.2 ‒ 7.4] (mean [95% CI]; P < 0.001 from the lightest to the heaviest canister, no matter how they were lifted. For objects of the same weight but different widths, perceived weight decreased 42.3% [38.2 ‒ 46.4] from narrowest to widest (P < 0.001, as expected from the size-weight illusion. Thus, despite a highly distorted perception of the weight of objects based on their size, we conclude that proprioceptive afferents maintain a reasonably stable perception of the aperture of the grasping hand over a wide range of object weights. Given the small magnitude of this 'weight-grasp aperture' illusion, we propose the brain has access to a relatively stable 'perceptual ruler' to aid the manipulation of different objects.

Characteristic of bio-geometric profile of students’ posture and physical fitness in process of physical education

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M.V. Dudko

2015-08-01

Full Text Available Purpose: to determine specific features of bio-geometric profile of posture and physical fitness of students in process of physical education. Material: 250 students were tested. Video-recording and analysis of bio-geometric profile of human posture were fulfilled. Program Torso was used for this purpose. Results: it was found out that only 15.2% of students had correct posture. The most quantity of posture abnormalities was detected in 36.4% of the tested. In sagittal plane we observed the following types of abnormalities: round back - in 24.4% of students, slouching back - in 24% of students. We found that 63.3% of students with normal posture are in zone of risk. Low backbone flexibility, mobility of hip joints and elasticity of hamstrings was detected on students. Conclusions: students with unsatisfactory bio-geometric profile of posture (scoliosis posture - 43.33%; round back - 23. 33%; slouching back - 22. 73% are in the called pre-morbid state of muscular-skeletal apparatus.

Diurnal changes in postural control in normal children: Computerized static and dynamic assessments.

Science.gov (United States)

Bourelle, Sophie; Taiar, Redha; Berge, Benoit; Gautheron, Vincent; Cottalorda, Jerome

2014-01-01

Mild traumatic brain injury (mTBI) causes postural control deficits and accordingly comparison of aberrant postural control against normal postural control may help diagnose mTBI. However, in the current literature, little is known regarding the normal pattern of postural control in young children. This study was therefore conducted as an effort to fill this knowledge gap. Eight normal school-aged children participated. Posture assessment was conducted before (7-8 a.m. in the morning) and after (4-7 p.m. in the afternoon) school on regular school days using the Balance Master® evaluation system composed of 3 static tests and 2 dynamic balance tests. A significant difference in the weight-bearing squats was detected between morning hours and afternoon hours (P control of the lateral rhythmic weight shifts was observed at the end of the afternoon than at morning hours (P posture control in humans. On a regular school day, the capacity of postural control and laterality or medio-lateral balance in children varies between morning and afternoon hours. We suggest that posturographic assessment in children, either in normal (e.g., physical education and sports training) or in abnormal conditions (e.g., mTBI-associated balance disorders), be better performed late in the afternoon.

Should Ballet Dancers Vary Postures and Underfoot Surfaces When Practicing Postural Balance?

Science.gov (United States)

Steinberg, Nili; Waddington, Gordon; Adams, Roger; Karin, Janet; Tirosh, Oren

2018-01-01

Postural balance (PB) is an important component skill for professional dancers. However, the effects of different types of postures and different underfoot surfaces on PB have not adequately been addressed. The main aim of this study was to investigate the effect of different conditions of footwear, surfaces, and standing positions on static and dynamic PB ability of young ballet dancers. A total of 36 male and female young professional ballet dancers (aged 14-19 years) completed static and dynamic balance testing, measured by head and lumbar accelerometers, while standing on one leg in the turnout position, under six different conditions: (1) "relaxed" posture; (2) "ballet" posture; (3) barefoot; (4) ballet shoes with textured insoles; (5) barefoot on a textured mat; and (6) barefoot on a spiky mat. A condition effect was found for static and dynamic PB. Static PB was reduced when dancers stood in the ballet posture compared with standing in the relaxed posture and when standing on a textured mat and on a spiky mat (p ballet shoes with textured insoles and when standing on a spiky mat compared with all other conditions (p ballet aligned position, including dance practice on different types of floors and on different types of textured/spiky materials may result in skill transfer to practice on normal floor surfaces, and both static and dynamic PB exercises should be assessed and generalized into practical dance routines.

Human papillomavirus vaccines, complex regional pain syndrome, postural orthostatic tachycardia syndrome, and autonomic dysfunction - a review of the regulatory evidence from the European Medicines Agency

DEFF Research Database (Denmark)

Jefferson, Tom; Jørgensen, Lars

2017-01-01

Recent concerns about a possible association between exposure of young women to human papillomavirus (HPV) vaccines and two "dysautonomic syndromes" (a collection of signs and symptoms thought to be caused by autoimmunity) - complex regional pain syndrome (CRPS) and postural orthostatic tachycardia...

Grip type and task goal modify reach-to-grasp performance in post-stroke hemiparesis

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Schaefer, Sydney Y.; DeJong, Stacey L.; Cherry, Kendra M.; Lang, Catherine E.

2011-01-01

This study investigated whether grip type and/or task goal influenced reaching and grasping performance in post-stroke hemiparesis. Sixteen adults with post-stroke hemiparesis and twelve healthy adults reached to and grasped a cylindrical object using one of two grip types (3-finger or palmar) to achieve one of two task goals (hold or lift). Performance of the stroke group was characteristic of hemiparetic limb movement during reach-to-grasp, with more curved handpaths and slower velocities compared to the control group. These effects were present regardless of grip type or task goal. Other measures of reaching (reach time and reach velocity at object contact) and grasping (peak thumb-index finger aperture during the reach and peak grip force during the grasp) were differentially affected by grip type, task goal, or both, despite the presence of hemiparesis, providing new evidence that changes in motor patterns after stroke may occur to compensate for stroke-related motor impairment. PMID:22357103

Grip type and task goal modify reach-to-grasp performance in post-stroke hemiparesis.

Science.gov (United States)

Schaefer, Sydney Y; DeJong, Stacey L; Cherry, Kendra M; Lang, Catherine E

2012-04-01

This study investigated whether grip type and/or task goal influenced reaching and grasping performance in poststroke hemiparesis. Sixteen adults with poststroke hemiparesis and twelve healthy adults reached to and grasped a cylindrical object using one of two grip types (3-finger or palmar) to achieve one of two task goals (hold or lift). Performance of the stroke group was characteristic of hemiparetic limb movement during reach-to-grasp, with more curved handpaths and slower velocities compared with the control group. These effects were present regardless of grip type or task goal. Other measures of reaching (reach time and reach velocity at object contact) and grasping (peak thumb-index finger aperture during the reach and peak grip force during the grasp) were differentially affected by grip type, task goal, or both, despite the presence of hemiparesis, providing new evidence that changes in motor patterns after stroke may occur to compensate for stroke-related motor impairment.

Reflex control of the spine and posture: a review of the literature from a chiropractic perspective

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Schlappi Mark

2005-08-01

Full Text Available Abstract Objective This review details the anatomy and interactions of the postural and somatosensory reflexes. We attempt to identify the important role the nervous system plays in maintaining reflex control of the spine and posture. We also review, illustrate, and discuss how the human vertebral column develops, functions, and adapts to Earth's gravity in an upright position. We identify functional characteristics of the postural reflexes by reporting previous observations of subjects during periods of microgravity or weightlessness. Background Historically, chiropractic has centered around the concept that the nervous system controls and regulates all other bodily systems; and that disruption to normal nervous system function can contribute to a wide variety of common ailments. Surprisingly, the chiropractic literature has paid relatively little attention to the importance of neurological regulation of static upright human posture. With so much information available on how posture may affect health and function, we felt it important to review the neuroanatomical structures and pathways responsible for maintaining the spine and posture. Maintenance of static upright posture is regulated by the nervous system through the various postural reflexes. Hence, from a chiropractic standpoint, it is clinically beneficial to understand how the individual postural reflexes work, as it may explain some of the clinical presentations seen in chiropractic practice. Method We performed a manual search for available relevant textbooks, and a computer search of the MEDLINE, MANTIS, and Index to Chiropractic Literature databases from 1970 to present, using the following key words and phrases: "posture," "ocular," "vestibular," "cervical facet joint," "afferent," "vestibulocollic," "cervicocollic," "postural reflexes," "spaceflight," "microgravity," "weightlessness," "gravity," "posture," and "postural." Studies were selected if they specifically tested any or

Common postural defects among music students.

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Blanco-Piñeiro, Patricia; Díaz-Pereira, M Pino; Martínez, Aurora

2015-07-01

Postural quality during musical performance affects both musculoskeletal health and the quality of the performance. In this study we examined the posture of 100 students at a Higher Conservatory of Music in Spain. By analysing video tapes and photographs of the students while performing, a panel of experts extracted values of 11 variables reflecting aspects of overall postural quality or the postural quality of various parts of the body. The most common postural defects were identified, together with the situations in which they occur. It is concluded that most students incur in unphysiological postures during performance. It is hoped that use of the results of this study will help correct these errors. Copyright © 2015 Elsevier Ltd. All rights reserved.

Thermoregulatory postures limit antipredator responses in peafowl.

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Yorzinski, Jessica L; Lam, Jennifer; Schultz, Rachel; Davis, Melissa

2018-01-05

Many animals inhabit environments where they experience temperature fluctuations. One way in which animals can adjust to these temperature changes is through behavioral thermoregulation. However, we know little about the thermal benefits of postural changes and the costs they may incur. In this study, we examined the thermoregulatory role of two postures, the head-tuck and leg-tuck posture, in peafowl ( Pavo cristatus ) and evaluated whether the head-tuck posture imposes a predation cost. The heads and legs of peafowl are significantly warmer when the birds exhibit these postures, demonstrating that these postures serve an important thermoregulatory role. In addition, the birds are slower to respond to an approaching threat when they display the head-tuck posture, suggesting that a thermoregulatory posture can limit antipredator behavior. © 2018. Published by The Company of Biologists Ltd.

Thermoregulatory postures limit antipredator responses in peafowl

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Jessica L. Yorzinski

2018-01-01

Full Text Available Many animals inhabit environments where they experience temperature fluctuations. One way in which animals can adjust to these temperature changes is through behavioral thermoregulation. However, we know little about the thermal benefits of postural changes and the costs they may incur. In this study, we examined the thermoregulatory role of two postures, the head-tuck and leg-tuck posture, in peafowl (Pavo cristatus and evaluated whether the head-tuck posture imposes a predation cost. The heads and legs of peafowl are significantly warmer when the birds exhibit these postures, demonstrating that these postures serve an important thermoregulatory role. In addition, the birds are slower to respond to an approaching threat when they display the head-tuck posture, suggesting that a thermoregulatory posture can limit antipredator behavior.

An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping

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Cabbar Veysel Baysal

2010-11-01

Full Text Available This paper presents a novel Intelligent Inference System (IIS for the determination of an optimum preshape for multifingered robot hand grasping, given object under a manipulation task. The IIS is formed as hybrid agent architecture, by the synthesis of object properties, manipulation task characteristics, grasp space partitioning, lowlevel kinematical analysis, evaluation of contact wrench patterns via fuzzy approximate reasoning and ANN structure for incremental learning. The IIS is implemented in software with a robot hand simulation.

Postural control and cognitive task performance in healthy participants while balancing on different support-surface configurations

NARCIS (Netherlands)

Dault, MC; Mulder, TW; Duysens, J

2001-01-01

Postural control during normal upright stance in humans is a well-learned task. Hence, it has often been argued that it requires very little attention. However, many studies have recently shown that postural control is modified when a cognitive task is executed simultaneously especially in the

Bimanual reach to grasp movements after cervical spinal cord injury.

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Laura Britten

Full Text Available Injury to the cervical spinal cord results in bilateral deficits in arm/hand function reducing functional independence and quality of life. To date little research has been undertaken to investigate control strategies of arm/hand movements following cervical spinal cord injury (cSCI. This study aimed to investigate unimanual and bimanual coordination in patients with acute cSCI using 3D kinematic analysis as they performed naturalistic reach to grasp actions with one hand, or with both hands together (symmetrical task, and compare this to the movement patterns of uninjured younger and older adults. Eighteen adults with a cSCI (mean 61.61 years with lesions at C4-C8, with an American Spinal Injury Association (ASIA grade B to D and 16 uninjured younger adults (mean 23.68 years and sixteen uninjured older adults (mean 70.92 years were recruited. Participants with a cSCI produced reach-to-grasp actions which took longer, were slower, and had longer deceleration phases than uninjured participants. These differences were exacerbated during bimanual reach-to-grasp tasks. Maximal grasp aperture was no different between groups, but reached earlier by people with cSCI. Participants with a cSCI were less synchronous than younger and older adults but all groups used the deceleration phase for error correction to end the movement in a synchronous fashion. Overall, this study suggests that after cSCI a level of bimanual coordination is retained. While there seems to be a greater reliance on feedback to produce both the reach to grasp, we observed minimal disruption of the more impaired limb on the less impaired limb. This suggests that bimanual movements should be integrated into therapy.

Detecting altered postural control after cerebral concussion in athletes with normal postural stability

OpenAIRE

Cavanaugh, J; Guskiewicz, K; Giuliani, C; Marshall, S; Mercer, V; Stergiou, N

2005-01-01

Objective: To determine if approximate entropy (ApEn), a regularity statistic from non-linear dynamics, could detect changes in postural control during quiet standing in athletes with normal postural stability after cerebral concussion.

A Strategy for Grasping unknown Objects based on Co-Planarity and Colour Information

DEFF Research Database (Denmark)

Popovic, Mila; Kraft, Dirk; Bodenhagen, Leon

2010-01-01

with a reasonable success rate in rather complex environments (i.e., cluttered scenes with multiple objects). Moreover, we have embedded the algorithm within a cognitive system that allows for autonomous exploration and learning in different contexts. First, the system is able to perform long action sequences which......, although the grasping attempts not being always successful, can recover from mistakes and more importantly, is able to evaluate the success of the grasps autonomously by haptic feedback (i.e., by a force torque sensor at the wrist and proprioceptive information about the distance of the gripper after...... a gasping attempt). Such labelled data is then used for improving the initially hard-wired algorithm by learning. Moreover, the grasping behaviour has been used in a cognitive system to trigger higher level processes such as object learning and learning of object specific grasping....

Physiological complexity and system adaptability: evidence from postural control dynamics of older adults.

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Manor, Brad; Costa, Madalena D; Hu, Kun; Newton, Elizabeth; Starobinets, Olga; Kang, Hyun Gu; Peng, C K; Novak, Vera; Lipsitz, Lewis A

2010-12-01

The degree of multiscale complexity in human behavioral regulation, such as that required for postural control, appears to decrease with advanced aging or disease. To help delineate causes and functional consequences of complexity loss, we examined the effects of visual and somatosensory impairment on the complexity of postural sway during quiet standing and its relationship to postural adaptation to cognitive dual tasking. Participants of the MOBILIZE Boston Study were classified into mutually exclusive groups: controls [intact vision and foot somatosensation, n = 299, 76 ± 5 (SD) yr old], visual impairment only (Postural sway (i.e., center-of-pressure) dynamics were assessed during quiet standing and cognitive dual tasking, and a complexity index was quantified using multiscale entropy analysis. Postural sway speed and area, which did not correlate with complexity, were also computed. During quiet standing, the complexity index (mean ± SD) was highest in controls (9.5 ± 1.2) and successively lower in the visual (9.1 ± 1.1), somatosensory (8.6 ± 1.6), and combined (7.8 ± 1.3) impairment groups (P = 0.001). Dual tasking resulted in increased sway speed and area but reduced complexity (P postural sway speed from quiet standing to dual-tasking conditions. Sensory impairments contributed to decreased postural sway complexity, which reflected reduced adaptive capacity of the postural control system. Relatively low baseline complexity may, therefore, indicate control systems that are more vulnerable to cognitive and other stressors.

The effect of body postures on the distribution of air gap thickness and contact area.

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Mert, Emel; Psikuta, Agnes; Bueno, Marie-Ange; Rossi, René M

2017-02-01

The heat and mass transfer in clothing is predominantly dependent on the thickness of air layer and the magnitude of contact area between the body and the garment. The air gap thickness and magnitude of the contact area can be affected by the posture of the human body. Therefore, in this study, the distribution of the air gap and the contact area were investigated for different body postures of a flexible manikin. In addition, the effect of the garment fit (regular and loose) and style (t-shirts, sweatpants, jacket and trousers) were analysed for the interaction between the body postures and the garment properties. A flexible manikin was scanned using a three-dimensional (3D) body scanning technique, and the scans were post-processed in dedicated software. The body posture had a strong effect on the air gap thickness and the contact area for regions where the garment had a certain distance from the body. Furthermore, a mathematical model was proposed to estimate the possible heat transfer coefficient for the observed air layers and their change with posture. The outcome of this study can be used to improve the design of the protective and functional garments and predict their effect on the human body.

Thermal sensation during mild hyperthermia is modulated by acute postural change in humans

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Takeda, Ryosuke; Imai, Daiki; Suzuki, Akina; Ota, Akemi; Naghavi, Nooshin; Yamashina, Yoshihiro; Hirasawa, Yoshikazu; Yokoyama, Hisayo; Miyagawa, Toshiaki; Okazaki, Kazunobu

2016-12-01

Thermal sensation represents the primary stimulus for behavioral and autonomic thermoregulation. We assessed whether the sensation of skin and core temperatures for the driving force of behavioral thermoregulation was modified by postural change from the supine (Sup) to sitting (Sit) during mild hyperthermia. Seventeen healthy young men underwent measurements of noticeable increase and decrease (±0.1 °C/s) of skin temperature (thresholds of warm and cold sensation on the skin, 6.25 cm2 of area) at the forearm and chest and of the whole-body warm sensation in the Sup and Sit during normothermia (NT; esophageal temperature (Tes), ˜36.6 °C) and mild hyperthermia (HT; Tes, ˜37.2 °C; lower legs immersion in 42 °C of water). The threshold for cold sensation on the skin at chest was lower during HT than NT in the Sit ( P body posture or temperature. The whole-body warm sensation was higher during HT than NT in both postures and higher in the Sit than Sup during both NT and HT (all, P cold on the skin and more whole-body warmth.

Anatomy and histochemistry of hindlimb flight posture in birds. I. The extended hindlimb posture of shorebirds.

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McFarland, Joshua C; Meyers, Ron A

2008-08-01

Birds utilize one of two hindlimb postures during flight: an extended posture (with the hip and knee joints flexed, while the ankle joint is extended caudally) or a flexed posture (with the hip, knee, and ankle joints flexed beneath the body). American Avocets (Recurvirostra americana) and Black-necked Stilts (Himantopus mexicanus) extend their legs caudally during flight and support them for extended periods. Slow tonic and slow twitch muscle fibers are typically found in muscles functioning in postural support due to the fatigue resistance of these fibers. We hypothesized that a set of small muscles composed of high percentages of slow fibers and thus dedicated to postural support would function in securing the legs in the extended posture during flight. This study examined the anatomy and histochemical profile of eleven hindlimb muscles to gain insight into their functional roles during flight. Contrary to our hypothesis, all muscles possessed both fast twitch and slow twitch or slow tonic fibers. We believe this finding is due to the versatility of dynamic and postural functions the leg muscles must facilitate, including standing, walking, running, swimming, and hindlimb support during flight. Whether birds use an extended or flexed hindlimb flight posture may be related to the aerodynamic effect of leg position or may reflect evolutionary history. (c) 2008 Wiley-Liss, Inc.

Prediction of postural risk of fall initiation based on a two-variable description of body dynamics: position and velocity of center of mass.

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Honarvar, Mohammad Hadi; Nakashima, Motomu

2013-10-01

This research addresses the question: what is the risk of fall initiation at a certain human posture? There are postures from which no one is able to keep their balance and a fall will surely initiate (risk=1), and others from which everyone may regain their stability (risk=0). In other postures, only a portion of people can control their stability. One may interpret risk to chance of a fall to be initiated, and based on the portion of fallers assign a risk value to a given human posture (postural risk). Human posture can be mapped to a point in a 2-dimensional space: the x-v plane, the axes of which are horizontal components of the position and velocity of the center of mass of the body. For every pair of (x, v), the outcome of the balance recovery problem defines whether a person with a given strength level is able to regain their stability when released from a posture corresponding to that point. Using strength distribution data, we estimated the portion of the population who will initiate a fall if starting at a certain posture. A fast calculation approach is also introduced to replace the time-consuming method of solving the recovery problem many times. Postural risk of fall initiation for situations expressed by (x, v) pairs for the entire x-v plane is calculated and shown in a color-map. Copyright © 2013 Elsevier B.V. All rights reserved.

Modeling On-Body DTN Packet Routing Delay in the Presence of Postural Disconnections

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Taghizadeh Mahmoud

2011-01-01

Full Text Available This paper presents a stochastic modeling framework for store-and-forward packet routing in Wireless Body Area Networks (WBAN with postural partitioning. A prototype WBANs has been constructed for experimentally characterizing and capturing on-body topology disconnections in the presence of ultrashort range radio links, unpredictable RF attenuation, and human postural mobility. Delay modeling techniques for evaluating single-copy on-body DTN routing protocols are then developed. End-to-end routing delay for a series of protocols including opportunistic, randomized, and two other mechanisms that capture multiscale topological localities in human postural movements have been evaluated. Performance of the analyzed protocols are then evaluated experimentally and via simulation to compare with the results obtained from the developed model. Finally, a mechanism for evaluating the topological importance of individual on-body sensor nodes is developed. It is shown that such information can be used for selectively reducing the on-body sensor-count without substantially sacrificing the packet delivery delay.

Modeling On-Body DTN Packet Routing Delay in the Presence of Postural Disconnections.

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Quwaider, Muhannad; Taghizadeh, Mahmoud; Biswas, Subir

2011-01-01

This paper presents a stochastic modeling framework for store-and-forward packet routing in Wireless Body Area Networks ( WBAN ) with postural partitioning. A prototype WBANs has been constructed for experimentally characterizing and capturing on-body topology disconnections in the presence of ultrashort range radio links, unpredictable RF attenuation, and human postural mobility. Delay modeling techniques for evaluating single-copy on-body DTN routing protocols are then developed. End-to-end routing delay for a series of protocols including opportunistic, randomized, and two other mechanisms that capture multiscale topological localities in human postural movements have been evaluated. Performance of the analyzed protocols are then evaluated experimentally and via simulation to compare with the results obtained from the developed model. Finally, a mechanism for evaluating the topological importance of individual on-body sensor nodes is developed. It is shown that such information can be used for selectively reducing the on-body sensor-count without substantially sacrificing the packet delivery delay.

The dentist's operating posture - ergonomic aspects.

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Pîrvu, C; Pătraşcu, I; Pîrvu, D; Ionescu, C

2014-06-15

The practice of dentistry involves laborious high finesse dental preparations, precision and control in executions that require a particular attention, concentration and patience of the dentist and finally the dentist's physical and mental resistance. The optimal therapeutic approach and the success of practice involve special working conditions for the dentist and his team in an ergonomic environment. The meaning of the posture in ergonomics is the manner in which different parts of the body are located and thus the reports are established between them in order to allow a special task execution. This article discusses the posture adopted by dentists when they work, beginning with the balanced posture and going to different variants of posture. The ideal posture of a dentist gives him, on the one hand the optimal working conditions (access, visibility and control in the mouth) and on the other hand, physical and psychological comfort throughout the execution of the clinical acts. Although the theme of dentist posture is treated with great care and often presented in the undergraduate courses and the continuing education courses on ergonomics in dentistry, many dentists do not know the subject well enough nor the theoretical issues and therefore nor the practical applicability. The risk and perspective of the musculoskeletal disorders related to unbalanced postures should determine the dentists take postural corrective actions and compensation measures in order to limit the negative effects of working in a bad posture.

Infant manual performance during reaching and grasping for objects moving in depth

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Erik eDomellöf

2015-08-01

Full Text Available Few studies have observed investigated manual asymmetries performance in infants when reaching and grasping for objects moving in directions other than across the fronto-parallel plane. The present preliminary study explored manual object-oriented behavioral strategies and hand side preference in 8- and 10-month-old infants during reaching and grasping for objects approaching in depth from three positions (midline, and 27° diagonally from the left, and right, midline. Effects of task constraint by using objects of three different types and two sizes were further examined for behavioral strategies and . The study also involved measurements of hand position opening prior to grasping., and Additionally, assessments of general hand preference by a dedicated handedness test were performed. Regardless of object starting position, the 8-month-old infants predominantly displayed right-handed reaches for objects approaching in depth. In contrast, the older infants showed more varied strategies and performed more ipsilateral reaches in correspondence with the side of the approaching object. Conversely, 10-month-old infants were more successful than the younger infants in grasping the objects, independent of object starting position. The findings support the possibility of a shared underlying mechanism regarding for infant hand use strategies when reaching and grasping for horizontally objects moving in depth are similar to those from earlier studies using objects moving along a horizontal pathand vertically moving objects. Still, initiation times of reaching onset were generally long in the present study, indicating that the object motion paths seemingly affected how the infants perceived the intrinsic properties and spatial locations of the objects, possibly with an effect on motor planning. Findings are further discussed in relation to future investigations of infant reaching and grasping for objects approaching in depth.

Relationship between Muscle Function, Muscle Typology and Postural Performance According to Different Postural Conditions in Young and Older Adults.

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Paillard, Thierry

2017-01-01

Although motor output of the postural function clearly influences postural performance in young and older subjects, no relationship has been formally established between them. However, the relationship between lower-extremity muscle strength/power and postural performance is often pointed out, especially in older subjects. In fact, the influence of motor output may vary according to the postural condition considered (e.g., static, dynamic, challenging, disturbing). In static postural condition, there may be a relationship between lower-extremity muscle strength and postural performance when the value of muscle strength is below a certain threshold in older subjects. Above this threshold of muscle strength, this relationship may disappear. In dynamic postural condition, lower-extremity muscle power could facilitate compensatory postural actions, limiting induced body imbalance likely to generate falls in older subjects. In young subjects, there could be a relationship between very early rapid torque of the leg extensor muscles and postural performance. In the case of postural reaction to (external) perturbations, a high percentage of type II muscle fibers could be associated with the ability to react quickly to postural perturbations in young subjects, while it may enable a reduction in the risk of falls in older subjects. In practice, in older subjects, muscle strength and/or power training contributes to reducing the risk of falls, as well as slowing down the involution of muscle typology regarding type II muscle fibers.

Quantitative EEG analysis in minimally conscious state patients during postural changes.

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Greco, A; Carboncini, M C; Virgillito, A; Lanata, A; Valenza, G; Scilingo, E P

2013-01-01

Mobilization and postural changes of patients with cognitive impairment are standard clinical practices useful for both psychic and physical rehabilitation process. During this process, several physiological signals, such as Electroen-cephalogram (EEG), Electrocardiogram (ECG), Photopletysmography (PPG), Respiration activity (RESP), Electrodermal activity (EDA), are monitored and processed. In this paper we investigated how quantitative EEG (qEEG) changes with postural modifications in minimally conscious state patients. This study is quite novel and no similar experimental data can be found in the current literature, therefore, although results are very encouraging, a quantitative analysis of the cortical area activated in such postural changes still needs to be deeply investigated. More specifically, this paper shows EEG power spectra and brain symmetry index modifications during a verticalization procedure, from 0 to 60 degrees, of three patients in Minimally Consciousness State (MCS) with focused region of impairment. Experimental results show a significant increase of the power in β band (12 - 30 Hz), commonly associated to human alertness process, thus suggesting that mobilization and postural changes can have beneficial effects in MCS patients.

Postural risk assessment of mechanised firewood processing.

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Spinelli, Raffaele; Aminti, Giovanni; De Francesco, Fabio

2017-03-01

The study assessed the postural risk of mechanised firewood processing with eight machines, representing the main technology solutions available on the market. Assessment was conducted with the Ovako Working posture Analysis System (OWAS) on 1000 still frames randomly extracted from videotaped work samples. The postural risk associated with firewood processing was variable and associated with technology type. Simple, manually operated new machines incurred a higher postural risk compared with semi- or fully automatic machines. In contrast, new semi-automatic and automatic machines were generally free from postural risk. In all cases, attention should be paid to postural risk that may occur during blockage resolution. The study did not cover the postural risk of firewood processing sites as a whole. The study provided useful information for selecting firewood processing machinery and for improving firewood machinery design, as part of a more articulate strategy aimed at enhancing the safety of firewood processing work sites. Practitioner Summary: The postural risk associated with mechanised firewood processing (eg cutting and splitting) depends on the type of equipment. Postural risk is highest (OWAS Action Category 2) with new in-line machines, designed for operation by a single worker. Fully automatic machines present minimum postural risk, except during blockage resolution.

Electrotactile feedback improves performance and facilitates learning in the routine grasping task

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Milica Isaković

2016-06-01

Full Text Available Aim of this study was to investigate the feasibility of electrotactile feedback in closed loop training of force control during the routine grasping task. The feedback was provided using an array electrode and a simple six-level spatial coding, and the experiment was conducted in three amputee subjects. The psychometric tests confirmed that the subjects could perceive and interpret the electrotactile feedback with a high success rate. The subjects performed the routine grasping task comprising 4 blocks of 60 grasping trials. In each trial, the subjects employed feedforward control to close the hand and produce the desired grasping force (four levels. First (baseline and the last (validation session were performed in open loop, while the second and the third session (training included electrotactile feedback. The obtained results confirmed that using the feedback improved the accuracy and precision of the force control. In addition, the subjects performed significantly better in the validation vs. baseline session, therefore suggesting that electrotactile feedback can be used for learning and training of myoelectric control.

Electrotactile Feedback Improves Performance and Facilitates Learning in the Routine Grasping Task.

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Isaković, Milica; Belić, Minja; Štrbac, Matija; Popović, Igor; Došen, Strahinja; Farina, Dario; Keller, Thierry

2016-06-13

Aim of this study was to investigate the feasibility of electrotactile feedback in closed loop training of force control during the routine grasping task. The feedback was provided using an array electrode and a simple six-level spatial coding, and the experiment was conducted in three amputee subjects. The psychometric tests confirmed that the subjects could perceive and interpret the electrotactile feedback with a high success rate. The subjects performed the routine grasping task comprising 4 blocks of 60 grasping trials. In each trial, the subjects employed feedforward control to close the hand and produce the desired grasping force (four levels). First (baseline) and the last (validation) session were performed in open loop, while the second and the third session (training) included electrotactile feedback. The obtained results confirmed that using the feedback improved the accuracy and precision of the force control. In addition, the subjects performed significantly better in the validation vs. baseline session, therefore suggesting that electrotactile feedback can be used for learning and training of myoelectric control.

TRANSGENIC STRATEGY FOR IDENTIFYING SYNAPTIC CONNECTIONS IN MICE BY FLUORESCENCE COMPLEMENTATION (GRASP

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Masahito eYamagata

2012-02-01

Full Text Available In the "GFP reconstitution across synaptic partners" (GRASP method, non-fluorescent fragments of GFP are expressed in two different neurons; the fragments self-assemble at synapses between the two to form a fluorophore. GRASP has proven useful for light microscopic identification of synapses in two invertebrate species, Caenorhabditis elegans and Drosophila melanogaster, but has not yet been applied to vertebrates. Here, we describe GRASP constructs that function in mammalian cells and implement a transgenic strategy in which a Cre-dependent gene switch leads to expression of the two fragments in mutually exclusive neuronal subsets in mice. Using a transgenic line that expresses Cre selectively in rod photoreceptors, we demonstrate labeling of synapses in the outer plexiform layer of the retina. Labeling is specific, in that synapses made by rods remain labeled for at least 6 months whereas nearby synapses made by intercalated cone photoreceptors on many of the same interneurons remain unlabeled. We also generated antisera that label reconstituted GFP but neither fragment in order to amplify the GRASP signal and thereby increase the sensitivity of the method.

Exploration of Hand Grasp Patterns Elicitable Through Non-Invasive Proximal Nerve Stimulation.

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Shin, Henry; Watkins, Zach; Hu, Xiaogang

2017-11-29

Various neurological conditions, such as stroke or spinal cord injury, result in an impaired control of the hand. One method of restoring this impairment is through functional electrical stimulation (FES). However, traditional FES techniques often lead to quick fatigue and unnatural ballistic movements. In this study, we sought to explore the capabilities of a non-invasive proximal nerve stimulation technique in eliciting various hand grasp patterns. The ulnar and median nerves proximal to the elbow joint were activated transcutanously using a programmable stimulator, and the resultant finger flexion joint angles were recorded using a motion capture system. The individual finger motions averaged across the three joints were analyzed using a cluster analysis, in order to classify the different hand grasp patterns. With low current intensity (grasp patterns including single finger movement and coordinated multi-finger movements. This study provides initial evidence on the feasibility of a proximal nerve stimulation technique in controlling a variety of finger movements and grasp patterns. Our approach could also be developed into a rehabilitative/assistive tool that can result in flexible movements of the fingers.

GRASP2: visualization, surface properties, and electrostatics of macromolecular structures and sequences.

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Petrey, Donald; Honig, Barry

2003-01-01

The widespread use of the original version of GRASP revealed the importance of the visualization of physicochemical and structural properties on the molecular surface. This chapter describes a new version of GRASP that contains many new capabilities. In terms of analysis tools, the most notable new features are sequence and structure analysis and alignment tools and the graphical integration of sequence and structural information. Not all the new GRASP2 could be described here and more capabilities are continually being added. An on-line manual, details on obtaining the software, and technical notes about the program and the Troll software library can be found at the Honig laboratory Web site (http://trantor.bioc.columbia.edu).

Fuzzy Logic Controller Design for A Robot Grasping System with Different Membership Functions

International Nuclear Information System (INIS)

Ahmad, Hamzah; Razali, Saifudin; Mohamed, Mohd Rusllim

2013-01-01

This paper investigates the effects of the membership function to the object grasping for a three fingered gripper system. The performance of three famously used membership functions is compared to identify their behavior in lifting a defined object shape. MATLAB Simulink and SimMechanics toolboxes are used to examine the performance. Our preliminary results proposed that the Gaussian membership function surpassed the two other membership functions; triangular and trapezoid memberships especially in the context of firmer grasping and less time consumption during operations. Therefore, Gaussian membership function could be the best solution when time consumption and firmer grasp are considered

Postural stability is altered by the stimulation of pain but not warm receptors in humans.

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Blouin, Jean-Sébastien; Corbeil, Philippe; Teasdale, Normand

2003-10-17

It is now recognized that large diameter myelinated afferents provide the primary source of lower limb proprioceptive information for maintaining an upright standing position. Small diameter afferents transmitting noxious stimuli, however, can also influence motor behaviors. Despite the possible influence of pain on motor behaviors, the effects of pain on the postural control system have not been well documented. Two cutaneous heat stimulations (experiment 1: non-noxious 40 degrees C; experiment 2: noxious 45 degrees C) were applied bilaterally on the calves of the subject with two thermal grills to stimulate A delta and C warm receptors and nociceptors in order to examine their effects on postural stability. The non-noxious stimulation induced a gentle sensation of warmth and the noxious stimulation induced a perception of heat pain (visual analogue scores of 0 and 46 mm, respectively). For both experiments, ten healthy young adults were tested with and without heat stimulations of the lower limbs while standing upright on a force platform with eyes open, eyes closed and eyes closed with tendon co-vibration of tibialis anterior and triceps surae muscles. The center of pressure displacements were analyzed to examine how both stimulations affected the regulation of quiet standing and if the effects were exacerbated when vision was removed or ankle proprioception perturbed. The stimulation of the warm receptors (40 degrees C) did not induce any postural deterioration. With pain (45 degrees C), subjects showed a significant increase in standard deviation, range and mean velocity of postural oscillations as well as standard deviation of the center of pressure velocity. The effects of heat pain were exacerbated when subjects had both their eyes closed and ankle tendons vibrated (increased standard deviation of the center of pressure velocity and mean velocity of the center of pressure). A non-noxious stimulation (40 degrees C) of the small diameter afferents is not a

Postural stability is altered by the stimulation of pain but not warm receptors in humans

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Corbeil Philippe

2003-10-01

Full Text Available Abstract Background It is now recognized that large diameter myelinated afferents provide the primary source of lower limb proprioceptive information for maintaining an upright standing position. Small diameter afferents transmitting noxious stimuli, however, can also influence motor behaviors. Despite the possible influence of pain on motor behaviors, the effects of pain on the postural control system have not been well documented. Methods Two cutaneous heat stimulations (experiment 1: non-noxious 40 degrees C; experiment 2: noxious 45 degrees C were applied bilaterally on the calves of the subject with two thermal grills to stimulate A delta and C warm receptors and nociceptors in order to examine their effects on postural stability. The non-noxious stimulation induced a gentle sensation of warmth and the noxious stimulation induced a perception of heat pain (visual analogue scores of 0 and 46 mm, respectively. For both experiments, ten healthy young adults were tested with and without heat stimulations of the lower limbs while standing upright on a force platform with eyes open, eyes closed and eyes closed with tendon co-vibration of tibialis anterior and triceps surae muscles. The center of pressure displacements were analyzed to examine how both stimulations affected the regulation of quiet standing and if the effects were exacerbated when vision was removed or ankle proprioception perturbed. Results The stimulation of the warm receptors (40 degrees C did not induce any postural deterioration. With pain (45 degrees C, subjects showed a significant increase in standard deviation, range and mean velocity of postural oscillations as well as standard deviation of the center of pressure velocity. The effects of heat pain were exacerbated when subjects had both their eyes closed and ankle tendons vibrated (increased standard deviation of the center of pressure velocity and mean velocity of the center of pressure. Conclusions A non

Impaired anticipatory control of grasp during obstacle crossing in Parkinson's disease.

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McIsaac, Tara L; Diermayr, Gudrun; Albert, Frederic

2012-05-16

During self-paced walking, people with Parkinson's disease maintain anticipatory control during object grasping. However, common functional tasks often include carrying an object while changing step patterns mid-path and maneuvering over obstacles, increasing task complexity and attentional demands. Thus, the present study investigated the effect of Parkinson's disease on the modulation of grasping force changes as a function of gait-related inertial forces. Subjects with Parkinson's disease maintained the ability to scale and to couple over time their grip and inertial forces while walking at irregular step lengths, but were unable to maintain the temporal coupling of grasping forces compared to controls during obstacle crossing. We suggest that this deterioration in anticipatory control is associated with the increased demands of task complexity and attention during obstacle crossing. Copyright © 2012 Elsevier Ireland Ltd. All rights reserved.

A circular feature-based pose measurement method for metal part grasping

International Nuclear Information System (INIS)

Wu, Chenrui; He, Zaixing; Zhang, Shuyou; Zhao, Xinyue

2017-01-01

The grasping of circular metal parts such as bearings and flanges is a common task in industry. Limited by low texture and repeated features, the point-feature-based method is not applicable in pose measurement of these parts. In this paper, we propose a novel pose measurement method for grasping circular metal parts. This method is based on cone degradation and involves a monocular camera. To achieve higher measurement accuracy, a position-based visual servoing method is presented to continuously control an eye-in-hand, six-degrees-of-freedom robot arm to grasp the part. The uncertainty of the part’s coordinate frame during the control process is solved by defining a fixed virtual coordinate frame. Experimental results are provided to illustrate the effectiveness of the proposed method and the factors that affect measurement accuracy are analyzed. (paper)

Relationship between postural alignment in sitting by photogrammetry and seated postural control in post-stroke subjects.

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Iyengar, Y R; Vijayakumar, K; Abraham, J M; Misri, Z K; Suresh, B V; Unnikrishnan, B

2014-01-01

This study was executed to find out correlation between postural alignment in sitting measured through photogrammetry and postural control in sitting following stroke. A cross-sectional study with convenient sampling consisting of 45 subjects with acute and sub-acute stroke. Postural alignment in sitting was measured through photogrammetry and relevant angles were obtained through software MB Ruler (version 5.0). Seated postural control was measured through Function in Sitting Test (FIST). Correlation was obtained using Spearman's Rank Correlation co-efficient in SPSS software (version 17.0). Moderate positive correlation (r = 0.385; p < 0.01) was found between angle of lordosis and angle between acromion, lateral epicondyle and point between radius and ulna. Strong negative correlation (r = -0.435; p < 0.01) was found between cranio-vertebral angle and kyphosis. FIST showed moderate positive correlation (r = 0.3446; p < 0.05) with cranio-vertebral angle and strong positive correlation (r = 0.4336; p < 0.01) with Brunnstrom's stage of recovery in upper extremity. Degree of forward head posture in sitting correlates directly with seated postural control and inversely with degree of kyphosis in sitting post-stroke. Postural control in sitting post-stroke is directly related with Brunnstrom's stage of recovery in affected upper extremity in sitting.

Geometric morphometrics as a tool for improving the comparative study of behavioural postures.

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Fureix, Carole; Hausberger, Martine; Seneque, Emilie; Morisset, Stéphane; Baylac, Michel; Cornette, Raphaël; Biquand, Véronique; Deleporte, Pierre

2011-07-01

Describing postures has always been a central concern when studying behaviour. However, attempts to compare postures objectively at phylogenetical, populational, inter- or intra-individual levels generally either rely upon a few key elements or remain highly subjective. Here, we propose a novel approach, based on well-established geometric morphometrics, to describe and to analyse postures globally (i.e. considering the animal's body posture in its entirety rather than focusing only on a few salient elements, such as head or tail position). Geometric morphometrics is concerned with describing and comparing variation and changes in the form (size and shape) of organisms using the coordinates of a series of homologous landmarks (i.e. positioned in relation to skeletal or muscular cues that are the same for different species for every variety of form and function and that have derived from a common ancestor, i.e. they have a common evolutionary ancestry, e.g. neck, wings, flipper/hand). We applied this approach to horses, using global postures (1) to characterise behaviours that correspond to different arousal levels, (2) to test potential impact of environmental changes on postures. Our application of geometric morphometrics to horse postures showed that this method can be used to characterise behavioural categories, to evaluate the impact of environmental factors (here human actions) and to compare individuals and groups. Beyond its application to horses, this promising approach could be applied to all questions involving the analysis of postures (evolution of displays, expression of emotions, stress and welfare, behavioural repertoires…) and could lead to a whole new line of research.

Closed-loop control of grasping with a myoelectric hand prosthesis: which are the relevant feedback variables for force control?

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Ninu, Andrei; Dosen, Strahinja; Muceli, Silvia; Rattay, Frank; Dietl, Hans; Farina, Dario

2014-09-01

In closed-loop control of grasping by hand prostheses, the feedback information sent to the user is usually the actual controlled variable, i.e., the grasp force. Although this choice is intuitive and logical, the force production is only the last step in the process of grasping. Therefore, this study evaluated the performance in controlling grasp strength using a hand prosthesis operated through a complete grasping sequence while varying the feedback variables (e.g., closing velocity, grasping force), which were provided to the user visually or through vibrotactile stimulation. The experiments were conducted on 13 volunteers who controlled the Otto Bock Sensor Hand Speed prosthesis. Results showed that vibrotactile patterns were able to replace the visual feedback. Interestingly, the experiments demonstrated that direct force feedback was not essential for the control of grasping force. The subjects were indeed able to control the grip strength, predictively, by estimating the grasping force from the prosthesis velocity of closing. Therefore, grasping without explicit force feedback is not completely blind, contrary to what is usually assumed. In our study we analyzed grasping with a specific prosthetic device, but the outcomes are also applicable for other devices, with one or more degrees-of-freedom. The necessary condition is that the electromyography (EMG) signal directly and proportionally controls the velocity/grasp force of the hand, which is a common approach among EMG controlled prosthetic devices. The results provide important indications on the design of closed-loop EMG controlled prosthetic systems.

On the functional integration between postural and supra-postural tasks on the basis of contextual cues and task constraint.

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de Lima, Andrea Cristina; de Azevedo Neto, Raymundo Machado; Teixeira, Luis Augusto

2010-10-01

In order to evaluate the effects of uncertainty about direction of mechanical perturbation and supra-postural task constraint on postural control, young adults had their upright stance perturbed while holding a tray in a horizontal position. Stance was perturbed by moving forward or backward a supporting platform, contrasting situations of certainty versus uncertainty of direction of displacement. Increased constraint on postural stability was imposed by a supra-postural task of equilibrating a cylinder on the tray. Performance was assessed through EMG of anterior leg muscles, angular displacement of the main joints involved in the postural reactions and displacement of the tray. Results showed that both certainty on the direction of perturbation and increased supra-postural task constraint led to decreased angular displacement of the knee and the hip. Furthermore, combination of certainty and high supra-postural task constraint produced shorter latency of muscular activation. Such postural responses were paralleled by decreased displacement of the tray. These results suggest a functional integration between the tasks, with central set priming reactive postural responses from contextual cues and increased stability demand. Copyright © 2010 Elsevier B.V. All rights reserved.

Neck pain and postural balance among workers with high postural demands - a cross-sectional study

Science.gov (United States)

2011-01-01

Background Neck pain is related to impaired postural balance among patients and is highly prevalent among workers with high postural demands, for example, cleaners. We therefore hypothesised, that cleaners with neck pain suffer from postural dysfunction. This cross-sectional study tested if cleaners with neck pain have an impaired postural balance compared with cleaners without neck pain. Methods Postural balance of 194 cleaners with (n = 85) and without (N = 109) neck pain was studied using three different tests. Success or failure to maintain the standing position for 30 s in unilateral stance was recorded. Participants were asked to stand on a force platform for 30 s in the Romberg position with eyes open and closed. The centre of pressure of the sway was calculated, and separated into a slow (rambling) and fast (trembling) component. Subsequently, the 95% confidence ellipse area (CEA) was calculated. Furthermore a perturbation test was performed. Results More cleaners with neck pain (81%) failed the unilateral stance compared with cleaners without neck pain (61%) (p neck pain in comparison with cleaners without neck pain in the Romberg position with eyes closed, but not with eyes open. Conclusions Postural balance is impaired among cleaners with neck pain and the current study suggests a particular role of the slow component of postural sway. Furthermore, the unilateral stance test is a simple test to illustrate functional impairment among cleaners with concurrent neck and low back pain. Trial registration ISRCTN96241850 PMID:21806796

Automated Assessment of Postural Stability (AAPS)

Science.gov (United States)

2016-10-01

performed a battery of standard clinical tests of dynamic posture, whereas the fourth subject performed the stereotyped postures (e.g. movements restricted...Processing & Control [2] Napoli A, Ward C, Glass S, Tucker C, Obeid I (2016) “Automated Assessment of Postural Stability System,” IEEE Engineering in

Gait, posture and cognition in Parkinson's disease

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Alessandra Ferreira Barbosa

Full Text Available ABSTRACT Gait disorders and postural instability are the leading causes of falls and disability in Parkinson's disease (PD. Cognition plays an important role in postural control and may interfere with gait and posture assessment and treatment. It is important to recognize gait, posture and balance dysfunctions by choosing proper assessment tools for PD. Patients at higher risk of falling must be referred for rehabilitation as early as possible, because antiparkinsonian drugs and surgery do not improve gait and posture in PD.

Preschool children adapt grasping movements to upcoming object manipulations: Evidence from a dial rotation task.

Science.gov (United States)

Herbort, Oliver; Büschelberger, Juliane; Janczyk, Markus

2018-03-01

In adults, the motor plans for object-directed grasping movements reflects the anticipated requirements of intended future object manipulations. This prospective mode of planning has been termed second-order planning. Surprisingly, second-order planning is thought to be fully developed only by 10 years of age, when children master seemingly more complex motor skills. In this study, we tested the hypothesis that already 5- and 6-year-old children consistently use second-order planning but that this ability does not become apparent in tasks that are traditionally used to probe it. We asked 5- and 6-year-olds and adults to grasp and rotate a circular dial in a clockwise or counterclockwise direction. Although children's grasp selections were less consistent on an intra- and inter-individual level than adults' grasp selections, all children adjusted their grasps to the upcoming dial rotations. By contrast, in an also administered bar rotation task, only a subset of children adjusted their grasps to different bar rotations, thereby replicating previous results. The results indicate that 5- and 6-year-olds consistently use second-order planning in a dial rotation task, although this ability does not become apparent in bar rotation tasks. Copyright © 2017 Elsevier Inc. All rights reserved.

Postural Control in Children with Autism.

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Kohen-Raz, Reuven; And Others

1992-01-01

Postural control was evaluated in 91 autistic, 166 normal, and 18 mentally retarded children using a computerized posturographic procedure. In comparison to normal children, the autistic subjects were less likely to exhibit age-related changes in postural performance, and postures were more variable and less stable. (Author/JDD)

Functional synergies underlying control of upright posture during changes in head orientation.

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Eunse Park

Full Text Available BACKGROUND: Studies of human upright posture typically have stressed the need to control ankle and hip joints to achieve postural stability. Recent studies, however, suggest that postural stability involves multi degree-of-freedom (DOF coordination, especially when performing supra-postural tasks. This study investigated kinematic synergies related to control of the body's position in space (two, four and six DOF models and changes in the head's orientation (six DOF model. METHODOLOGY/PRINCIPAL FINDINGS: Subjects either tracked a vertically moving target with a head-mounted laser pointer or fixated a stationary point during 4-min trials. Uncontrolled manifold (UCM analysis was performed across tracking cycles at each point in time to determine the structure of joint configuration variance related to postural stability or tracking consistency. The effect of simulated removal of covariance among joints on that structure was investigated to further determine the role of multijoint coordination. Results indicated that cervical joint motion was poorly coordinated with other joints to stabilize the position of the body center of mass (CM. However, cervical joints were coordinated in a flexible manner with more caudal joints to achieve consistent changes in head orientation. CONCLUSIONS/SIGNIFICANCE: An understanding of multijoint coordination requires reference to the stability/control of important performance variables. The nature of that coordination differs depending on the reference variable. Stability of upright posture primarily involved multijoint coordination of lower extremity and lower trunk joints. Consistent changes in the orientation of the head, however, required flexible coordination of those joints with motion of the cervical spine. A two-segment model of postural control was unable to account for the observed stability of the CM position during the tracking task, further supporting the need to consider multijoint coordination to

Decerebrate posturing following traumatic brain injury: MRI findings and their diagnostic value

International Nuclear Information System (INIS)

Woischneck, D.; Skalej, M.; Firsching, R.; Kapapa, T.

2015-01-01

Aim: To determine the pathomorphological and clinical background to decerebrate posturing in humans following serious traumatic brain injury. Materials and methods: One hundred and twenty patients who had been unconscious for more than 24 h underwent diagnostic MRI within 8 days after trauma. The presence of decerebrate rigidity as the clinical parameter was correlated to MRI findings, such as traumatic lesions in defined brain areas. Significance was presumed as p < 0.05. Results: On the day of MRI 43 (36%) patients exhibited decerebrate posturing: 19 (23%) cases were unilateral and 24 (77%) bilateral. There was a significant correlation between midbrain lesions and the presence of rigidity. If a midbrain lesion was found in the absence of pontine lesions, decerebrate rigidity could be concluded (p < 0.05). There was no significant correlation to the rigidity in the case of midbrain lesions accompanied by pontine lesions, and no correlation to the rigidity could be detected for other regions of the brain. Both the occurrence of decerebrate posturing and the detection of brainstem lesions at MRI correlated with the Glasgow Outcome Scale. The combination of both parameters improved the probability of predicting the outcome. Conclusion: The rate of decerebrate posturing increases significantly in the presence of midbrain lesions. The presence of pontine lesions appears to be of secondary importance. The chances of predicting the Glasgow Outcome Scale are improved by the combination of clinical information (decerebrate posturing) and radiological parameters (type of brainstem lesion). - Highlights: • The pathomorphology of decerebrate posturing after TBI is not known for certain. • Midbrain lesions on MRI were correlated significantly to decerebrate posturing. • A combination of decerebrate posturing and brainstem lesions predict poor outcome

Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter

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Nobutomo Morita

2018-01-01

Full Text Available The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces—such as metal, paper, film, and so on—thus suggesting the potential application of LDV as a slip sensor for grasping various objects. However, the use of LDV as a slip sensor has not yet been reported because the size of LDVs is too large to be installed on a robotic fingertip. We have solved the size problem and enabled the performance of a feasibility test with a few-millimeter-scale LDV referred to as micro-LDV (μ-LDV by modifying the design which was adopted from MEMS (microelectromechanical systems fabrication process. In this paper, by applying our developed μ-LDV as a slip sensor, we have successfully demonstrated grasping force control with three target objects—aluminum block, wood block, and white acrylic block—considering that various objects made of these materials can be found in homes and factories, without grasping force feedback. We provide proofs that LDV is a new promising candidate slip sensor for grasping force control to execute target grasping.

Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter.

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Morita, Nobutomo; Nogami, Hirofumi; Higurashi, Eiji; Sawada, Renshi

2018-01-23

The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV) and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces-such as metal, paper, film, and so on-thus suggesting the potential application of LDV as a slip sensor for grasping various objects. However, the use of LDV as a slip sensor has not yet been reported because the size of LDVs is too large to be installed on a robotic fingertip. We have solved the size problem and enabled the performance of a feasibility test with a few-millimeter-scale LDV referred to as micro-LDV (μ-LDV) by modifying the design which was adopted from MEMS (microelectromechanical systems) fabrication process. In this paper, by applying our developed μ-LDV as a slip sensor, we have successfully demonstrated grasping force control with three target objects-aluminum block, wood block, and white acrylic block-considering that various objects made of these materials can be found in homes and factories, without grasping force feedback. We provide proofs that LDV is a new promising candidate slip sensor for grasping force control to execute target grasping.

Dynamic postural stability in blind athletes using the biodex stability system.

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Aydoğ, E; Aydoğ, S T; Cakci, A; Doral, M N

2006-05-01

Three systems affect the upright standing posture in humans - visual, vestibular, and somatosensory. It is well known that the visually impaired individuals have bad postural balance. On the other hand, it is a well documented fact that some sports can improve postural balance. Therefore, it is aimed in this study to evaluate the dynamic postural stability in goal-ball athletes. Twenty blind goal-ball players, 20 sighted and 20 sedentary blind controls were evaluated using the Biodex Stability System. Three adaptation trials and three test evaluations (a 20-second balance test at a platform stability of 8) were applied to the blind people, and to the sighted with eyes open and closed. Dynamic postural stability was measured on the basis of three indices: overall, anteroposterior, and mediolateral. Means of each test score were calculated. The tests results were compared for the blind athletes, sighted (with eyes open and closed) subjects, and sedentary blind people. There were significant differences between the results of the blind people and the sighted subjects with regards to all of the three indices. Although the stability of goal-ball players was better than sedentary blinds', only ML index values were statistically different (4.47 +/- 1.24 in the goal-ball players; 6.46 +/- 3.42 in the sedentary blind, p = 0.04). Dynamic postural stability was demonstrated to be affected by vision; and it was found that blind people playing goal-ball 1 - 2 days per week have higher ML stability than the sedentary sighted people.

Managing distributed dynamic systems with spatial grasp technology

CERN Document Server

Sapaty, Peter Simon

2017-01-01

The book describes a novel ideology and supporting information technology for integral management of both civil and defence-orientated large, distributed dynamic systems. The approach is based on a high-level Spatial Grasp Language, SGL, expressing solutions in physical, virtual, executive and combined environments in the form of active self-evolving and self-propagating patterns spatially matching the systems to be created, modified and controlled. The communicating interpreters of SGL can be installed in key system points, which may be in large numbers (up to millions and billions) and represent equipped humans, robots, laptops, smartphones, smart sensors, etc. Operating under gestalt-inspired scenarios in SGL initially injected from any points, these systems can be effectively converted into goal-driven spatial machines (rather than computers as dealing with physical matter too) capable of responding to numerous challenges caused by growing world dynamics in the 21st century. Including numerous practical e...

Differences between kinematic synergies and muscle synergies during two-digit grasping

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Michele eTagliabue

2015-03-01

Full Text Available The large number of mechanical degrees of freedom of the hand is not fully exploited during actual movements such as grasping. Usually, angular movements in various joints tend to be coupled, and EMG activities in different hand muscles tend to be correlated. The occurrence of covariation in the former was termed kinematic synergies, in the latter muscle synergies. This study addresses two questions: (i Whether kinematic and muscle synergies can simultaneously accommodate for kinematic and kinetic constraints. (ii If so, whether there is an interrelation between kinematic and muscle synergies. We used a reach-grasp-and-pull paradigm and recorded the hand kinematics as well as 8 surface EMGs. Subjects had to either perform a precision grip or side grip and had to modify their grip force in order to displace an object against a low or high load. The analysis was subdivided into three epochs: reach, grasp-and-pull, and static hold. Principal component analysis (PCA, temporal or static was performed separately for all three epochs, in the kinematic and in the EMG domain. PCA revealed that (i Kinematic- and muscle-synergies can simultaneously accommodate kinematic (grip type and kinetic task constraints (load condition. (ii Upcoming grip and load conditions of the grasp are represented in kinematic- and muscle-synergies already during reach. Phase plane plots of the principal muscle-synergy against the principal kinematic synergy revealed (iii that the muscle-synergy is linked (correlated, and in phase advance to the kinematic synergy during reach and during grasp-and-pull. Furthermore (iv, pair-wise correlations of EMGs during hold suggest that muscle-synergies are (in part implemented by coactivation of muscles through common input. Together, these results suggest that kinematic synergies have (at least in part their origin not just in muscular activation, but in synergiestic muscle activation. In short: kinematic synergies may result from muscle

Modeling task-specific neuronal ensembles improves decoding of grasp

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Smith, Ryan J.; Soares, Alcimar B.; Rouse, Adam G.; Schieber, Marc H.; Thakor, Nitish V.

2018-06-01

Objective. Dexterous movement involves the activation and coordination of networks of neuronal populations across multiple cortical regions. Attempts to model firing of individual neurons commonly treat the firing rate as directly modulating with motor behavior. However, motor behavior may additionally be associated with modulations in the activity and functional connectivity of neurons in a broader ensemble. Accounting for variations in neural ensemble connectivity may provide additional information about the behavior being performed. Approach. In this study, we examined neural ensemble activity in primary motor cortex (M1) and premotor cortex (PM) of two male rhesus monkeys during performance of a center-out reach, grasp and manipulate task. We constructed point process encoding models of neuronal firing that incorporated task-specific variations in the baseline firing rate as well as variations in functional connectivity with the neural ensemble. Models were evaluated both in terms of their encoding capabilities and their ability to properly classify the grasp being performed. Main results. Task-specific ensemble models correctly predicted the performed grasp with over 95% accuracy and were shown to outperform models of neuronal activity that assume only a variable baseline firing rate. Task-specific ensemble models exhibited superior decoding performance in 82% of units in both monkeys (p  <  0.01). Inclusion of ensemble activity also broadly improved the ability of models to describe observed spiking. Encoding performance of task-specific ensemble models, measured by spike timing predictability, improved upon baseline models in 62% of units. Significance. These results suggest that additional discriminative information about motor behavior found in the variations in functional connectivity of neuronal ensembles located in motor-related cortical regions is relevant to decode complex tasks such as grasping objects, and may serve the basis for more

Volitional and automatic control of the hand when reaching to grasp objects.

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Chen, Zhongting; Saunders, Jeffrey Allen

2018-02-26

When picking up an object, we tend to grasp at contact points that allow a stable grip. Recent studies have demonstrated that appropriate grasp points can be selected during an ongoing movement in response to unexpected perturbations of the target object. In this study, we tested whether such online grip adjustments are automatic responses or can be controlled volitionally. Subjects performed virtual grasping movements toward target 2D shapes that sometimes changed shape or orientation during movement. Unlike in previous studies, the conditions and task requirements discouraged any online adjustments toward the perturbed shapes. In Experiment 1, target shapes were perturbed briefly (200 ms) during movement before reverting to the original shape, and subjects were instructed to ignore the transient perturbations. Despite subjects' intentions, we observed online adjustments of grip orientation that were toward the expected grip axis of the briefly presented shape. In Experiment 2, we added a stop-signal to the grasping task, with target perturbation as the stop cue. We again observed unnecessary online adjustments toward the grip axis of the perturbed shape, with similar latency. Furthermore, the grip adjustments continued after the forward motion of the hand had stopped, indicating that the automatic response to the perturbed target shape co-occurred with the volitional response to the perturbation onset. Our results provide evidence that automatic control mechanisms are used to guide the fingers to appropriate grasp points and suggest that these mechanisms are distinct from those involved with volitional control. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

The Relationship Between Postural and Movement Stability.

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Feldman, Anatol G

2016-01-01

Postural stabilization is provided by stretch reflexes, intermuscular reflexes, and intrinsic muscle properties. Taken together, these posture-stabilizing mechanisms resist deflections from the posture at which balance of muscle and external forces is maintained. Empirical findings suggest that for each muscle, these mechanisms become functional at a specific, spatial threshold-the muscle length or respective joint angle at which motor units begin to be recruited. Empirical data suggest that spinal and supraspinal centers can shift the spatial thresholds for a group of muscles that stabilized the initial posture. As a consequence, the same stabilizing mechanisms, instead of resisting motion from the initial posture, drive the body to another stable posture. In other words by shifting spatial thresholds, the nervous system converts movement resisting to movement-producing mechanisms. It is illustrated that, contrary to conventional view, this control strategy allows the system to transfer body balance to produce locomotion and other actions without loosing stability at any point of them. It also helps orient posture and movement with the direction of gravity. It is concluded that postural and movement stability is provided by a common mechanism.

Comparison of grasping movements made by healthy subjects in a 3-dimensional immersive virtual versus physical environment.

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Magdalon, Eliane C; Michaelsen, Stella M; Quevedo, Antonio A; Levin, Mindy F

2011-09-01

Virtual reality (VR) technology is being used with increasing frequency as a training medium for motor rehabilitation. However, before addressing training effectiveness in virtual environments (VEs), it is necessary to identify if movements made in such environments are kinematically similar to those made in physical environments (PEs) and the effect of provision of haptic feedback on these movement patterns. These questions are important since reach-to-grasp movements may be inaccurate when visual or haptic feedback is altered or absent. Our goal was to compare kinematics of reaching and grasping movements to three objects performed in an immersive three-dimensional (3D) VE with haptic feedback (cyberglove/grasp system) viewed through a head-mounted display to those made in an equivalent physical environment (PE). We also compared movements in PE made with and without wearing the cyberglove/grasp haptic feedback system. Ten healthy subjects (8 women, 62.1±8.8years) reached and grasped objects requiring 3 different grasp types (can, diameter 65.6mm, cylindrical grasp; screwdriver, diameter 31.6mm, power grasp; pen, diameter 7.5mm, precision grasp) in PE and visually similar virtual objects in VE. Temporal and spatial arm and trunk kinematics were analyzed. Movements were slower and grip apertures were wider when wearing the glove in both the PE and the VE compared to movements made in the PE without the glove. When wearing the glove, subjects used similar reaching trajectories in both environments, preserved the coordination between reaching and grasping and scaled grip aperture to object size for the larger object (cylindrical grasp). However, in VE compared to PE, movements were slower and had longer deceleration times, elbow extension was greater when reaching to the smallest object and apertures were wider for the power and precision grip tasks. Overall, the differences in spatial and temporal kinematics of movements between environments were greater than

One month of contemporary dance modulates fractal posture in aging

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Olivier A. Coubard

2014-02-01

Full Text Available Understanding the human aging of postural control and how physical or motor activity improves balance and gait is challenging for both clinicians and researchers. Previous studies have evidenced that physical and sporting activity focusing on cardiovascular and strength conditioning help older adults develop their balance and gait and/or decrease their frequency of falls. Motor activity based on motor-skill learning has also been put forward as an alternative to develop balance and/or prevent falls in aging. Specifically dance has been advocated as a promising program to boost motor control. In this study, we examined the effects of contemporary dance (CD on postural control of older adults. Upright stance posturography was performed in 38 participants aged 54-89 years before and after the intervention period, during which one half of the randomly assigned participants was trained to CD and the other half was not trained at all (no dance, ND. CD training lasted 4 weeks, 3 times a week. We performed classical statistic scores of postural signal and dynamic analyses, namely signal diffusion analysis (SDA, recurrence quantification analysis (RQA and detrended fluctuation analysis (DFA. CD modulated postural control in older trainees, as revealed in the eyes closed condition by a decrease in fractal dimension and an increase in DFA alpha component in the mediolateral plane. The ND group showed an increase in length and mean velocity of postural signal, and the eyes open a decrease in RQA maximal diagonal line in the anteroposterior plane and an increase in DFA alpha component in the mediolateral plane. No change was found in SDA in either group. We suggest that such a massed practice of CD reduced the quantity of exchanges between the subject and the environment by increasing their postural confidence. Since CD has low-physical but high-motor impact, we conclude that it may be recommended as a useful program to rehabilitate posture in aging.

G3DB: A database of successful and failed grasps with RGB-D images, point clouds, mesh models and gripper parameters

CSIR Research Space (South Africa)

Kleinhans, A

2015-05-01

Full Text Available likely values for them, and adapt to actual object properties during the grasp. Another key piece of information that is missing is the object’s 3D shape. Humans and mobile robots perceive the world from a single viewpoint, making the back and often...

Postural Sway Parameters and Gait Symmetry in Preschool Children: Cross-sectional study

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Fabiane E de Sá

Full Text Available Abstract The most important function of posture is to ensure the maintenance of control during the start and the continuation of human movement, moreover, posture serves as a reference for the production of precise movements. The aim of this study was to relate the postural sway parameters and gait symmetry in preschool children.This study is a cross-sectional study, conducted in 49 children with a mean age of 4.65 ± 0.44 years. Initially, height and body mass of children were measured using anthropometric scales. Next, an electronic baropodometer was used to evaluate the distribution of dynamic plantar pressure (gait and stabilometry (balance.A Student t test or Mann-Whitney test for comparing two groups was used. To correlate variables, a Pearson's correlation or Spearman's correlation coefficient was used. The stabilometric parameters showed no significant difference between an eyes open test and eyes closed test in preschool child. We found a moderate relationship between axis inclination and cadence symmetry (R=0.40;p=0.007. Postural sway parameters have relationship cadence symmetry of the gait in preschool children.

Nature and nurture in the development of postural control in human infants

NARCIS (Netherlands)

HaddersAlgra, M; Brogren, E; Forssberg, H

Nowadays, the controversy on ''nature'' and ''nurture'' in motor development focuses on the development of automatic motor patterns. The present paper discusses this issue within the framework of a recent study on the effect of maturation and training on the development of postural adjustments in

Visual Vection does not Perturb Squatting Posture

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Dietrich Gilles

2011-12-01

Full Text Available Vision contributes fundamentally to the control of the standing posture. The illusion of self motion falsely perceived (vection increases postural sway while standing. In this paper we examine the effect of vection on both standing and deep squatting with the hypothesis that the squatting posture should not be disturbed by the conflict of sensory information due to vection. The results show that standing posture only was affected by the visual stimuli. The widespread use of squatting for work as well as rest could be due in part to this lack of effect of sensory perturbation on postural stability.

Automatic postural response systems in individuals with congenital total blindness.

Science.gov (United States)

Nakata, H; Yabe, K

2001-07-01

This study examined the effects of the absence of vision from birth on automatic postural responses to platform displacements during stance. Postural responses were induced by producing randomly four types of perturbations which consisted of forward and backward translations, and toe up and down rotations. Nine congenitally totally blind and nine sighted adults served as subjects. EMG signals were recorded from four muscles in the right leg, and reaction time to somatosensory stimuli generated by platform displacements was measured by pushing a hand-held button. To assess the ability to control postural balance, the root mean square (RMS) values for lateral and antero-posterior sway before, during, and after perturbations were calculated. The EMG amplitude in the gastrocnemius muscle of a blind subject was smaller than that of a sighted subject with eyes closed. No significant differences were found between blind and sighted subjects in EMG latencies of the lower extremity muscles in response to perturbations. The blind subjects had significantly faster reaction times to somatosensory stimuli triggered by platform displacements, but in toe down rotations no significant difference was found between blind and sighted subjects. The difference in the EMG latencies and reaction times between the two groups suggests that blindness from birth may not affect the spinal stretch reflex, but may affect a volitional act mediated through the motor cortex. There were also no significant differences in the RMS values for postural sway between blind and sighted subjects with eyes open or closed, although blind subjects swayed more after backward translations than did sighted subjects with eyes open. Results suggest that the ability to control postural balance during perturbations was not affected by vision loss from birth. Our findings suggest that the automatic postural response systems of humans are unaffected by the absence of vision from birth and are rather hard wired.

The visual neuroscience of robotic grasping achieving sensorimotor skills through dorsal-ventral stream integration

CERN Document Server

Chinellato, Eris

2016-01-01

This book presents interdisciplinary research that pursues the mutual enrichment of neuroscience and robotics. Building on experimental work, and on the wealth of literature regarding the two cortical pathways of visual processing - the dorsal and ventral streams - we define and implement, computationally and on a real robot, a functional model of the brain areas involved in vision-based grasping actions. Grasping in robotics is largely an unsolved problem, and we show how the bio-inspired approach is successful in dealing with some fundamental issues of the task. Our robotic system can safely perform grasping actions on different unmodeled objects, denoting especially reliable visual and visuomotor skills. The computational model and the robotic experiments help in validating theories on the mechanisms employed by the brain areas more directly involved in grasping actions. This book offers new insights and research hypotheses regarding such mechanisms, especially for what concerns the interaction between the...

Dependence of behavioral performance on material category in an object grasping task with monkeys.

Science.gov (United States)

Yokoi, Isao; Tachibana, Atsumichi; Minamimoto, Takafumi; Goda, Naokazu; Komatsu, Hidehiko

2018-05-02

Material perception is an essential part of our cognitive function that enables us to properly interact with our complex daily environment. One important aspect of material perception is its multimodal nature. When we see an object, we generally recognize its haptic properties as well as its visual properties. Consequently, one must examine behavior using real objects that are perceived both visually and haptically to fully understand the characteristics of material perception. As a first step, we examined whether there is any difference in the behavioral responses to different materials in monkeys trained to perform an object grasping task in which they saw and grasped rod-shaped real objects made of various materials. We found that the monkeys' behavior in the grasping task, measured based on the success rate and the pulling force, differed depending on the material category. Monkeys easily and correctly grasped objects of some materials, such as metal and glass, but failed to grasp objects of other materials. In particular, monkeys avoided grasping fur-covered objects. The differences in the behavioral responses to the material categories cannot be explained solely based on the degree of familiarity with the different materials. These results shed light on the organization of multimodal representation of materials, where their biological significance is an important factor. In addition, a monkey that avoided touching real fur-covered objects readily touched images of the same objects presented on a CRT display. This suggests employing real objects is important when studying behaviors related to material perception.

Grasping and manipulation of deformable objects based on internal force requirements

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Sohil Garg

2008-11-01

Full Text Available In this paper an analysis of grasping and manipulation of deformable objects by a three finger robot hand has been carried out. It is proved that the required fingertip grasping forces and velocities vary with change in object size due to deformation. The variation of the internal force with the change in fingertip and object contact angle has been investigated in detail. From the results it is concluded that it is very difficult to manipulate an object if the finger contact angle is not between 30 o and 70 o, as the internal forces or velocities become very large outside this range. Hence even if the object is inside the work volume of the three fingers it would still not be possible to manipulate it. A simple control model is proposed which can control the grasping and manipulation of a deformable object. Experimental results are also presented to prove the proposed method.

Postural Stability of Patients with Schizophrenia during Challenging Sensory Conditions: Implication of Sensory Integration for Postural Control.

Science.gov (United States)

Teng, Ya-Ling; Chen, Chiung-Ling; Lou, Shu-Zon; Wang, Wei-Tsan; Wu, Jui-Yen; Ma, Hui-Ing; Chen, Vincent Chin-Hung

2016-01-01

Postural dysfunctions are prevalent in patients with schizophrenia and affect their daily life and ability to work. In addition, sensory functions and sensory integration that are crucial for postural control are also compromised. This study intended to examine how patients with schizophrenia coordinate multiple sensory systems to maintain postural stability in dynamic sensory conditions. Twenty-nine patients with schizophrenia and 32 control subjects were recruited. Postural stability of the participants was examined in six sensory conditions of different level of congruency of multiple sensory information, which was based on combinations of correct, removed, or conflicting sensory inputs from visual, somatosensory, and vestibular systems. The excursion of the center of pressure was measured by posturography. Equilibrium scores were derived to indicate the range of anterior-posterior (AP) postural sway, and sensory ratios were calculated to explore ability to use sensory information to maintain balance. The overall AP postural sway was significantly larger for patients with schizophrenia compared to the controls [patients (69.62±8.99); controls (76.53±7.47); t1,59 = -3.28, pmaintain balance compared to the controls.

Virtual reality applications in assessing the effect of anxiety on sensorimotor integration in human postural control.

Science.gov (United States)

Widdowson, Christopher; Ganhotra, Jatin; Faizal, Mohammed; Wilko, Marissa; Parikh, Saurin; Adhami, Zainulabidin; Hernandez, Manuel E

2016-08-01

Falls are a leading cause of injury and mortality among adults over the age of 65 years. Given the strong relation between fear of falling and fall risk, identification of the mechanisms that underlie anxiety-related changes in postural control may pave the way to the development of novel therapeutic strategies aimed at reducing fall risk in older adults. First, we review potential mechanisms underlying anxiety-mediated changes in postural control in older adults with and without neurological conditions. We then present a system that allows for the simultaneous recording of neural, physiological, and behavioral data in an immersive virtual reality (VR) environment while implementing sensory and mechanical perturbations to evaluate alterations in sensorimotor integration under conditions with high postural threat. We also discuss applications of VR in minimizing falls in older adults and potential future studies.

VisGraB: A Benchmark for Vision-Based Grasping. Paladyn Journal of Behavioral Robotics

DEFF Research Database (Denmark)

Kootstra, Gert; Popovic, Mila; Jørgensen, Jimmy Alison

2012-01-01

that a large number of grasps can be executed and evaluated while dealing with dynamics and the noise and uncertainty present in the real world images. VisGraB enables a fair comparison among different grasping methods. The user furthermore does not need to deal with robot hardware, focusing on the vision......We present a database and a software tool, VisGraB, for benchmarking of methods for vision-based grasping of unknown objects with no prior object knowledge. The benchmark is a combined real-world and simulated experimental setup. Stereo images of real scenes containing several objects in different...

On the road to a neuroprosthetic hand: a novel hand grasp orthosis based on functional electrical stimulation.

Science.gov (United States)

Leeb, Robert; Gubler, Miguel; Tavella, Michele; Miller, Heather; Del Millan, Jose R

2010-01-01

To patients who have lost the functionality of their hands as a result of a severe spinal cord injury or brain stroke, the development of new techniques for grasping is indispensable for reintegration and independency in daily life. Functional Electrical Stimulation (FES) of residual muscles can reproduce the most dominant grasping tasks and can be initialized by brain signals. However, due to the very complex hand anatomy and current limitations in FES-technology with surface electrodes, these grasp patterns cannot be smoothly executed. In this paper, we present an adaptable passive hand orthosis which is capable of producing natural and smooth movements when coupled with FES. It evenly synchronizes the grasping movements and applied forces on all fingers, allowing for naturalistic gestures and functional grasps of everyday objects. The orthosis is also equipped with a lock, which allows it to remain in the desired position without the need for long-term stimulation. Furthermore, we quantify improvements offered by the orthosis compare them with natural grasps on healthy subjects.

Education and the Prevention of Postural Defects

Directory of Open Access Journals (Sweden)

Olchowska-Kotala Agnieszka

2014-12-01

Full Text Available Purpose. The aim of this study was to determine: whether and at what stage of education is proper body posture learned, the intention of young adults to participate in activities teaching proper posture, and the effects of factors related with the said intention. Methods. The study involved 430 university students aged 18-24 years. Anthropometric data was collected. Participants completed questionnaires assessing physical activity level (IPAQ and their intention to participate in extracurricular activities teaching proper posture while sitting or walking, proper running technique, corrective gymnastics, or weight loss exercises. A self-assessment of posture, physical fitness, attractiveness, and body satisfaction was also completed. Results. Lower back pain was experienced by 41% of the respondents. Most were taught proper posture-related habits in primary school, followed by secondary school, and then at university. Many students expressed their intention to participate in the extracurricular activities. None of the questionnaire variables were associated with the intention to learn proper walking posture or proper running technique. The intention to participate in classes teaching proper sitting posture was associated with lower back pain in women and low physical activity level in men. In women, a relationship was found between the intention to participate in weight loss exercises and body dissatisfaction, high BMI, and poor self-evaluations of posture and attractiveness. In men, this activity was associated with body dissatisfaction. Conclusions. There is a need for further education on the development of proper postural habits at the university level.

Diurnal changes in postural control in normal children: Computerized static and dynamic assessments

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Sophie Bourelle

2014-07-01

Full Text Available Mild traumatic brain injury (mTBI causes postural control deficits and accordingly comparison of aberrant postural control against normal postural control may help diagnose mTBI. However, in the current literature, little is known regarding the normal pattern of postural control in young children. This study was therefore conducted as an effort to fill this knowledge gap. Eight normal school-aged children participated. Posture assessment was conducted before (7-8 a.m. in the morning and after (4-7 p.m. in the afternoon school on regular school days using the Balance Master ® evaluation system composed of 3 static tests and 2 dynamic balance tests. A significant difference in the weight-bearing squats was detected between morning hours and afternoon hours (P < 0.05. By end of afternoon, the body weight was borne mainly on the left side with the knee fully extended and at various degrees of knee flexion. A significantly better directional control of the lateral rhythmic weight shifts was observed at the end of the afternoon than at morning hours (P < 0.05. In summary, most of our findings are inconsistent with results from previous studies in adults, suggesting age-related differences in posture control in humans. On a regular school day, the capacity of postural control and laterality or medio-lateral balance in children varies between morning and afternoon hours. We suggest that posturographic assessment in children, either in normal (e.g., physical education and sports training or in abnormal conditions (e.g., mTBI-associated balance disorders, be better performed late in the afternoon.

[Phylo- and ontogenetic aspects of erect posture and walking in developmental neurology].

Science.gov (United States)

Berényi, Marianne; Katona, Ferenc; Sanchez, Carmen; Mandujano, Mario

2011-07-30

The group or profile of elementary neuromotor patterns is different from the primitive reflex group which is now called the "primitive reflex profile." All these elementary neuromotor patterns are characterized by a high degree of organization, persistence, and stereotypy. In many regards, these patterns are predecessors or precursors of from them the specific human motor patterns which appear spontaneously later as crawling, creeping, sitting, and walking with erect posture. On the basis of our experiences it can be stated that the elementary neuromotor patterns can be activated in all neonates and young infants as congenital motor functions. With regards to their main properties and functional forms, the normal patterns can be divided into two main groups: (1) One group is characterized by lifting of the head and complex chains of movements which are directed to the verticalization of the body; (2) The other group is characterized by complex movements directed to locomotion and change of body position. The neuromotor patterns can be activated by placing the human infant in specific body positions that trigger the vestibulospinal and the reticulospinal systems, the archicerebellum and the basal gangliae. Most of these systems display early myelinisation and are functioning very soon. Many of the elementary neuromotor patterns reflect the most important - spontaneously developing forms of human movements such as sitting upright in space and head elevation crawling and walking. The majority of the human neuromotor patterns are human specific. When the infant is put in an activating position, crawling, sitting up, and walking begin and last as long as the activating position is maintained. Each elementary neuromotor pattern is a repeated, continuous train of complex movements in response to a special activating position. The brainstem is not sufficient to organize these complex movements, the integrity of the basal ganglia is also necessary. Elementary sensorimotor

Modeling the shape hierarchy for visually guided grasping

CSIR Research Space (South Africa)

Rezai, O

2014-10-01

Full Text Available The monkey anterior intraparietal area (AIP) encodes visual information about three-dimensional object shape that is used to shape the hand for grasping. We modeled shape tuning in visual AIP neurons and its relationship with curvature and gradient...

Modelling primate control of grasping for robotics applications

CSIR Research Space (South Africa)

Kleinhans, A

2014-09-01

Full Text Available The neural circuits that control grasping and perform related visual processing have been studied extensively in Macaque monkeys. We are developing a computational model of this system, in order to better understand its function, and to explore...

Gait, posture and cognition in Parkinson's disease

OpenAIRE

Barbosa, Alessandra Ferreira; Chen, Janini; Freitag, Fernanda; Valente, Debora; Souza, Carolina de Oliveira; Voos, Mariana Callil; Chien, Hsin Fen

2016-01-01

ABSTRACT Gait disorders and postural instability are the leading causes of falls and disability in Parkinson's disease (PD). Cognition plays an important role in postural control and may interfere with gait and posture assessment and treatment. It is important to recognize gait, posture and balance dysfunctions by choosing proper assessment tools for PD. Patients at higher risk of falling must be referred for rehabilitation as early as possible, because antiparkinsonian drugs and surgery do n...

Postural ortostatisk takykardisyndrom

DEFF Research Database (Denmark)

Brinth, Louise; Pors, Kirsten; Mehlsen, Jesper

2014-01-01

Postural orthostatic tachycardia syndrome (POTS) is a heterogeneous condition of dysautonomia and suspected autoimmunity characterized by abnormal increments in heart rate upon assumption of the upright posture accompanied by symptoms of cerebral hypoperfusion and sympathoexcitation. An increase...... in heart rate equal to or greater than 30 bpm or to levels higher than 120 bpm during a head-up tilt test is the main diagnostic criterion. Management includes both non-pharmacological and pharmacological treatment focusing on stress management, volume expansion and heart rate control....

Relationships among head posture, pain intensity, disability and deep cervical flexor muscle performance in subjects with postural neck pain

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Arun V. Subbarayalu, PhD

2017-12-01

Full Text Available Objectives: Information Technology (IT professionals working with computers gradually develop forward head posture and, as a result, these professionals are susceptible to several neck disorders. This study intended to reveal the relationships between pain intensity, disability, head posture and deep cervical flexor (DCF muscle performance in patients with postural neck pain. Methods: A cross-sectional study was conducted on 84 IT professionals who were diagnosed with postural neck pain. The participants were recruited with a random sampling approach. A Visual Analogue Scale (VAS, the Northwick Park Neck Pain Questionnaire (NPQ, the Modified Head Posture Spinal Curvature Instrument (MHPSCI, and the Stabilizer Pressure Biofeedback Unit were used to measure neck pain intensity, neck disability, head posture, and DCF muscle performance, respectively. Results: The Pearson correlation coefficient revealed a significantly strong positive relationship between the VAS and the NPQ (r = 0.734. The cranio-vertebral (CV angle was found to have a significantly negative correlation with the VAS (r = −0.536 and a weak negative correlation with the NPQ (r = −0.389. Conclusion: This study concluded that a smaller CV angle corresponded to greater neck pain intensity and disability. Furthermore, there is no significant relationship between CV angle and DCF muscle performance, indicating that head posture re-education through postural correction exercises would not completely correct the motor control deficits in DCF muscles. In addition, a suitable exercise regimen that exclusively targets the deep cervical flexor muscle to improve its endurance is warranted. Keywords: Craniovertebral angle, Disability deep cervical flexors muscle performance, Head posture, Postural neck pain

Quantitative model of transport-aperture coordination during reach-to-grasp movements.

Science.gov (United States)

Rand, Miya K; Shimansky, Y P; Hossain, Abul B M I; Stelmach, George E

2008-06-01

It has been found in our previous studies that the initiation of aperture closure during reach-to-grasp movements occurs when the hand distance to target crosses a threshold that is a function of peak aperture amplitude, hand velocity, and hand acceleration. Thus, a stable relationship between those four movement parameters is observed at the moment of aperture closure initiation. Based on the concept of optimal control of movements (Naslin 1969) and its application for reach-to-grasp movement regulation (Hoff and Arbib 1993), it was hypothesized that the mathematical equation expressing that relationship can be generalized to describe coordination between hand transport and finger aperture during the entire reach-to-grasp movement by adding aperture velocity and acceleration to the above four movement parameters. The present study examines whether this hypothesis is supported by the data obtained in experiments in which young adults performed reach-to-grasp movements in eight combinations of two reach-amplitude conditions and four movement-speed conditions. It was found that linear approximation of the mathematical model described the relationship among the six movement parameters for the entire aperture-closure phase with very high precision for each condition, thus supporting the hypothesis for that phase. Testing whether one mathematical model could approximate the data across all the experimental conditions revealed that it was possible to achieve the same high level of data-fitting precision only by including in the model two additional, condition-encoding parameters and using a nonlinear, artificial neural network-based approximator with two hidden layers comprising three and two neurons, respectively. This result indicates that transport-aperture coordination, as a specific relationship between the parameters of hand transport and finger aperture, significantly depends on the condition-encoding variables. The data from the aperture-opening phase also fit a

Self versus environment motion in postural control.

Directory of Open Access Journals (Sweden)

Kalpana Dokka

2010-02-01

Full Text Available To stabilize our position in space we use visual information as well as non-visual physical motion cues. However, visual cues can be ambiguous: visually perceived motion may be caused by self-movement, movement of the environment, or both. The nervous system must combine the ambiguous visual cues with noisy physical motion cues to resolve this ambiguity and control our body posture. Here we have developed a Bayesian model that formalizes how the nervous system could solve this problem. In this model, the nervous system combines the sensory cues to estimate the movement of the body. We analytically demonstrate that, as long as visual stimulation is fast in comparison to the uncertainty in our perception of body movement, the optimal strategy is to weight visually perceived movement velocities proportional to a power law. We find that this model accounts for the nonlinear influence of experimentally induced visual motion on human postural behavior both in our data and in previously published results.

Thermoregulatory postures limit antipredator responses in peafowl

OpenAIRE

Jessica L. Yorzinski; Jennifer Lam; Rachel Schultz; Melissa Davis

2018-01-01

Many animals inhabit environments where they experience temperature fluctuations. One way in which animals can adjust to these temperature changes is through behavioral thermoregulation. However, we know little about the thermal benefits of postural changes and the costs they may incur. In this study, we examined the thermoregulatory role of two postures, the head-tuck and leg-tuck posture, in peafowl (Pavo cristatus) and evaluated whether the head-tuck posture imposes a predation cost. The h...

Grasp Representations Depend on Knowledge and Attention

Science.gov (United States)

Chua, Kao-Wei; Bub, Daniel N.; Masson, Michael E. J.; Gauthier, Isabel

2018-01-01

Seeing pictures of objects activates the motor cortex and can have an influence on subsequent grasping actions. However, the exact nature of the motor representations evoked by these pictures is unclear. For example, action plans engaged by pictures could be most affected by direct visual input and computed online based on object shape.…

Functional Neuroanatomy for Posture and Gait Control

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Kaoru Takakusaki

2017-01-01

Full Text Available Here we argue functional neuroanatomy for posture- gait control. Multi-sensory information such as somatosensory, visual and vestibular sensation act on various areas of the brain so that adaptable posture- gait control can be achieved. Automatic process of gait, which is steady-state stepping movements associating with postural reflexes including headeye coordination accompanied by appropriate alignment of body segments and optimal level of postural muscle tone, is mediated by the descending pathways from the brainstem to the spinal cord. Particularly, reticulospinal pathways arising from the lateral part of the mesopontine tegmentum and spinal locomotor network contribute to this process. On the other hand, walking in unfamiliar circumstance requires cognitive process of postural control, which depends on knowledges of self-body, such as body schema and body motion in space. The cognitive information is produced at the temporoparietal association cortex, and is fundamental to sustention of vertical posture and construction of motor programs. The programs in the motor cortical areas run to execute anticipatory postural adjustment that is optimal for achievement of goal-directed movements. The basal ganglia and cerebellum may affect both the automatic and cognitive processes of posturegait control through reciprocal connections with the brainstem and cerebral cortex, respectively. Consequently, impairments in cognitive function by damages in the cerebral cortex, basal ganglia and cerebellum may disturb posture-gait control, resulting in falling.

Postural stability and occlusal status among Japanese elderly.

Science.gov (United States)

Song-Yu, Xuan; Rodis, Omar M M; Ogata, Sagiri; Can-Hu, Jin; Nishimura, Michiko; Matsumura, Seishi

2012-06-01

There are still no data available on the relationship between postural stability and occlusal status among the elderly. To examine relationships between postural stability and occlusal status through a cohort study among elderly Japanese. Oral examination, occlusal status, postural stability and a questionnaire were conducted and given to 87 community-dwelling Japanese at enrolment. The average occlusal pressure of the female group was statistically higher than the male group while average occlusal pressure and postural stability length were lesser in the group with more remaining teeth. Postural stability area and number of remaining teeth showed statistically significant correlations. Postural stability length was lesser in the group with strong occlusal force. Furthermore, the number of decayed teeth was fewer in the good hygiene group. This study identified a close relationship between occlusal status and postural stability of Japanese older individuals. Occlusal hypofunction was observed more in those with occlusal problems, and a decrease in their occlusal functions resulted in postural instability. © 2011 The Gerodontology Society and John Wiley & Sons A/S.

Deep learning-based artificial vision for grasp classification in myoelectric hands

Science.gov (United States)

Ghazaei, Ghazal; Alameer, Ali; Degenaar, Patrick; Morgan, Graham; Nazarpour, Kianoush

2017-06-01

Objective. Computer vision-based assistive technology solutions can revolutionise the quality of care for people with sensorimotor disorders. The goal of this work was to enable trans-radial amputees to use a simple, yet efficient, computer vision system to grasp and move common household objects with a two-channel myoelectric prosthetic hand. Approach. We developed a deep learning-based artificial vision system to augment the grasp functionality of a commercial prosthesis. Our main conceptual novelty is that we classify objects with regards to the grasp pattern without explicitly identifying them or measuring their dimensions. A convolutional neural network (CNN) structure was trained with images of over 500 graspable objects. For each object, 72 images, at {{5}\\circ} intervals, were available. Objects were categorised into four grasp classes, namely: pinch, tripod, palmar wrist neutral and palmar wrist pronated. The CNN setting was first tuned and tested offline and then in realtime with objects or object views that were not included in the training set. Main results. The classification accuracy in the offline tests reached 85 % for the seen and 75 % for the novel objects; reflecting the generalisability of grasp classification. We then implemented the proposed framework in realtime on a standard laptop computer and achieved an overall score of 84 % in classifying a set of novel as well as seen but randomly-rotated objects. Finally, the system was tested with two trans-radial amputee volunteers controlling an i-limb UltraTM prosthetic hand and a motion controlTM prosthetic wrist; augmented with a webcam. After training, subjects successfully picked up and moved the target objects with an overall success of up to 88 % . In addition, we show that with training, subjects’ performance improved in terms of time required to accomplish a block of 24 trials despite a decreasing level of visual feedback. Significance. The proposed design constitutes a substantial

Postural Stability of Patients with Schizophrenia during Challenging Sensory Conditions: Implication of Sensory Integration for Postural Control.

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Ya-Ling Teng

Full Text Available Postural dysfunctions are prevalent in patients with schizophrenia and affect their daily life and ability to work. In addition, sensory functions and sensory integration that are crucial for postural control are also compromised. This study intended to examine how patients with schizophrenia coordinate multiple sensory systems to maintain postural stability in dynamic sensory conditions. Twenty-nine patients with schizophrenia and 32 control subjects were recruited. Postural stability of the participants was examined in six sensory conditions of different level of congruency of multiple sensory information, which was based on combinations of correct, removed, or conflicting sensory inputs from visual, somatosensory, and vestibular systems. The excursion of the center of pressure was measured by posturography. Equilibrium scores were derived to indicate the range of anterior-posterior (AP postural sway, and sensory ratios were calculated to explore ability to use sensory information to maintain balance. The overall AP postural sway was significantly larger for patients with schizophrenia compared to the controls [patients (69.62±8.99; controls (76.53±7.47; t1,59 = -3.28, p<0.001]. The results of mixed-model ANOVAs showed a significant interaction between the group and sensory conditions [F5,295 = 5.55, p<0.001]. Further analysis indicated that AP postural sway was significantly larger for patients compared to the controls in conditions containing unreliable somatosensory information either with visual deprivation or with conflicting visual information. Sensory ratios were not significantly different between groups, although small and non-significant difference in inefficiency to utilize vestibular information was also noted. No significant correlations were found between postural stability and clinical characteristics. To sum up, patients with schizophrenia showed increased postural sway and a higher rate of falls during challenging sensory

Vision-based autonomous grasping of unknown piled objects

International Nuclear Information System (INIS)

Johnson, R.K.

1994-01-01

Computer vision techniques have been used to develop a vision-based grasping capability for autonomously picking and placing unknown piled objects. This work is currently being applied to the problem of hazardous waste sorting in support of the Department of Energy's Mixed Waste Operations Program

From a meso- to micro-scale connectome: Array Tomography and mGRASP

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Jinhyun eKim

2015-06-01

Full Text Available Mapping mammalian synaptic connectivity has long been an important goal of neuroscience because knowing how neurons and brain areas are connected underpins an understanding of brain function. Meeting this goal requires advanced techniques with single synapse resolution and large-scale capacity, especially at multiple scales tethering the meso- and micro-scale connectome. Among several advanced LM-based connectome technologies, Array Tomography (AT and mammalian GFP-Reconstitution Across Synaptic Partners (mGRASP can provide relatively high-throughput mapping synaptic connectivity at multiple scales. AT- and mGRASP-assisted circuit mapping (ATing and mGRASPing, combined with techniques such as retrograde virus, brain clearing techniques, and activity indicators will help unlock the secrets of complex neural circuits. Here, we discuss these useful new tools to enable mapping of brain circuits at multiple scales, some functional implications of spatial synaptic distribution, and future challenges and directions of these endeavors.

Effects of accuracy constraints on reach-to-grasp movements in cerebellar patients.

Science.gov (United States)

Rand, M K; Shimansky, Y; Stelmach, G E; Bracha, V; Bloedel, J R

2000-11-01

Reach-to-grasp movements of patients with pathology restricted to the cerebellum were compared with those of normal controls. Two types of paradigms with different accuracy constraints were used to examine whether cerebellar impairment disrupts the stereotypic relationship between arm transport and grip aperture and whether the variability of this relationship is altered when greater accuracy is required. The movements were made to either a vertical dowel or to a cross bar of a small cross. All subjects were asked to reach for either target at a fast but comfortable speed, grasp the object between the index finger and thumb, and lift it a short distance off the table. In terms of the relationship between arm transport and grip aperture, the control subjects showed a high consistency in grip aperture and wrist velocity profiles from trial to trial for movements to both the dowel and the cross. The relationship between the maximum velocity of the wrist and the time at which grip aperture was maximal during the reach was highly consistent throughout the experiment. In contrast, the time of maximum grip aperture and maximum wrist velocity of the cerebellar patients was quite variable from trial to trial, and the relationship of these measurements also varied considerably. These abnormalities were present regardless of the accuracy requirement. In addition, the cerebellar patients required a significantly longer time to grasp and lift the objects than the control subjects. Furthermore, the patients exhibited a greater grip aperture during reach than the controls. These data indicate that the cerebellum contributes substantially to the coordination of movements required to perform reach-to-grasp movements. Specifically, the cerebellum is critical for executing this behavior with a consistent, well-timed relationship between the transport and grasp components. This contribution is apparent even when accuracy demands are minimal.

Phase-dependent organization of postural adjustments associated with arm movements while walking.

Science.gov (United States)

Nashner, L M; Forssberg, H

1986-06-01

This study examines the interactions between anteroposterior postural responses and the control of walking in human subjects. In the experimental paradigm, subjects walked upon a treadmill, gripping a rigid handle with one hand. Postural responses at different phases of stepping were elicited by rapid arm pulls or pushes against the handle. During arm movements, EMG's recorded the activity of representative arm, ankle, and thigh segment muscles. Strain gauges in the handle measured the force of the arm movement. A Selspot II system measured kinematics of the stepping movements. The duration of support and swing phases were marked by heel and toe switches in the soles of the subjects' shoes. In the first experiment, subjects were instructed to pull on the handle at their own pace. In these trials all subjects preferred to initiate pulls near heel strikes. Next, when instructed to pull as rapidly as possible in response to tone stimuli, reaction times were similar for all phases of the step cycle. Leg muscle responses associated with arm pulls and pushes, referred to as "postural activations," were directionally specific and preceded arm muscle activity. The temporal order and spatial distribution of postural activations in the muscles of the support leg were similar when arm pull movements occurred while the subject was standing in place and after heel strike while walking. Activations began in the ankle and radiated proximally to the thigh and then the arm. Activations of swing leg muscles were also directionally specific and involved flexion and forward or backward thrust of the limb. When arm movements were initiated during transitions from support by one leg to the other, patterns of postural activations were altered. Alterations usually occurred 10-20 ms before hell strikes and involved changes in the timing and sometimes the spatial structure of postural activations. Postural activation patterns are similar during in-place standing and during the support phase

Cinerama sickness and postural instability.

Science.gov (United States)

Bos, Jelte E; Ledegang, Wietse D; Lubeck, Astrid J A; Stins, John F

2013-01-01

Motion sickness symptoms and increased postural instability induced by motion pictures have been reported in a laboratory, but not in a real cinema. We, therefore, carried out an observational study recording sickness severity and postural instability in 19 subjects before, immediately and 45 min after watching a 1 h 3D aviation documentary in a cinema. Sickness was significantly larger right after the movie than before, and in a lesser extent still so after 45 min. The average standard deviation of the lateral centre of pressure excursions was significantly larger only right afterwards. When low-pass filtered at 0.1 Hz, lateral and for-aft excursions were both significantly larger right after the movie, while for-aft excursions then remained larger even after 45 min. Speculating on previous findings, we predict more sickness and postural instability in 3D than in 2D movies, also suggesting a possible, but yet unknown risk for work-related activities and vehicle operation. Watching motion pictures may be sickening and posturally destabilising, but effects in a cinema are unknown. We, therefore, carried out an observational study showing that sickness then is mainly an issue during the exposure while postural instability is an issue afterwards.

Grasping the intentions of others with one's own mirror neuron system.

Directory of Open Access Journals (Sweden)

Marco Iacoboni

2005-03-01

Full Text Available Understanding the intentions of others while watching their actions is a fundamental building block of social behavior. The neural and functional mechanisms underlying this ability are still poorly understood. To investigate these mechanisms we used functional magnetic resonance imaging. Twenty-three subjects watched three kinds of stimuli: grasping hand actions without a context, context only (scenes containing objects, and grasping hand actions performed in two different contexts. In the latter condition the context suggested the intention associated with the grasping action (either drinking or cleaning. Actions embedded in contexts, compared with the other two conditions, yielded a significant signal increase in the posterior part of the inferior frontal gyrus and the adjacent sector of the ventral premotor cortex where hand actions are represented. Thus, premotor mirror neuron areas-areas active during the execution and the observation of an action-previously thought to be involved only in action recognition are actually also involved in understanding the intentions of others. To ascribe an intention is to infer a forthcoming new goal, and this is an operation that the motor system does automatically.

Individual differences in brainstem and basal ganglia structure predict postural control and balance loss in young and older adults.

Science.gov (United States)

Boisgontier, Matthieu P; Cheval, Boris; Chalavi, Sima; van Ruitenbeek, Peter; Leunissen, Inge; Levin, Oron; Nieuwboer, Alice; Swinnen, Stephan P

2017-02-01

It remains unclear which specific brain regions are the most critical for human postural control and balance, and whether they mediate the effect of age. Here, associations between postural performance and corticosubcortical brain regions were examined in young and older adults using multiple structural imaging and linear mixed models. Results showed that of the regions involved in posture, the brainstem was the strongest predictor of postural control and balance: lower brainstem volume predicted larger center of pressure deviation and higher odds of balance loss. Analyses of white and gray matter in the brainstem showed that the pedunculopontine nucleus area appeared to be critical for postural control in both young and older adults. In addition, the brainstem mediated the effect of age on postural control, underscoring the brainstem's fundamental role in aging. Conversely, lower basal ganglia volume predicted better postural performance, suggesting an association between greater neural resources in the basal ganglia and greater movement vigor, resulting in exaggerated postural adjustments. Finally, results showed that practice, shorter height and heavier weight (i.e., higher body mass index), higher total physical activity, and larger ankle active (but not passive) range of motion were predictive of more stable posture, irrespective of age. Copyright © 2016 Elsevier Inc. All rights reserved.

The influence of grasping habits and object orientation on motor planning in children and adults.

Science.gov (United States)

Jovanovic, Bianca; Schwarzer, Gudrun

2017-12-01

We investigated the influence of habitual grasp strategies and object orientation on motor planning in 3-year-olds and 4- to 5-year-old children and adults. Participants were required to rotate different vertically oriented objects around 180°. Usually, adults perform this task by grasping objects with an awkward grip (thumb and index finger pointing downward) at the beginning of the movement, in order to finish it with a comfortable hand position. This pattern corresponds to the well-known end-state comfort effect (ESC) in grasp planning. The presented objects were associated with different habitual grasp orientations that either corresponded with the grasp direction required to reach end-state comfort (downward) or implied a contrary grasp orientation (upward). Additionally, they were presented either in their usual, canonical orientation (e.g., shovel with the blade oriented downward versus cup with its opening oriented upward) or upside down. As dependent variable we analyzed the number of grips conforming to the end-state comfort principle (ESC score) realized in each object type and orientation condition. The number of grips conforming to ESC strongly increased with age. In addition, the extent to which end-state comfort was considered was influenced by the actual orientation of the objects' functional parts. Thus, in all age-groups the ESC score was highest when the functional parts of the objects were oriented downward (shovel presented canonically with blade pointing downward, cup presented upside down) and corresponded to the hand orientation needed to realize ESC. © 2017 Wiley Periodicals, Inc.

Functional morphology of the hallucal metatarsal with implications for inferring grasping ability in extinct primates.

Science.gov (United States)

Goodenberger, Katherine E; Boyer, Doug M; Orr, Caley M; Jacobs, Rachel L; Femiani, John C; Patel, Biren A

2015-03-01

Primate evolutionary morphologists have argued that selection for life in a fine branch niche resulted in grasping specializations that are reflected in the hallucal metatarsal (Mt1) morphology of extant "prosimians", while a transition to use of relatively larger, horizontal substrates explains the apparent loss of such characters in anthropoids. Accordingly, these morphological characters-Mt1 torsion, peroneal process length and thickness, and physiological abduction angle-have been used to reconstruct grasping ability and locomotor mode in the earliest fossil primates. Although these characters are prominently featured in debates on the origin and subsequent radiation of Primates, questions remain about their functional significance. This study examines the relationship between these morphological characters of the Mt1 and a novel metric of pedal grasping ability for a large number of extant taxa in a phylogenetic framework. Results indicate greater Mt1 torsion in taxa that engage in hallucal grasping and in those that utilize relatively small substrates more frequently. This study provides evidence that Carpolestes simpsoni has a torsion value more similar to grasping primates than to any scandentian. The results also show that taxa that habitually grasp vertical substrates are distinguished from other taxa in having relatively longer peroneal processes. Furthermore, a longer peroneal process is also correlated with calcaneal elongation, a metric previously found to reflect leaping proclivity. A more refined understanding of the functional associations between Mt1 morphology and behavior in extant primates enhances the potential for using these morphological characters to comprehend primate (locomotor) evolution. © 2014 Wiley Periodicals, Inc.

Increased alertness, better than posture prioritization, explains dual-task performance in prosthesis users and controls under increasing postural and cognitive challenge.

Science.gov (United States)

Howard, Charla L; Perry, Bonnie; Chow, John W; Wallace, Chris; Stokic, Dobrivoje S

2017-11-01

Sensorimotor impairments after limb amputation impose a threat to stability. Commonly described strategies for maintaining stability are the posture first strategy (prioritization of balance) and posture second strategy (prioritization of concurrent tasks). The existence of these strategies was examined in 13 below-knee prosthesis users and 15 controls during dual-task standing under increasing postural and cognitive challenge by evaluating path length, 95% sway area, and anterior-posterior and medial-lateral amplitudes of the center of pressure. The subjects stood on two force platforms under usual (hard surface/eyes open) and difficult (soft surface/eyes closed) conditions, first alone and while performing a cognitive task without and then with instruction on cognitive prioritization. During standing alone, sway was not significantly different between groups. After adding the cognitive task without prioritization instruction, prosthesis users increased sway more under the dual-task than single-task standing (p ≤ 0.028) during both usual and difficult conditions, favoring the posture second strategy. Controls, however, reduced dual-task sway under a greater postural challenge (p ≤ 0.017), suggesting the posture first strategy. With prioritization of the cognitive task, sway was unchanged or reduced in prosthesis users, suggesting departure from the posture second strategy, whereas controls maintained the posture first strategy. Individual analysis of dual tasking revealed that greater postural demand in controls and greater cognitive challenge in prosthesis users led to both reduced sway and improved cognitive performance, suggesting cognitive-motor facilitation. Thus, activation of additional resources through increased alertness, rather than posture prioritization, may explain dual-task performance in both prosthesis users and controls under increasing postural and cognitive challenge.

Saccadic updating of object orientation for grasping movements

NARCIS (Netherlands)

Selen, L.P.J.; Medendorp, W.P.

2011-01-01

Reach and grasp movements are a fundamental part of our daily interactions with the environment. This spatially-guided behavior is often directed to memorized objects because of intervening eye movements that caused them to disappear from sight. How does the brain store and maintain the spatial

Postural instability detection: aging and the complexity of spatial-temporal distributional patterns for virtually contacting the stability boundary in human stance.

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Melissa C Kilby

Full Text Available Falls among the older population can severely restrict their functional mobility and even cause death. Therefore, it is crucial to understand the mechanisms and conditions that cause falls, for which it is important to develop a predictive model of falls. One critical quantity for postural instability detection and prediction is the instantaneous stability of quiet upright stance based on motion data. However, well-established measures in the field of motor control that quantify overall postural stability using center-of-pressure (COP or center-of-mass (COM fluctuations are inadequate predictors of instantaneous stability. For this reason, 2D COP/COM virtual-time-to-contact (VTC is investigated to detect the postural stability deficits of healthy older people compared to young adults. VTC predicts the temporal safety margin to the functional stability boundary ( =  limits of the region of feasible COP or COM displacement and, therefore, provides an index of the risk of losing postural stability. The spatial directions with increased instability were also determined using quantities of VTC that have not previously been considered. Further, Lempel-Ziv-Complexity (LZC, a measure suitable for on-line monitoring of stability/instability, was applied to explore the temporal structure or complexity of VTC and the predictability of future postural instability based on previous behavior. These features were examined as a function of age, vision and different load weighting on the legs. The primary findings showed that for old adults the stability boundary was contracted and VTC reduced. Furthermore, the complexity decreased with aging and the direction with highest postural instability also changed in aging compared to the young adults. The findings reveal the sensitivity of the time dependent properties of 2D VTC to the detection of postural instability in aging, availability of visual information and postural stance and potential applicability as a

Explicit knowledge about the availability of visual feedback affects grasping with the left but not the right hand.

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Tang, Rixin; Whitwell, Robert L; Goodale, Melvyn A

2014-01-01

Previous research (Whitwell et al. in Exp Brain Res 188:603-611, 2008; Whitwell and Goodale in Exp Brain Res 194:619-629, 2009) has shown that trial history, but not anticipatory knowledge about the presence or absence of visual feedback on an upcoming trial, plays a vital role in determining how that feedback is exploited when grasping with the right hand. Nothing is known about how the non-dominant left hand behaves under the same feedback regimens. In present study, therefore, we compared peak grip aperture (PGA) for left- and right-hand grasps executed with and without visual feedback (i.e., closed- vs. open-loop conditions) in right-handed individuals under three different trial schedules: the feedback conditions were blocked separately, they were randomly interleaved, or they were alternated. When feedback conditions were blocked, the PGA was much larger for open-loop trials as compared to closed-loop trials, although this difference was more pronounced for right-hand grasps than left-hand grasps. Like Whitwell et al., we found that mixing open- and closed-loop trials together, compared to blocking them separately, homogenized the PGA for open- and closed-loop grasping in the right hand (i.e., the PGAs became smaller on open-loop trials and larger on closed-loop trials). In addition, the PGAs for right-hand grasps were entirely determined by trial history and not by knowledge of whether or not visual feedback would be available on an upcoming trial. In contrast to grasps made with the right hand, grasps made by the left hand were affected both by trial history and by anticipatory knowledge of the upcoming visual feedback condition. But these effects were observed only on closed-loop trials, i.e., the PGAs of grasps made with the left hand on closed-loop trials were smaller when participants could anticipate the availability of feedback on an upcoming trial (alternating trials) than when they could not (randomized trials). In contrast, grasps made with the

Effect of age and posture on human lymphocyte adenylate cyclase activity.

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Mader, S L; Robbins, A S; Rubenstein, L Z; Tuck, M L; Scarpace, P J

1988-03-01

1. A number of age-related changes have been reported in the catecholamine-adrenoceptor-adenylate cyclase system. Most of the data available on these alterations come from resting subjects; the response to acute stress may provide additional insights into the age effect on these responses. 2. We measured supine and 10 min upright plasma noradrenaline and lymphocyte adenylate cyclase activity in ten healthy elderly subjects (age 66-80 years) and seven healthy young subjects (age 27-34 years). 3. Isoprenaline stimulation of lymphocyte adenylate cyclase activity was not significantly different between supine and upright positions or between elderly and young subjects. There was a marked increase in forskolin-stimulated adenylate cyclase activity in the upright posture in both elderly and young subjects. The increment over supine levels was 70% in the elderly (P less than 0.025) and 73% in the young (P less than 0.05). This enhanced forskolin activity was not seen in two young subjects who became syncopal. 4. These data suggest that enhanced forskolin-stimulated adenylate cyclase activity occurs after 10 min of upright posture in both elderly and young subjects, and may be relevant to immediate blood pressure regulation. We were unable to demonstrate any age-related differences in these acute adrenergic responses.

The effects of brief swaying on postural control.

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Pagé, Sara; Maheu, Maxime; Landry, Simon P; Champoux, François

2017-12-06

Postural control can be improved with balance training. However, the nature and duration of the training required to enhance posture remains unclear. We studied the effects of 5 min of a self-initiated balance exercise along a single axis on postural control in healthy individuals. Postural control was measured before and after a 5-min period where members of the experimental group were asked to lean their entire body forward and backward and members of the control group were asked to remain seated. A significant improvement for sway velocity, a postural control variable significantly associated with an increased risk of falls, was found in the experimental group following the body sway exercise. These data suggest that a basic exercise can rapidly improve postural control and reduce the risk of falls.

Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

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Huangsheng Xie

2014-01-01

Full Text Available This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a new kind of artificial object mark based on QR (Quick Response Code is designed, which can be affixed to the surface of household objects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator’s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results show that QR Code-based artificial object mark can overcome the difficulties brought by household objects’ variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently.

Anticipatory planning and control of grasp positions and forces for dexterous two-digit manipulation.

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Fu, Qiushi; Zhang, Wei; Santello, Marco

2010-07-07

Dexterous object manipulation requires anticipatory control of digit positions and forces. Despite extensive studies on sensorimotor learning of digit forces, how humans learn to coordinate digit positions and forces has never been addressed. Furthermore, the functional role of anticipatory modulation of digit placement to object properties remains to be investigated. We addressed these questions by asking human subjects (12 females, 12 males) to grasp and lift an inverted T-shaped object using precision grip at constrained or self-chosen locations. The task requirement was to minimize object roll during lift. When digit position was not constrained, subjects could have implemented many equally valid digit position-force coordination patterns. However, choice of digit placement might also have resulted in large trial-to-trial variability of digit position, hence challenging the extent to which the CNS could have relied on sensorimotor memories for anticipatory control of digit forces. We hypothesized that subjects would modulate digit placement for optimal force distribution and digit forces as a function of variable digit positions. All subjects learned to minimize object roll within the first three trials, and the unconstrained device was associated with significantly smaller grip forces but larger variability of digit positions. Importantly, however, digit load force modulation compensated for position variability, thus ensuring consistent object roll minimization on each trial. This indicates that subjects learned object manipulation by integrating sensorimotor memories with sensory feedback about digit positions. These results are discussed in the context of motor equivalence and sensorimotor integration of grasp kinematics and kinetics.

Activation timing of postural muscles of lower legs and prediction of postural disturbance during bilateral arm flexion in older adults.

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Yaguchi, Chie; Fujiwara, Katsuo; Kiyota, Naoe

2017-12-22

Activation timings of postural muscles of lower legs and prediction of postural disturbance were investigated in young and older adults during bilateral arm flexion in a self-timing task and an oddball task with different probabilities of target presentation. Arm flexion was started from a standing posture with hands suspended 10 cm below the horizontal level in front of the body, in which postural control focused on the ankles is important. Fourteen young and 14 older adults raised the arms in response to the target sound signal. Three task conditions were used: 15 and 45% probabilities of the target in the oddball task and self-timing. Analysis items were activation timing of postural muscles (erector spinae, biceps femoris, and gastrocnemius) with respect to the anterior deltoid (AD), and latency and amplitude of the P300 component of event-related brain potential. For young adults, all postural muscles were activated significantly earlier than AD under each condition, and time of preceding gastrocnemius activation was significantly longer in the order of the self-timing, 45 and 15% conditions. P300 latency was significantly shorter, and P300 amplitude was significantly smaller under the 45% condition than under the 15% condition. For older adults, although all postural muscles, including gastrocnemius, were activated significantly earlier than AD in the self-timing condition, only activation timing of gastrocnemius was not significantly earlier than that of AD in oddball tasks, regardless of target probability. No significant differences were found between 15 and 45% conditions in onset times of all postural muscles, and latency and amplitude of P300. These results suggest that during arm movement, young adults can achieve sufficient postural preparation in proportion to the probability of target presentation in the oddball task. Older adults can achieve postural control using ankle joints in the self-timing task. However, in the oddball task, older adults

Evaluation of Intracranial Pressure in Different Body Postures and Disease Entities

DEFF Research Database (Denmark)

Andresen, Morten; Hadi, Amer; Juhler, Marianne

2016-01-01

We currently do not have sufficient knowledge regarding appropriate boundaries between "normal" and "abnormal" intracranial pressure (ICP) in humans. Our objective in this study was to quantify the effects of postural changes on ICP in normal and ill subjects. As a model for normal patients, we i...

Obesity impact on the attentional cost for controlling posture.

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Jean-Baptiste Mignardot

2010-12-01

Full Text Available This study investigated the effects of obesity on attentional resources allocated to postural control in seating and unipedal standing.Ten non obese adults (BMI = 22.4±1.3, age = 42.4±15.1 and 10 obese adult patients (BMI = 35.2±2.8, age = 46.2±19.6 maintained postural stability on a force platform in two postural tasks (seated and unipedal. The two postural tasks were performed (1 alone and (2 in a dual-task paradigm in combination with an auditory reaction time task (RT. Performing the RT task together with the postural one was supposed to require some attentional resources that allowed estimating the attentional cost of postural control. 4 trials were performed in each condition for a total of 16 trials.(1 Whereas seated non obese and obese patients exhibited similar centre of foot pressure oscillations (CoP, in the unipedal stance only obese patients strongly increased their CoP sway in comparison to controls. (2 Whatever the postural task, the additional RT task did not affect postural stability. (3 Seated, RT did not differ between the two groups. (4 RT strongly increased between the two postural conditions in the obese patients only, suggesting that body schema and the use of internal models was altered with obesity.Obese patients needed more attentional resources to control postural stability during unipedal stance than non obese participants. This was not the case in a more simple posture such as seating. To reduce the risk of fall as indicated by the critical values of CoP displacement, obese patients must dedicate a strong large part of their attentional resources to postural control, to the detriment of non-postural events. Obese patients were not able to easily perform multitasking as healthy adults do, reflecting weakened psycho-motor abilities.

Obesity Impact on the Attentional Cost for Controlling Posture

Science.gov (United States)

Mignardot, Jean-Baptiste; Olivier, Isabelle; Promayon, Emmanuel; Nougier, Vincent

2010-01-01

Background This study investigated the effects of obesity on attentional resources allocated to postural control in seating and unipedal standing. Methods Ten non obese adults (BMI = 22.4±1.3, age = 42.4±15.1) and 10 obese adult patients (BMI = 35.2±2.8, age = 46.2±19.6) maintained postural stability on a force platform in two postural tasks (seated and unipedal). The two postural tasks were performed (1) alone and (2) in a dual-task paradigm in combination with an auditory reaction time task (RT). Performing the RT task together with the postural one was supposed to require some attentional resources that allowed estimating the attentional cost of postural control. 4 trials were performed in each condition for a total of 16 trials. Findings (1) Whereas seated non obese and obese patients exhibited similar centre of foot pressure oscillations (CoP), in the unipedal stance only obese patients strongly increased their CoP sway in comparison to controls. (2) Whatever the postural task, the additional RT task did not affect postural stability. (3) Seated, RT did not differ between the two groups. (4) RT strongly increased between the two postural conditions in the obese patients only, suggesting that body schema and the use of internal models was altered with obesity. Interpretation Obese patients needed more attentional resources to control postural stability during unipedal stance than non obese participants. This was not the case in a more simple posture such as seating. To reduce the risk of fall as indicated by the critical values of CoP displacement, obese patients must dedicate a strong large part of their attentional resources to postural control, to the detriment of non-postural events. Obese patients were not able to easily perform multitasking as healthy adults do, reflecting weakened psycho-motor abilities. PMID:21187914

Dual task interference on postural sway, postural transitions and gait in people with Parkinson's disease and freezing of gait.

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de Souza Fortaleza, Ana Claudia; Mancini, Martina; Carlson-Kuhta, Patty; King, Laurie A; Nutt, John G; Chagas, Eliane Ferrari; Freitas, Ismael Forte; Horak, Fay B

2017-07-01

Freezing of gait (FoG) is associated with less automatic gait and more impaired cognition, balance and postural transitions compared to people with PD who do not have FoG. However, it is unknown whether dual-task cost during postural sway, postural transitions (such as gait initiation and turning), and gait are more in subjects with Parkinson's disease (PD) who have freezing of gait (FoG+) compared to those who do not have FoG (FoG-). Here, we hypothesized that the effects of a cognitive dual task on postural sway, postural transitions and gait would be larger in FoG+ than FoG-. Thirty FoG- and 24 FoG+ performed an Instrumented Stand and Walk test in OFF medication state, with and without a secondary cognitive task (serial subtraction by 3s). Measures of postural sway, gait initiation, turning, and walking were extracted using body-worn inertial sensors. FoG+ showed significantly larger dual task cost than FoG- for several gait metrics, but not during postural sway or postural transitions. During walking, FoG+ exhibited a larger dual task cost than FoG- resulting in shorter stride length and slower stride velocity. During standing, FoG+ showed a larger postural sway compared to FoG- and during gait initiation, FoG+, but not FoG-, showed a longer first step duration during the dual-task condition compared to single-task condition (interaction effect, p=0.04). During turning, both groups showed a slower turn peak speed in the dual-task condition compared to single task condition. These findings partly support our hypothesis that dual task cost on walking is greater in FoG+ than FoG-. Copyright © 2017. Published by Elsevier B.V.

Dynamic optimal grasping of a circular object with gravity using robotic soft-fingertips

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García-Rodríguez Rodolfo

2016-06-01

Full Text Available Object manipulation usually requires dexterity, encoded as the ability to roll, which is very difficult to achieve with robotic hands based on point contact models (subject to holonomic constraints. As an alternative for dexterous manipulation, deformable contact with hemispherical shape fingertips has been proposed to yield naturally a rolling constraint. It entails dexterity at the expense of dealing with normal and tangential forces, as well as more elaborated models and control schemes. Furthermore, the essential feature of the quality of grasp can be addressed with this type of robot hands, but it has been overlooked for deformable contact. In this paper, a passivity-based controller that considers an optimal grasping measure is proposed for robotic hands with hemispherical deformable fingertips, to manipulate circular dynamic objects. Optimal grasping that minimizes the contact wrenches is achieved through fingertip rolling until normal forces pass through the center of mass of the object, aligning the relative angle between these normal forces. The case of a circular object is developed in detail, though our proposal can be extended to objects with an arbitrary shape that admit a local decomposition by a circular curvature. Simulation and experimental results show convergence under various conditions, wherein rolling and tangent forces become instrumental to achieve such a quality of grasp.

Characteristics of grasping movements in a laboratory and in an everyday-like context.

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Bock, Otmar; Züll, Anne

2013-02-01

To understand the principles of motor control, it is useful to know whether movements with the same physical constraints can be governed by different rules depending on the behavioral context. We therefore have recently introduced a paradigm in which subjects grasp from the same starting position to the same final object, once as a typical laboratory task and once as part of everyday-like behavior. In the laboratory context, grasping was repetitive, externally triggered and purposeless; in the everyday-like context, it was embedded in a complex activity, intentionally initiated, and served a purpose. Here we present a comprehensive analysis of data from that paradigm. Among 38 response parameters that reflected hand transport, grip shaping and object manipulation, 20 differed significantly between groups. Factor analysis further reduced them to four orthogonal factors: response speed, finger-object contact, response variability, and hand path curvature. This shows, for the first time, that behavioral context influences the execution of grasping movements in four independent ways, possibly reflecting four distinct functional modules in the motor system. This fits well with the view - derived from neurological data - that grasping is controlled by a set of interconnected brain areas which are differentially recruited to achieve different behavioral goals. Copyright © 2013 Elsevier B.V. All rights reserved.

A flexed posture in elderly patients is associated with impairments in postural control during walking.

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de Groot, Maartje H; van der Jagt-Willems, Hanna C; van Campen, Jos P C M; Lems, Willem F; Beijnen, Jos H; Lamoth, Claudine J C

2014-02-01

A flexed posture (FP) is characterized by protrusion of the head and an increased thoracic kyphosis (TK), which may be caused by osteoporotic vertebral fractures (VFs). These impairments may affect motor function, and consequently increase the risk of falling and fractures. The aim of the current study was therefore to examine postural control during walking in elderly patients with FP, and to investigate the relationship with geriatric phenomena that may cause FP, such as increased TK, VFs, frailty, polypharmacy and cognitive impairments. Fifty-six elderly patients (aged 80 ± 5.2 years; 70% female) walked 160 m at self-selected speed while trunk accelerations were recorded. Walking speed, mean stride time and coefficient of variation (CV) of stride time were recorded. In addition, postural control during walking was quantified by time-dependent variability measures derived from the theory of stochastic dynamics, indicating smoothness, degree of predictability, and local stability of trunk acceleration patterns. Twenty-five patients (45%) had FP and demonstrated a more variable and less structured gait pattern, and a more irregular trunk acceleration pattern than patients with normal posture. FP was significantly associated with an increased TK, but not with other geriatric phenomena. An increased TK may bring the body's centre of mass forward, which requires correcting responses, and reduces the ability to respond on perturbation, which was reflected by higher variation in the gait pattern in FP-patients. Impairments in postural control during walking are a major risk factor for falling: the results indicate that patients with FP have impaired postural control during walking and might therefore be at increased risk of falling. Copyright © 2013 Elsevier B.V. All rights reserved.

The dentist’s operating posture – ergonomic aspects

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Pîrvu, C; Pătraşcu, I; Pîrvu, D; Ionescu, C

2014-01-01

Abstract The practice of dentistry involves laborious high finesse dental preparations, precision and control in executions that require a particular attention, concentration and patience of the dentist and finally the dentist’s physical and mental resistance. The optimal therapeutic approach and the success of practice involve special working conditions for the dentist and his team in an ergonomic environment. The meaning of the posture in ergonomics is the manner in which different parts of the body are located and thus the reports are established between them in order to allow a special task execution. This article discusses the posture adopted by dentists when they work, beginning with the balanced posture and going to different variants of posture. The ideal posture of a dentist gives him, on the one hand the optimal working conditions (access, visibility and control in the mouth) and on the other hand, physical and psychological comfort throughout the execution of the clinical acts. Although the theme of dentist posture is treated with great care and often presented in the undergraduate courses and the continuing education courses on ergonomics in dentistry, many dentists do not know the subject well enough nor the theoretical issues and therefore nor the practical applicability. The risk and perspective of the musculoskeletal disorders related to unbalanced postures should determine the dentists take postural corrective actions and compensation measures in order to limit the negative effects of working in a bad posture. PMID:25184007

USE OF SOFTWARES FOR POSTURE ASSESSMENT: INTEGRATIVE REVIEW

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Edyla Maria Porto de Freitas Camelo

2015-09-01

Full Text Available To carry out an integrative literature review on the postural analysis softwares available today. It is an integrative-narrative review of qualitative and methodological nature performed during April-July 2014. As inclusion criteria, the articles should be bibliographical or original research and available with full access. At first, we proceeded to the identification of the keywords for the softwares related to postural assessment commonly used in the health field, in such case "posture", "software", and "postural assessment". The search was narrowed by publication date from 2002 to 2014. Through the information acquired from the articles and from the software developers, information on 12 programs that assist the postural evaluation were obtained - Alcimage, All Body Scan 3D, Aplob, APPID, Biotonix, Corporis Pro, Fisimetrix, Fisiometer Posturograma, Physical Fisio, Physio Easy, Posture Print and SAPO. However, only one tool has more information and studies, namely SAPO. There are many postural analysis softwares available on the internet today, however, these are quite disparate in relation to possible answers and are still poorly widespread as research tools.

Posture and cognition in the elderly: interaction and contribution to the rehabilitation strategies.

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Borel, L; Alescio-Lautier, B

2014-01-01

In this paper we review the effects of aging on sensory systems and their impact on posture, balance and gait. We also address cognitive aging and attempt to specify which altered cognitive functions negatively impact balance and walking. The role of cognition in postural control is tested with dual-task experiments. This situation results in deleterious effects due to an attentional overload. Given the human cognitive system has limited capacities, we propose that simultaneously performing two tasks depends on the capacity of each individual to perform these tasks on a continuum between automatic execution to highly controlled performance. A level of maximum control exceeds the subject's attentional capacity, which makes it impossible to perform both tasks simultaneously. The subject therefore prioritizes one of the tasks. We use representative dual-task studies from the literature to illustrate the relationship between the different cognitive components and their impact on the control of posture and gait in elderly subjects with altered cognitive capacities and with elderly subjects who are fallers or who have altered sensory-motor capacities. Recently this postural-cognitive relationship was addressed with a new approach. We report how cognitive training can improve dual-task management and we attempt to define the cognitive mechanisms that may be responsible for better postural balance. Copyright © 2013 Elsevier Masson SAS. All rights reserved.

Effects of rapid maxillary expansion on head posture, postural stability, and fall risk

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Fatih Celebi

2017-01-01

Full Text Available Objective: The aim of this study was to investigate the effects of rapid maxillary expansion (RME on head posture, postural stability, and fall risk. Materials and Methods: A sample of 51 adolescent patients was randomly divided into two groups. In the first group, which consisted of 28 patients (15 females and 13 males, RME was performed as a part of routine orthodontic treatment. The remaining 23 individuals (12 females and 11 males served as the control group. Lateral cephalometric radiographs taken in natural head position, postural stability, and fall risk scores were obtained during the first visit. They were repeated on average 3.8 months and 3.5 months later for the study and control groups, respectively. The changes were analyzed using the Wilcoxon signed-rank test, paired samples t-test, Mann–Whitney U-test, and independent samples t-test. Results: As a result of RME, a statistically significant decrease was detected in the fall risk score (P < 0.05 in the study group, while the head position and postural stability remained unchanged. For the control group, no significant changes were observed in all measurements. Conclusions: The result of the present study suggests that RME has a capacity of improving fall risk.

Development of Object and Grasping Knowledge by Robot Exploration

DEFF Research Database (Denmark)

Kraft, Dirk; Detry, Renaud; Pugeault, Nicolas

2010-01-01

We describe a bootstrapping cognitive robot system that—mainly based on pure exploration—acquires rich object representations and associated object-specific grasp affordances. Such bootstrapping becomes possible by combining innate competences and behaviours by which the system gradually enriches...

CONTROL OF APERTURE CLOSURE INITIATION DURING TRUNK-ASSISTED REACH-TO-GRASP MOVEMENTS

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Rand, Miya K.; Van Gemmert, Arend W. A.; Hossain, Abul B.M.I.; Shimansky, Yury P.; Stelmach, George E.

2012-01-01

The present study investigated how the involvement and direction of trunk movement during reach-to-grasp movements affect the coordination between the transport and grasping components. Seated young adults made prehensile movements in which the involvement of the trunk was varied; the trunk was not involved, moved forward (flexion), or moved backward (extension) in the sagittal plane during the reach to the object. Each of the trunk movements was combined with an extension or flexion motion of the arm during the reach. Regarding the relation between the trunk and arm motion for arm transport, the onset of wrist motion relative to that of the trunk was delayed to a greater extent for the trunk extension than for the trunk flexion. The variability of the time period from the peak of wrist velocity to the peak of trunk velocity was also significantly greater for trunk extension compared to trunk flexion. These findings indicate that trunk flexion was better integrated into the control of wrist transport than trunk extension. In terms of the temporal relationship between wrist transport and grip aperture, the relation between the time of peak wrist velocity and the time of peak grip aperture did not change or became less steady across conditions. Therefore, the stability of temporal coordination between wrist transport and grip aperture was maintained despite the variation of the pattern of intersegmental coordination between the arm and the trunk during arm transport. The transport-aperture coordination was further assessed in terms of the control law according to which the initiation of aperture closure during the reach occurs when the hand crosses a hand-to-target distance threshold for grasp initiation that is a function of peak aperture, wrist velocity and acceleration, trunk velocity and acceleration, and trunk-to-target distance at the time of aperture closure initiation. The participants increased the hand-to-target distance threshold for grasp initiation in

Control of aperture closure initiation during trunk-assisted reach-to-grasp movements.

Science.gov (United States)

Rand, Miya K; Van Gemmert, Arend W A; Hossain, Abul B M I; Shimansky, Yury P; Stelmach, George E

2012-06-01

The present study investigated how the involvement and direction of trunk movement during reach-to-grasp movements affect the coordination between the transport and grasping components. Seated young adults made prehensile movements in which the involvement of the trunk was varied; the trunk was not involved, moved forward (flexion), or moved backward (extension) in the sagittal plane during the reach to the object. Each of the trunk movements was combined with an extension or flexion motion of the arm during the reach. Regarding the relationship between the trunk and arm motion for arm transport, the onset of wrist motion relative to that of the trunk was delayed to a greater extent for the trunk extension than for the trunk flexion. The variability of the time period from the peak of wrist velocity to the peak of trunk velocity was also significantly greater for trunk extension compared to trunk flexion. These findings indicate that trunk flexion was better integrated into the control of wrist transport than trunk extension. In terms of the temporal relationship between wrist transport and grip aperture, the relationship between the time of peak wrist velocity and the time of peak grip aperture did not change or become less steady across conditions. Therefore, the stability of temporal coordination between wrist transport and grip aperture was maintained despite the variation of the pattern of intersegmental coordination between the arm and the trunk during arm transport. The transport-aperture coordination was further assessed in terms of the control law according to which the initiation of aperture closure during the reach occurs when the hand crosses a hand-to-target distance threshold for grasp initiation, which is a function of peak aperture, wrist velocity and acceleration, trunk velocity and acceleration, and trunk-to-target distance at the time of aperture closure initiation. The participants increased the hand-to-target distance threshold for grasp

Cardiovascular and Postural Control Interactions during Hypergravity: Effects on Cerebral Autoregulation in Males and Females

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Goswami, Nandu; Blaber, Andrew; Bareille, Marie-Pierre; Beck, Arnaud; Avan, Paul; Bruner, Michelle; Hinghofer-Szalkay, Helmut

2012-07-01

Orthostatic intolerance remains a problem upon return to Earth from the microgravity environment of spaceflight. A variety of conditions including hypovolemia, cerebral vasoconstriction, cerebral or peripheral vascular disease, or cardiac arrhythmias may result in syncope if the person remains upright. Current research indicates that there is a greater dependence on visual and somatosensory information at the beginning of space flight with a decreased otolith gain during prolonged space flight (Herault et al., 2002). The goal of the research is to further our understanding of the fundamental adaptive homeostatic mechanisms involved in gravity related changes in cardiovascular and postural function. Cardiovascular, cerebrovascular, and postural sensory motor control systems in male and female participants before, during, and after exposure to graded levels of hyper-G were investigated. Hypotheses: 1) Activation of skeletal muscle pump will be directly related to the degree of orthostatic stress. 2) Simultaneous measurement of heart rate, blood pressure and postural sway will predict cardio-postural stability. Blood pressure and heart rate (means and variability), postural sway, center of pressure (COP), baroreflex function, calf blood flow, middle cerebral artery blood flow, non-invasive intracranial pressure measurements, and two-breath CO2 were measured. Results from the study will be used to provide an integrated insight into mechanisms of cardio-postural control and cerebral autoregulation, which are important aspects of human health in flights to Moon, Mars and distant planets.

Detection, Location and Grasping Objects Using a Stereo Sensor on UAV in Outdoor Environments

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Pablo Ramon Soria

2017-01-01

Full Text Available The article presents a vision system for the autonomous grasping of objects with Unmanned Aerial Vehicles (UAVs in real time. Giving UAVs the capability to manipulate objects vastly extends their applications, as they are capable of accessing places that are difficult to reach or even unreachable for human beings. This work is focused on the grasping of known objects based on feature models. The system runs in an on-board computer on a UAV equipped with a stereo camera and a robotic arm. The algorithm learns a feature-based model in an offline stage, then it is used online for detection of the targeted object and estimation of its position. This feature-based model was proved to be robust to both occlusions and the presence of outliers. The use of stereo cameras improves the learning stage, providing 3D information and helping to filter features in the online stage. An experimental system was derived using a rotary-wing UAV and a small manipulator for final proof of concept. The robotic arm is designed with three degrees of freedom and is lightweight due to payload limitations of the UAV. The system has been validated with different objects, both indoors and outdoors.

The effect of extended wake on postural control in young adults.

Science.gov (United States)

Smith, Simon S; Cheng, Tiffany; Kerr, Graham K

2012-09-01

The sleep-wake cycle is a major determinant of locomotor activity in humans, and the neural and physiological processes necessary for optimum postural control may be impaired by an extension of the wake period into habitual sleep time. There is growing evidence for such a contribution from sleep-related factors, but great inconsistency in the methods used to assess this contribution, particularly in control for circadian phase position. Postural control was assessed at hourly intervals across 14 h of extended wake in nine young adult participants. Force plate parameters of medio-lateral and anterior-posterior sway, centre of pressure (CoP) trace length, area, and velocity were assessed with eyes open and eyes closed over 3-min periods. A standard measure of psychomotor vigilance was assessed concurrently under constant routine conditions. After controlling for individual differences in circadian phase position, a significant effect of extended wake was found for anterior-posterior sway and for psychomotor vigilance. These data suggest that extended wake may increase the risk of a fall or other consequences of impaired postural control.

Assessing Somatosensory Utilization during Unipedal Postural Control.

Science.gov (United States)

Goel, Rahul; De Dios, Yiri E; Gadd, Nichole E; Caldwell, Erin E; Peters, Brian T; Reschke, Millard F; Bloomberg, Jacob J; Oddsson, Lars I E; Mulavara, Ajitkumar P

2017-01-01

Multisensory-visual, vestibular and somatosensory information is integrated for appropriate postural control. The primary goal of this study was to assess somatosensory utilization during a functional motor task of unipedal postural control, in normal healthy adults. Assessing individual bias in the utilization of individual sensory contributions during postural control may help customization of rehabilitation protocols. In this study, a test paradigm of unipedal stance control in supine orientation with and without vision was assessed. Postural control in this test paradigm was hypothesized to utilize predominantly contributions of somatosensory information from the feet and ankle joint, with minimal vestibular input. Fourteen healthy subjects "stood" supine on their dominant leg while strapped to a backpack frame that was freely moving on air-bearings, to remove available otolith tilt cues with respect to gravity that influences postural control when standing upright. The backpack was attached through a cable to a pneumatic cylinder that provided a gravity-like load. Subjects performed three trials each with Eyes-open (EO) and Eyes-closed (EC) while loaded with 60% body weight. There was no difference in unipedal stance time (UST) across the two conditions with EC condition challenging the postural control system greater than the EO condition. Stabilogram-diffusion analysis (SDA) indicated that the critical mean square displacement was significantly different between the two conditions. Vestibular cues, both in terms of magnitude and the duration for which relevant information was available for postural control in this test paradigm, were minimized. These results support our hypothesis that maintaining unipedal stance in supine orientation without vision, minimizes vestibular contribution and thus predominantly utilizes somatosensory information for postural control.

An Aircraft Service Staff Rostering using a Hybrid GRASP Algorithm

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W.H. Ip

2009-10-01

Full Text Available The aircraft ground service company is responsible for carrying out the regular tasks to aircraft maintenace between their arrival at and departure from the airport. This paper presents the application of a hybrid approach based upon greedy randomized adaptive search procedure (GRASP for rostering technical staff such that they are assigned predefined shift patterns. The rostering of staff is posed as an optimization problem with an aim of minimizing the violations of hard and soft constraints. The proposed algorithm iteratively constructs a set of solutions by GRASP. Furthermore, with multi-agent techniques, we efficiently identify an optimal roster with minimal constraint violations and fair to employees. Experimental results are included to demonstrate the effectiveness of the proposed algorithm.

[Head posture in orthodontics: physiopathology and clinical aspects 2].

Science.gov (United States)

Caltabiano, M; Verzi, P; Scire Scappuzzo, G

1989-01-01

The Authors review in orthodontic respects present knowledges about head posture involvement in craniofacial morphogenesis and pathology. Relationships between craniofacial morphology, craniocervical posture, craniomandibular posture, cervical spine curvature, hyoid bone position and posture of whole body in space are shown, in attempt to explain conditions such as "forward head posture", mouth breathing and some occlusal disorders. Main methods to evaluate craniocervical relations on lateral skull radiographs are analysed. Pathogenesis of pain syndromes associated with abnormal craniocervical and craniomandibular mechanics are also briefly treated.

Minimal Reducts with Grasp

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Iris Iddaly Mendez Gurrola

2011-03-01

Full Text Available The proper detection of patient level of dementia is important to offer the suitable treatment. The diagnosis is based on certain criteria, reflected in the clinical examinations. From these examinations emerge the limitations and the degree in which each patient is in. In order to reduce the total of limitations to be evaluated, we used the rough set theory, this theory has been applied in areas of the artificial intelligence such as decision analysis, expert systems, knowledge discovery, classification with multiple attributes. In our case this theory is applied to find the minimal limitations set or reduct that generate the same classification that considering all the limitations, to fulfill this purpose we development an algorithm GRASP (Greedy Randomized Adaptive Search Procedure.

Relationship between craniomandibular disorders and poor posture.

Science.gov (United States)

Nicolakis, P; Nicolakis, M; Piehslinger, E; Ebenbichler, G; Vachuda, M; Kirtley, C; Fialka-Moser, V

2000-04-01

The purpose of this research was to show that a relationship between craniomandibular disorders (CMD) and postural abnormalities has been repeatedly postulated, but still remains unproven. This study was intended to test this hypothesis. Twenty-five CMD patients (mean age 28.2 years) were compared with 25 gender and age matched controls (mean age 28.3 years) in a controlled, investigator-blinded trial. Twelve postural and ten muscle function parameters were examined. Measurements were separated into three subgroups, consisting of those variables associated with the cervical region, the trunk in the frontal plane, and the trunk in the sagittal plane. Within these subgroups, there was significantly more dysfunction in the patients, compared to control subjects (Mann-Whitney U test p Postural and muscle function abnormalities appeared to be more common in the CMD group. Since there is evidence of the mutual influence of posture and the craniomandibular system, control of body posture in CMD patients is recommended, especially if they do not respond to splint therapy. Whether poor posture is the reason or the result of CMD cannot be distinguished by the data presented here.

Cross-cultural examination of the semantic dimensions of body postures.

Science.gov (United States)

Kudoh, T; Matsumoto, D

1985-06-01

In two studies, we examined the cross-cultural validity of the dimensional structures with which postures are judged. In Study 1, 686 Japanese subjects rated 40 posture expressions on sixteen 5-point semantic differential scale items. Subjects inferred an encoder's attitude towards oneself (i.e., the decoding subject) in hypothetical dyadic situations. A principal-component factor analysis yielded evidence for three independent dimensions resembling those proposed by Schlosberg (1954), Osgood (1966), and Williams and Sundene (1965). These three factors were named self-fulfillment, interpersonal positiveness, and interpersonal consciousness. In Study 2, 336 Japanese students again rated the 40 posture expressions on the sixteen 5-point differential items, but an attempt was made to control for the status of the hypothetical encoder. The results of this study essentially replicated those of Study 1. One interesting finding was that although we found the same factors as those found in studies conducted in the West, the order of the factors in our studies was the reverse of the order found in these previous studies. The findings are discussed in terms of proposed cultural differences in the maintenance of human relations.

Postural stability and the influence of concurrent muscle activation--Beneficial effects of jaw and fist clenching.

Science.gov (United States)

Ringhof, Steffen; Leibold, Timo; Hellmann, Daniel; Stein, Thorsten

2015-10-01

Recent studies reported on the potential benefits of submaximum clenching of the jaw on human postural control in upright unperturbed stance. However, it remained unclear whether these effects might also be observed among active controls. The purpose of the present study, therefore, was to comparatively examine the influence of concurrent muscle activation in terms of submaximum clenching of the jaw and submaximum clenching of the fists on postural stability. Posturographic analyses were conducted with 17 healthy young adults on firm and foam surfaces while either clenching the jaw (JAW) or clenching the fists (FIST), whereas habitual standing served as the control condition (CON). Both submaximum tasks were performed at 25% maximum voluntary contraction, assessed, and visualized in real time by means of electromyography. Statistical analyses revealed that center of pressure (COP) displacements were significantly reduced during JAW and FIST, but with no differences between both concurrent clenching activities. Further, a significant increase in COP displacements was observed for the foam as compared to the firm condition. The results showed that concurrent muscle activation significantly improved postural stability compared with habitual standing, and thus emphasize the beneficial effects of jaw and fist clenching for static postural control. It is suggested that concurrent activities contribute to the facilitation of human motor excitability, finally increasing the neural drive to the distal muscles. Future studies should evaluate whether elderly or patients with compromised postural control might benefit from these physiological responses, e.g., in the form of a reduced risk of falling. Copyright © 2015 Elsevier B.V. All rights reserved.

Physical Activity and Compensation of Body Posture Disorders in Children Aged Seven

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Hricková Katarína

2016-09-01

Full Text Available Introduction. Physical activity is an indelible part of human life, but the impact of industrial changes on society has led to a hypokinetic lifestyle not only in adults but also in children and youth. This paper aims to present the results of a study of the body posture of 7-year-olds, which is an essential part of their physical development evaluation. The aim of our study was to expand our knowledge of the occurrence of body posture disorders in 7-year-olds, as well as to develop an appropriate movement programme which would help improve the current situation. Material and methods. The research sample consisted of 393 first-graders from 4 grammar schools in Kosice. We used muscle testing according to Janda and Tichy to obtain data on individual muscle weaknesses and postural deviations. Results. Our research confirmed the findings of several other researchers who had pointed out that muscle weaknesses and postural deviations can be observed already in preschoolers. Due to a lack of physical activity and movement, muscle weakness in preschool children results in more serious health issues at school age and later in adulthood. Conclusions. We managed to stabilise and even to correct the weaknesses we observed by implementing a movement programme focusing on the diagnosed muscle weakness.

The reliability and validity of the Saliba Postural Classification System.

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Collins, Cristiana Kahl; Johnson, Vicky Saliba; Godwin, Ellen M; Pappas, Evangelos

2016-07-01

To determine the reliability and validity of the Saliba Postural Classification System (SPCS). Two physical therapists classified pictures of 100 volunteer participants standing in their habitual posture for inter and intra-tester reliability. For validity, 54 participants stood on a force plate in a habitual and a corrected posture, while a vertical force was applied through the shoulders until the clinician felt a postural give. Data were extracted at the time the give was felt and at a time in the corrected posture that matched the peak vertical ground reaction force (VGRF) in the habitual posture. Inter-tester reliability demonstrated 75% agreement with a Kappa = 0.64 (95% CI = 0.524-0.756, SE = 0.059). Intra-tester reliability demonstrated 87% agreement with a Kappa = 0.8, (95% CI = 0.702-0.898, SE = 0.05) and 80% agreement with a Kappa = 0.706, (95% CI = 0.594-0818, SE = 0.057). The examiner applied a significantly higher (p < 0.001) peak vertical force in the corrected posture prior to a postural give when compared to the habitual posture. Within the corrected posture, the %VGRF was higher when the test was ongoing vs. when a postural give was felt (p < 0.001). The %VGRF was not different between the two postures when comparing the peaks (p = 0.214). The SPCS has substantial agreement for inter- and intra-tester reliability and is largely a valid postural classification system as determined by the larger vertical forces in the corrected postures. Further studies on the correlation between the SPCS and diagnostic classifications are indicated.

Viewing geometry determines the contribution of binocular vision to the online control of grasping.

Science.gov (United States)

Keefe, Bruce D; Watt, Simon J

2017-12-01

Binocular vision is often assumed to make a specific, critical contribution to online visual control of grasping by providing precise information about the separation between digits and object. This account overlooks the 'viewing geometry' typically encountered in grasping, however. Separation of hand and object is rarely aligned precisely with the line of sight (the visual depth dimension), and analysis of the raw signals suggests that, for most other viewing angles, binocular feedback is less precise than monocular feedback. Thus, online grasp control relying selectively on binocular feedback would not be robust to natural changes in viewing geometry. Alternatively, sensory integration theory suggests that different signals contribute according to their relative precision, in which case the role of binocular feedback should depend on viewing geometry, rather than being 'hard-wired'. We manipulated viewing geometry, and assessed the role of binocular feedback by measuring the effects on grasping of occluding one eye at movement onset. Loss of binocular feedback resulted in a significantly less extended final slow-movement phase when hand and object were separated primarily in the frontoparallel plane (where binocular information is relatively imprecise), compared to when they were separated primarily along the line of sight (where binocular information is relatively precise). Consistent with sensory integration theory, this suggests the role of binocular (and monocular) vision in online grasp control is not a fixed, 'architectural' property of the visuo-motor system, but arises instead from the interaction of viewer and situation, allowing robust online control across natural variations in viewing geometry.

Management of specific and excessive posturing behavior in a hyacinth macaw (Anodorhynchus hyacinthinus) by using applied behavior analysis.

Science.gov (United States)

Clayton, Leigh Ann; Friedman, Susan G; Evans, Liz A

2012-06-01

Applied behavior analysis was used in a female hyacinth macaw (Anodorhynchus hyacinthinus) to reduce specific, excessive mating-type posturing that had become disruptive due to increased frequency, duration, and intensity. A functional assessment and intervention design worksheet was used to evaluate behavior-environment relations and to develop an individualized behavior-change plan. The functional assessment indicated that human attention was maintaining the behavior. The intervention, differential reinforcement of incompatible behavior, was implemented to increase attention for standing upright and to remove attention for posturing. Within 1 month, posturing decreased to acceptable levels and was replaced with an upright posture. Problem behaviors that appear "reproductive" may be responsive to behavior management alone. Applied behavior analysis and a functional assessment and intervention design are ideal tools to address problem behavior in avian patients.

The importance of postural cues for determining eye height in immersive virtual reality.

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Leyrer, Markus; Linkenauger, Sally A; Bülthoff, Heinrich H; Mohler, Betty J

2015-01-01

In human perception, the ability to determine eye height is essential, because eye height is used to scale heights of objects, velocities, affordances and distances, all of which allow for successful environmental interaction. It is well understood that eye height is fundamental to determine many of these percepts. Yet, how eye height itself is provided is still largely unknown. While the information potentially specifying eye height in the real world is naturally coincident in an environment with a regular ground surface, these sources of information can be easily divergent in similar and common virtual reality scenarios. Thus, we conducted virtual reality experiments where we manipulated the virtual eye height in a distance perception task to investigate how eye height might be determined in such a scenario. We found that humans rely more on their postural cues for determining their eye height if there is a conflict between visual and postural information and little opportunity for perceptual-motor calibration is provided. This is demonstrated by the predictable variations in their distance estimates. Our results suggest that the eye height in such circumstances is informed by postural cues when estimating egocentric distances in virtual reality and consequently, does not depend on an internalized value for eye height.

The importance of postural cues for determining eye height in immersive virtual reality.

Directory of Open Access Journals (Sweden)

Markus Leyrer

Full Text Available In human perception, the ability to determine eye height is essential, because eye height is used to scale heights of objects, velocities, affordances and distances, all of which allow for successful environmental interaction. It is well understood that eye height is fundamental to determine many of these percepts. Yet, how eye height itself is provided is still largely unknown. While the information potentially specifying eye height in the real world is naturally coincident in an environment with a regular ground surface, these sources of information can be easily divergent in similar and common virtual reality scenarios. Thus, we conducted virtual reality experiments where we manipulated the virtual eye height in a distance perception task to investigate how eye height might be determined in such a scenario. We found that humans rely more on their postural cues for determining their eye height if there is a conflict between visual and postural information and little opportunity for perceptual-motor calibration is provided. This is demonstrated by the predictable variations in their distance estimates. Our results suggest that the eye height in such circumstances is informed by postural cues when estimating egocentric distances in virtual reality and consequently, does not depend on an internalized value for eye height.

Visually and memory-guided grasping: aperture shaping exhibits a time-dependent scaling to Weber's law.

Science.gov (United States)

Holmes, Scott A; Mulla, Ali; Binsted, Gordon; Heath, Matthew

2011-09-01

The 'just noticeable difference' (JND) represents the minimum amount by which a stimulus must change to produce a noticeable variation in one's perceptual experience and is related to initial stimulus magnitude (i.e., Weber's law). The goal of the present study was to determine whether aperture shaping for visually derived and memory-guided grasping elicit a temporally dependent or temporally independent adherence to Weber's law. Participants were instructed to grasp differently sized objects (20, 30, 40, 50 and 60mm) in conditions wherein vision of the grasping environment was available throughout the response (i.e., closed-loop), when occluded at movement onset (i.e., open-loop), and when occluded for a brief (i.e., 0ms) or longer (i.e., 2000ms) delay in advance of movement onset. Within-participant standard deviations of grip aperture (i.e., the JNDs) computed at decile increments of normalized grasping time were used to determine participant's sensitivity to detecting changes in object size. Results showed that JNDs increased linearly with increasing object size from 10% to 40% of grasping time; that is, the trial-to-trial stability (i.e., visuomotor certainty) of grip aperture (i.e., the comparator) decreased with increasing object size (i.e., the initial stimulus). However, a null JND/object size scaling was observed during the middle and late stages of the response (i.e., >50% of grasping time). Most notably, the temporal relationship between JNDs and object size scaling was similar across the different visual conditions used here. Thus, our results provide evidence that aperture shaping elicits a time-dependent early, but not late, adherence to the psychophysical principles of Weber's law. Copyright © 2011 Elsevier Ltd. All rights reserved.

Ergonomic strategies to improve radiographers' posture during mammography activities.

Science.gov (United States)

Cernean, Nicolai; Serranheira, Florentino; Gonçalves, Pedro; Sá Dos Reis, Cláudia

2017-08-01

To identify alternatives for radiographers' postures while performing mammography that can contribute to reduce the risk of work-related musculoskeletal disorders (WRMSDs). Radiographers' postures to positioning craniocaudal (CC) and mediolateral oblique (MLO) views were simulated without any intervention for three scenarios: radiographer/patient with similar statures, radiographer smaller than patient and radiographer taller than patient. Actions were taken to modify the postures: seated radiographer; patient on a step; seated patient; radiographer on a step. All the postures were analysed using kinovea 0.8.15 software and the angles were measured twice and classified according to European standard EN1005-4: 2005. The non-acceptable angles were measured mainly during MLO positioning when radiographer was taller than the patient: 139° and 120° for arm-flexion and abduction, 72° for trunk and -24° for head/neck-flexion. The introduction of alternative postures (radiographer seated), allowed improvements in posture (60° and 99° for arm flexion and abduction, 14° for trunk and 0° for head/neck flexion), being classified as acceptable. The alternative postures simulated have the potential to reduce the risk of developing WRMSDs when radiographers and patients have different statures. • Radiographers' postures in mammography can contribute to work-related musculoskeletal disorders • Non-acceptable posture was identified for MLO breast positioning (radiographer taller than patient) • Adapting posture to patient biotype reduces the WRMSD risk for radiographers.

Grounded Object and Grasp Representations in a Cognitive Architecture

DEFF Research Database (Denmark)

Kraft, Dirk

developed. This work presents a system that is able to learn autonomously about objects and applicable grasps in an unknown environment through exploratory manipulation and to then use this grounded knowledge in a planning setup to address complex tasks. A set of different subsystems is needed to achieve....... The topics are ordered so that we proceed from the more general integration works towards the works describing the individual components. The first chapter gives an overview over the system that is able to learn a grounded visual object representation and a grounded grasp representation. In the following...... part, we describe how this grounding procedures can be embedded in a three cognitive level architecture. Our initial work to use a tactile sensor to enrichen the object representations as well as allow for more complex actions is presented here as well. Since our system is concerned with learning about...

Physiological Mechanisms Mediating the Coupling between Heart Period and Arterial Pressure in Response to Postural Changes in Humans

OpenAIRE

Silvani, Alessandro; Calandra-Buonaura, Giovanna; Johnson, Blair D.; van Helmond, Noud; Barletta, Giorgio; Cecere, Anna G.; Joyner, Michael J.; Cortelli, Pietro

2017-01-01

The upright posture strengthens the coupling between heart period (HP) and systolic arterial pressure (SAP) consistently with a greater contribution of the arterial baroreflex to cardiac control, while paradoxically decreasing cardiac baroreflex sensitivity (cBRS). To investigate the physiological mechanisms that mediate the coupling between HP and SAP in response to different postures, we analyzed the cross-correlation functions between low-frequency HP and SAP fluctuations and estimated cBR...

Postural ortostatisk takykardi-syndrom

DEFF Research Database (Denmark)

Brinth, Louise; Pors, Kirsten; Mehlsen, Jesper

2015-01-01

Postural orthostatic tachycardia syndrome (POTS) is a heterogeneous condition of dysautonomia and suspected autoimmunity characterized by abnormal increments in heart rate upon assumption of the upright posture accompanied by symptoms of cerebral hypoperfusion and sympathoexcitation. An increase...... in heart rate equal to or greater than 30 bpm or to levels higher than 120 bpm during a head-up tilt test is the main diagnostic criterion. Management includes both non-pharmacological and pharmacological treatment focusing on stress management, volume expansion and heart rate control....

Assessing Somatosensory Utilization during Unipedal Postural Control

OpenAIRE

Goel, Rahul; De Dios, Yiri E.; Gadd, Nichole E.; Caldwell, Erin E.; Peters, Brian T.; Reschke, Millard F.; Bloomberg, Jacob J.; Oddsson, Lars I. E.; Mulavara, Ajitkumar P.

2017-01-01

Multisensory—visual, vestibular and somatosensory information is integrated for appropriate postural control. The primary goal of this study was to assess somatosensory utilization during a functional motor task of unipedal postural control, in normal healthy adults. Assessing individual bias in the utilization of individual sensory contributions during postural control may help customization of rehabilitation protocols. In this study, a test paradigm of unipedal stance control in supine orie...

Postural Control in Children: Implications for Pediatric Practice

Science.gov (United States)

Westcott, Sarah L.; Burtner, Patricia

2004-01-01

Based on a systems theory of motor control, reactive postural control (RPA) and anticipatory postural control (APA) in children are reviewed from several perspectives in order to develop an evidence-based intervention strategy for improving postural control in children with limitations in motor function. Research on development of postural…

Decrease in back strength in asymmetric trunk postures

NARCIS (Netherlands)

Vink, P.; Daanen, H. A M; Meijst, W. J.; Ligteringen, J.

1992-01-01

The extension force against resistance was recorded in 23 postures for 12 subjects to find explanations for the decrease in back strength in asymmetric postures. A reduction in muscle force in asymmetric postures was found up to 40%, but was strongly dependent on the plane in which asymmetry

Investigating the Effects of Different Working Postures on Cognitive Performance

Directory of Open Access Journals (Sweden)

Sharareh Mohammadi

2018-01-01

Conclusion This study demonstrates that cognitive performance is affected by working postures. This study demonstrates that standard sitting posture is the best posture. Therefore, it is recommended that sitting posture can help in increasing cognitive performance in the workplace.

Testing postural control among various osteoporotic patient groups: a literature review.

Science.gov (United States)

de Groot, Maartje H; van der Jagt-Willems, Hanna C; van Campen, Jos P C M; Lems, Willem F; Lamoth, Claudine J C

2012-10-01

Osteoporosis can cause vertebral fractures, which might lead to a flexed posture, impaired postural control and consequently increased fall risk. Therefore, the aim of the present review was to examine whether postural control of patients with osteoporosis, vertebral fractures, thoracic kyphosis and flexed posture is affected. Furthermore, instruments measuring postural control were evaluated and examined for sensitivity and easy clinical use. Until February 2011, electronic databases were systematically searched for cross-sectional studies. Methodological quality was assessed with a modified Downs & Black scale. Of the 518 found studies, 18 studies were included. Postural control was generally affected for patients with vertebral fractures, thoracic kyphosis and flexed posture. Patients with osteoporosis had impaired postural control when assessed with computerized instruments. Easy performance-based tests did not show any impairments. There is evidence for an impaired postural control in all patient groups included. Impaired postural control is an important risk factor for falls. Functional performance tests are not sensitive and specific enough to detect affected postural control in patients with osteoporosis. To detect impaired postural control among osteoporotic patients and to obtain more insight into the underlying mechanisms of postural control, computerized instruments are recommended, such as easy-to-use ambulant motion-sensing (accelerometry) technology. © 2012 Japan Geriatrics Society.

The anterior intraparietal sulcus mediates grasp execution, independent of requirement to update: new insights from transcranial magnetic stimulation.

Science.gov (United States)

Rice, Nichola J; Tunik, Eugene; Grafton, Scott T

2006-08-02

Although a role of the intraparietal sulcus (IPS) in grasping is becoming evident, the specific contribution of regions within the IPS remains undefined. In this vein, transcranial magnetic stimulation (TMS) was delivered to the anterior (aIPS), middle (mIPS), and caudal (cIPS) IPS in two tasks designed to dissociate the potential roles of the IPS in either grasp planning or execution (task 1) and its involvement in error detection or error correction (task 2). Determining the involvement of specific regions of the IPS in perceptual (planning and error detection) versus motor (execution and correction) components of grasping allowed us to assess the ecological validity of competing computational models attempting to simulate reach-to-grasp movements. In task 1, we demonstrate that, when no on-line adjustment is necessary, TMS to aIPS (but not mIPS or cIPS) disrupts grasping; this disruption is only elicited when TMS is applied during the execution (but not the planning) phase of the movement. Task 2 reveals that TMS to aIPS (but not mIPS or cIPS) disrupts grasping in the presence of a perturbation; this disruption is only elicited when TMS is applied during the error correction (but not error detection) phase of the movement. We propose that the specific contribution of the aIPS in grasping is in the on-line computation of a difference vector based on motor goal, efference copy, and sensory inputs. This computation is performed for both stable and perturbed motor goals.

Rana computatrix to human language: towards a computational neuroethology of language evolution.

Science.gov (United States)

Arbib, Michael A

2003-10-15

Walter's Machina speculatrix inspired the name Rana computatrix for a family of models of visuomotor coordination in the frog, which contributed to the development of computational neuroethology. We offer here an 'evolutionary' perspective on models in the same tradition for rat, monkey and human. For rat, we show how the frog-like taxon affordance model provides a basis for the spatial navigation mechanisms that involve the hippocampus and other brain regions. For monkey, we recall two models of neural mechanisms for visuomotor coordination. The first, for saccades, shows how interactions between the parietal and frontal cortex augment superior colliculus seen as the homologue of frog tectum. The second, for grasping, continues the theme of parieto-frontal interactions, linking parietal affordances to motor schemas in premotor cortex. It further emphasizes the mirror system for grasping, in which neurons are active both when the monkey executes a specific grasp and when it observes a similar grasp executed by others. The model of human-brain mechanisms is based on the mirror-system hypothesis of the evolution of the language-ready brain, which sees the human Broca's area as an evolved extension of the mirror system for grasping.

Development of low postural tone compensatory patterns in children - theoretical basis.

Science.gov (United States)

Gogola, Anna; Saulicz, Edward; Kuszewski, Michał; Matyja, Małgorzata; Myśliwiec, Andrzej

2014-01-01

Neurological literature indicates the existence of children with low postural tone without association with central nervous system damage. This fact induces to think about mechanisms, which allow these children to maintain upright posture. There is a suspicion that compensatory mechanism included in this process, enables to achieve upright posture, but at expense of body posture quality. Observations of children's developmental stages caused determination of some postural tone area, which comprise both children with normotonia and with low postural tone without characteristics of central nervous system (CNS) damage. Set of specific qualities allows determination of two types of low postural tone: spastoidal and atetoidal type. Spastoidal type is characterized by deep trunk muscles (local) low postural tone compensated by excessive tension of superficial muscles (global). Atetoidal type includes children with low postural tone in both deep and superficial muscles. At inefficient active subsystem, verticalization proceeds at excessive use of passive subsystem qualities, that is meniscus, ligament, bone shape, and muscles passive features. From neurodevelopmental point of view compensatory mechanisms can be used in children with low postural tone in order to achieve upright posture, but at expense of body posture quality.

Anatomy and histochemistry of spread-wing posture in birds. I. Wing drying posture in the double-crested cormorant, Phalacrocorax auritus.

Science.gov (United States)

Meyers, Ron A

1997-07-01

Spread-wing postures of birds often have been studied with respect to the function of behavior, but ignored with regard to the mechanism by which the birds accomplish posture. The double-crested cormorant, Phalacrocorax auritus, was used as a model for this study of spread-wing posture. Those muscles capable of positioning and maintaining the wing in extension and protraction were assayed histochemically for the presence of slow (postural) muscle fibers. Within the forelimb of Phalacrocorax, Mm. coracobrachialis cranialis, pectoralis thoracicus (cranial portion), deltoideus minor, triceps scapularis, and extensor metacarpi radialis pars dorsalis and ventralis were found to contain populations of slow-twitch or slow-tonic muscle fibers. These slow fibers in the above muscles are considered to function during spread-wing posture in this species. J Morphol 233:67-76, 1997. © 1997 Wiley-Liss, Inc. Copyright © 1997 Wiley-Liss, Inc.

Hand Preference for Precision Grasping Predicts Language Lateralization

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Gonzalez, Claudia L. R.; Goodale, Melvyn A.

2009-01-01

We investigated whether or not there is a relationship between hand preference for grasping and hemispheric dominance for language--and how each of these is related to other traditional measures of handedness. To do this we asked right- and left-handed participants to put together two different sets of 3D puzzles made out of big or very small…

Posture Detection Based on Smart Cushion for Wheelchair Users

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Congcong Ma

2017-03-01

Full Text Available The postures of wheelchair users can reveal their sitting habit, mood, and even predict health risks such as pressure ulcers or lower back pain. Mining the hidden information of the postures can reveal their wellness and general health conditions. In this paper, a cushion-based posture recognition system is used to process pressure sensor signals for the detection of user’s posture in the wheelchair. The proposed posture detection method is composed of three main steps: data level classification for posture detection, backward selection of sensor configuration, and recognition results compared with previous literature. Five supervised classification techniques—Decision Tree (J48, Support Vector Machines (SVM, Multilayer Perceptron (MLP, Naive Bayes, and k-Nearest Neighbor (k-NN—are compared in terms of classification accuracy, precision, recall, and F-measure. Results indicate that the J48 classifier provides the highest accuracy compared to other techniques. The backward selection method was used to determine the best sensor deployment configuration of the wheelchair. Several kinds of pressure sensor deployments are compared and our new method of deployment is shown to better detect postures of the wheelchair users. Performance analysis also took into account the Body Mass Index (BMI, useful for evaluating the robustness of the method across individual physical differences. Results show that our proposed sensor deployment is effective, achieving 99.47% posture recognition accuracy. Our proposed method is very competitive for posture recognition and robust in comparison with other former research. Accurate posture detection represents a fundamental basic block to develop several applications, including fatigue estimation and activity level assessment.

Learning to control a brain-machine interface for reaching and grasping by primates.

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Jose M Carmena

2003-11-01

Full Text Available Reaching and grasping in primates depend on the coordination of neural activity in large frontoparietal ensembles. Here we demonstrate that primates can learn to reach and grasp virtual objects by controlling a robot arm through a closed-loop brain-machine interface (BMIc that uses multiple mathematical models to extract several motor parameters (i.e., hand position, velocity, gripping force, and the EMGs of multiple arm muscles from the electrical activity of frontoparietal neuronal ensembles. As single neurons typically contribute to the encoding of several motor parameters, we observed that high BMIc accuracy required recording from large neuronal ensembles. Continuous BMIc operation by monkeys led to significant improvements in both model predictions and behavioral performance. Using visual feedback, monkeys succeeded in producing robot reach-and-grasp movements even when their arms did not move. Learning to operate the BMIc was paralleled by functional reorganization in multiple cortical areas, suggesting that the dynamic properties of the BMIc were incorporated into motor and sensory cortical representations.

Relationship between Postural Deformities and Frontal Function in Parkinson's Disease

OpenAIRE

Ninomiya, Satoko; Morita, Akihiko; Teramoto, Hiroko; Akimoto, Takayoshi; Shiota, Hiroshi; Kamei, Satoshi

2015-01-01

Postural deformities and executive dysfunction (ED) are common symptoms of Parkinson's disease (PD); however, the relationship between postural deformities and ED in patients with PD remains unclear. This study assessed the relationship between postural deformities and ED in patients with PD. Sixty-five patients with sporadic PD were assessed for the severity of postural deformities and executive function. The severity of postural deformities was scored using the United Parkinson's Disease Ra...

Development of a non-invasive, multifunctional grasp neuroprosthesis and its evaluation in an individual with a high spinal cord injury.

Science.gov (United States)

Rupp, Rüdiger; Kreilinger, Alex; Rohm, Martin; Kaiser, Vera; Müller-Putz, Gernot R

2012-01-01

Over the last decade the improvement of a missing hand function by application of neuroprostheses in particular the implantable Freehand system has been successfully shown in high spinal cord injured individuals. The clinically proven advantages of the Freehand system is its ease of use, the reproducible generation of two distinct functional grasp patterns and an analog control scheme based on movements of the contralateral shoulder. However, after the Freehand system is not commercially available for more than ten years, alternative grasp neuroprosthesis with a comparable functionality are still missing. Therefore, the aim of this study was to develop a non-invasive neuroprosthesis and to show that a degree of functional restoration can be provided to end users comparable to implanted devices. By introduction of an easy to handle forearm electrode sleeve the reproducible generation of two grasp patterns has been achieved. Generated grasp forces of the palmar grasp are in the range of the implanted system. Though pinch force of the lateral grasp is significantly lower, it can effectively used by a tetraplegic subject to perform functional tasks. The non-invasive grasp neuroprosthesis developed in this work may serve as an easy to apply and inexpensive way to restore a missing hand and finger function at any time after spinal cord injury.

PENINGKATAN STABILITAS POSTURAL PADA LANSIA MELALUI BALANCE EXERCISE

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Kusnanto .

2010-12-01

Full Text Available Stabilitas postural adalah masalah yang umum pada lansia. Balance exercise dapat dijadikan alternative latihan bagi lansia. Latihan ini meliputi 5 gerakan (plantar flexion, hip flexion, hip flexion, knee flexion dan side leg raise. Penelitian ini bertujuan untuk menganalisa efek dari balance exercise terhadap peningkatan stabilitas postural pada lansia. Penelitian ini menggunakan design pre eksperimen. Populasi yang digunakan adalah lansia di Panti Wreda Bangkalan. Total sampel adalah 11 responden, yang diambil berdasarkan kriteria inklusi. Variabel dependen adalah balance exercise dan variabel independen adalah stabilitas postural. Stabilitas postural diukur menggunakan 2 tes, yaitu tes Tinetti dan TUGT (Time Up and Go Test. Data dianalisa menggunakan paired t test dengan level signifikan 0,05. Hasil penelitian menunjukkan bahwa balance exercise secara signifikan dapat meningkatkan stabilitas postural. Pada tes Tinetti (p=0,000 dan di TUGT (p=0,001. Sehingga dapat disimpulkan bahwa terdapat hasil yang signifikan antara balance exercise dengan peningkatan stabilitas postural pada lansia. Hal ini disebabkan Karena balance exercise dapat membuat otot lansia menjadi hipertrofi. Hipertrofi dapat meningkatkan kekuatan otot sehingga stabilitas postural lansia dapat meningkat. Penelitian yang akan datang diharapkan melibatkan lebih banyak responden dengan waktu penelitian yang lebih lama dan pengukuran yang lebih baik untuk memastikan hasil yang lebih akurat.

Clinical evaluation of postural posture of patients with previous stroke subjected to early rehabilitation

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Anna Sagan

2018-02-01

Full Text Available Introduction: Impairment disorders are often found in patients with stroke and impairment of motor and cognitive functions. This is a very serious complication because, by imposing a motor impairment, it aggravates the condition of disability and makes it difficult to conduct physical rehabilitation.The resulting neurological deficits due to stroke determine functional disorders. The possibility of locomotion is usually compromised, therefore the risk of falls increases significantly. The aim of the work is to present Postural Assesment Scale for Strock PASS with the postural stroke assessment scale, the impact of early rehabilitation of patients staying in the neurology ward.Material and methods: Postural examination was carried out among 17 people, of which 8 were women, and 9 were male. The study was divided into two stages. The first stage occurred immediately after the stroke and the second one before the patient was discharged from the ward. Research was carried out at the Biegański Specialist Hospital in Grudziądz in the Department of Neurology and Clinical Neuroimmunology and Impact Department.Conclusions: The results of the postural studies carried out in people with previous stroke subjected to early physiotherapy have a beneficial effect of the conducted therapy. There are positive changes between the first and the final examination of the patients.

Deficits of reach-to-grasp coordination following stroke: Comparison of instructed and natural movements.

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Baak, Benjamin; Bock, Otmar; Dovern, Anna; Saliger, Jochen; Karbe, Hans; Weiss, Peter H

2015-10-01

The present work evaluates whether stroke-induced deficits of reach-to-grasp movements, established by typical laboratory paradigms, transfer unconditionally to more natural situations. Sixteen patients with a stroke to the motor-dominant left hemisphere and 16 age- and gender-matched healthy control subjects executed grasping movements with their left (ipsilesional, non-dominant) hand. All movements started in the same position, were aimed at the same object positioned in the same location, and were followed by forward displacement of that object along the same path. Twenty movements were performed as a repetitive, externally triggered task executed for their own sake (context L, as in typical laboratory tasks). Twenty movements were performed as part of a self-initiated action sequence aimed at winning a reward (context E, similar to many everyday situations). The kinematics and dynamics of the transport, grasp and manipulation component of each reach-to-grasp movement were quantified by 41 parameters. Analyses of variance yielded a significant effect of Context for 29 parameters, a significant effect of Group for 9 parameters (mostly related to the coupling of hand transport and grip aperture), and a significant interaction for 5 parameters (all related to the coupling of hand transport and grip aperture). The interaction reflected the fact that stroke patients' movement parameters were more abnormal in context E than in context L. Our data indicate that unilateral stroke degrades the grasp-transport coupling, and that stroke-related motor deficits may be more pronounced in a natural than in a laboratory context. Thus, for stroke patients, assessments and rehabilitation regimes should mainly use activities that are as natural as possible. Copyright © 2015 Elsevier Ltd. All rights reserved.

Noninvasive Electroencephalogram Based Control of a Robotic Arm for Reach and Grasp Tasks

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Meng, Jianjun; Zhang, Shuying; Bekyo, Angeliki; Olsoe, Jaron; Baxter, Bryan; He, Bin

2016-01-01

Brain-computer interface (BCI) technologies aim to provide a bridge between the human brain and external devices. Prior research using non-invasive BCI to control virtual objects, such as computer cursors and virtual helicopters, and real-world objects, such as wheelchairs and quadcopters, has demonstrated the promise of BCI technologies. However, controlling a robotic arm to complete reach-and-grasp tasks efficiently using non-invasive BCI has yet to be shown. In this study, we found that a group of 13 human subjects could willingly modulate brain activity to control a robotic arm with high accuracy for performing tasks requiring multiple degrees of freedom by combination of two sequential low dimensional controls. Subjects were able to effectively control reaching of the robotic arm through modulation of their brain rhythms within the span of only a few training sessions and maintained the ability to control the robotic arm over multiple months. Our results demonstrate the viability of human operation of prosthetic limbs using non-invasive BCI technology. PMID:27966546

Temporal-spatial parameters of the upper limb during a Reach & Grasp Cycle for children.

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Butler, Erin E; Ladd, Amy L; Lamont, Lauren E; Rose, Jessica

2010-07-01

The objective of this study was to characterize normal temporal-spatial patterns during the Reach & Grasp Cycle and to identify upper limb motor deficits in children with cerebral palsy (CP). The Reach & Grasp Cycle encompasses six sequential tasks: reach, grasp cylinder, transport to self (T(1)), transport back to table (T(2)), release cylinder, and return to initial position. Three-dimensional motion data were recorded from 25 typically developing children (11 males, 14 females; ages 5-18 years) and 12 children with hemiplegic CP (2 males, 10 females; ages 5-17 years). Within-day and between-day coefficients of variation for the control group ranged from 0 to 0.19, indicating good repeatability of all parameters. The mean duration of the Cycle for children with CP was nearly twice as long as controls, 9.5±4.3s versus 5.1±1.2s (U=37.0, P=.002), partly due to prolonged grasp and release durations. Peak hand velocity occurred at approximately 40% of each phase and was greater during the transport (T(1), T(2)) than non-transport phases (reach, return) in controls (PGrasp Cycle (rho=.957, PGrasp Cycle for quantitative evaluation of upper limb motor deficits. Copyright © 2010 Elsevier B.V. All rights reserved.

Postural Consequences of Cervical Sagittal Imbalance: A Novel Laboratory Model.

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Patwardhan, Avinash G; Havey, Robert M; Khayatzadeh, Saeed; Muriuki, Muturi G; Voronov, Leonard I; Carandang, Gerard; Nguyen, Ngoc-Lam; Ghanayem, Alexander J; Schuit, Dale; Patel, Alpesh A; Smith, Zachary A; Sears, William

2015-06-01

A biomechanical study using human spine specimens. To study postural compensations in lordosis angles that are necessary to maintain horizontal gaze in the presence of forward head posture and increasing T1 sagittal tilt. Forward head posture relative to the shoulders, assessed radiographically using the horizontal offset distance between the C2 and C7 vertebral bodies (C2-C7 [sagittal vertical alignment] SVA), is a measure of global cervical imbalance. This may result from kyphotic alignment of cervical segments, muscle imbalance, as well as malalignment of thoracolumbar spine. Ten cadaveric cervical spines (occiput-T1) were tested. The T1 vertebra was anchored to a tilting and translating base. The occiput was free to move vertically but its angular orientation was constrained to ensure horizontal gaze regardless of sagittal imbalance. A 5-kg mass was attached to the occiput to mimic head weight. Forward head posture magnitude and T1 tilt were varied and motions of individual vertebrae were measured to calculate C2-C7 SVA and lordosis across C0-C2 and C2-C7. Increasing C2-C7 SVA caused flexion of lower cervical (C2-C7) segments and hyperextension of suboccipital (C0-C1-C2) segments to maintain horizontal gaze. Increasing kyphotic T1 tilt primarily increased lordosis across the C2-C7 segments. Regression models were developed to predict the compensatory C0-C2 and C2-C7 angulation needed to maintain horizontal gaze given values of C2-C7 SVA and T1 tilt. This study established predictive relationships between radiographical measures of forward head posture, T1 tilt, and postural compensations in the cervical lordosis angles needed to maintain horizontal gaze. The laboratory model predicted that normalization of C2-C7 SVA will reduce suboccipital (C0-C2) hyperextension, whereas T1 tilt reduction will reduce the hyperextension in the C2-C7 segments. The predictive relationships may help in planning corrective strategy in patients experiencing neck pain, which may be

Postural balance in low back pain patients

DEFF Research Database (Denmark)

Maribo, Thomas; Schiøttz-Christensen, Berit; Jensen, Lone Donbæk

2012-01-01

INTRODUCTION: Altered postural control has been observed in low back pain (LBP) patients. They seem to be more dependent on vision when standing. The objective of the study was to determine concurrent and predictive validity of measures of postural stability in LBP patients. MATERIALS AND METHODS......: Centre of Pressure (CoP) measurements were tested against pain, fear of pain, and physical function. Velocity, anterior-posterior displacement, and the Romberg Ratio obtained on a portable force platform were used as measures of postural stability. RESULTS: Baseline and 12-week follow-up results of 97....... CONCLUSION: This first study of concurrent and predictive validity of postural balance in LBP patients revealed no association between CoP measures and pain, fear of pain, and physical function....

Teaching grasping points using natural movements

OpenAIRE

Isleyici, Yalim

2014-01-01

Research about tasks that robotic maids should be able to perform is an emerging research area such as cooking and cleaning. Among them, manipulation of clothes is one of the hardest tasks due to the fact that textile is highly deformable and it is hard to model a good grasping point on them. In literature there are certain algorithms depending on 3D information of the cloth but most of them are not robust. Among them, Fast Integral Normal 3D (FINDDD) descriptors is a promising way for ...

Relationship between Postural Deformities and Frontal Function in Parkinson’s Disease

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Satoko Ninomiya

2015-01-01

Full Text Available Postural deformities and executive dysfunction (ED are common symptoms of Parkinson’s disease (PD; however, the relationship between postural deformities and ED in patients with PD remains unclear. This study assessed the relationship between postural deformities and ED in patients with PD. Sixty-five patients with sporadic PD were assessed for the severity of postural deformities and executive function. The severity of postural deformities was scored using the United Parkinson’s Disease Rating Scale item 28 score: no postural deformity (0, mild postural deformities (1, or severe postural deformities (2–4. Executive function was assessed using the Behavioral Assessment of the Dysexecutive Syndrome (BADS and an age-controlled standardized BADS score <70 was defined as ED. Age-controlled standardized BADS scores were compared across the three groups using the Kruskal-Wallis test. Relationship between ED and the severity of postural deformities was assessed using the Mann-Whitney U test. Age-controlled standardized BADS score significantly differed among the three groups P=0.005. ED was significantly related to the severity of postural deformities P=0.0005. The severity of postural deformities was associated with a lower age-controlled standardized BADS score and ED, and these findings suggest that postural deformities were associated with frontal dysfunction in patients with PD.

Inactivity periods and postural change speed can explain atypical postural change patterns of Caenorhabditis elegans mutants.

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Fukunaga, Tsukasa; Iwasaki, Wataru

2017-01-19

With rapid advances in genome sequencing and editing technologies, systematic and quantitative analysis of animal behavior is expected to be another key to facilitating data-driven behavioral genetics. The nematode Caenorhabditis elegans is a model organism in this field. Several video-tracking systems are available for automatically recording behavioral data for the nematode, but computational methods for analyzing these data are still under development. In this study, we applied the Gaussian mixture model-based binning method to time-series postural data for 322 C. elegans strains. We revealed that the occurrence patterns of the postural states and the transition patterns among these states have a relationship as expected, and such a relationship must be taken into account to identify strains with atypical behaviors that are different from those of wild type. Based on this observation, we identified several strains that exhibit atypical transition patterns that cannot be fully explained by their occurrence patterns of postural states. Surprisingly, we found that two simple factors-overall acceleration of postural movement and elimination of inactivity periods-explained the behavioral characteristics of strains with very atypical transition patterns; therefore, computational analysis of animal behavior must be accompanied by evaluation of the effects of these simple factors. Finally, we found that the npr-1 and npr-3 mutants have similar behavioral patterns that were not predictable by sequence homology, proving that our data-driven approach can reveal the functions of genes that have not yet been characterized. We propose that elimination of inactivity periods and overall acceleration of postural change speed can explain behavioral phenotypes of strains with very atypical postural transition patterns. Our methods and results constitute guidelines for effectively finding strains that show "truly" interesting behaviors and systematically uncovering novel gene

Compromising Postural Balance in the Elderly

NARCIS (Netherlands)

Swanenburg, Jaap; de Bruin, Eling D.; Uebelhart, Daniel; Mulder, Theo

2009-01-01

Background: Additional tasks that are assumed to disturb standing postural control can be divided in added motor or added cognitive tasks. It is unknown which type of task causes the most disturbances of postural control in elderly. Objective: The aim of this study was to determine whether the dual

Postural steadiness and ankle force variability in peripheral neuropathy

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Paxton, Roger J.; Feldman-Kothe, Caitlin; Trabert, Megan K.; Hitchcock, Leah N.; Reiser, Raoul F.; Tracy, Brian L.

2015-01-01

Introduction The purpose was to determine the effect of peripheral neuropathy (PN) on motor output variability for ankle muscles of older adults, and the relation between ankle motor variability and postural stability in PN patients. Methods Older adults with (O-PN) and without PN (O), and young adults (Y) underwent assessment of standing postural stability and ankle muscle force steadiness. Results O-PN displayed impaired ankle muscle force control and postural stability compared with O and Y groups. For O-PN, the amplitude of plantarflexor force fluctuations was moderately correlated with postural stability under no-vision conditions (r = 0.54, P = 0.01). Discussion The correlation of variations in ankle force with postural stability in PN suggests a contribution of ankle muscle dyscontrol to the postural instability that impacts physical function for older adults with PN. PMID:26284897

Posture and Texting: Effect on Balance in Young Adults.

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Nurul Retno Nurwulan

Full Text Available Using a mobile phone while doing another activity is a common dual-task activity in our daily lives. This study examined the effect of texting on the postural stability of young adults. Twenty college students were asked to perform static and dynamic postural stability tasks. Traditional COP and multivariate multiscale entropy (MMSE were used to assess the static postural stability and the Star Excursion Balance Test (SEBT was used to assess the dynamic postural stability. Results showed that (1 texting impaired postural stability, (2 the complexity index did not change much although the task conditions changed, and (3 performing texting is perceived to be more difficult.

New evaluation index for the retainability of a swimmer's horizontal posture.

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Yasunori Watanabe

Full Text Available This study aims to investigate the effect of changes in buoyancy when a swimmer respires in a horizontal posture. We attempted to evaluate the levelness of swimmers' streamline posture by simultaneously measuring the lung capacity and buoyancy under water. The buoyancy was measured based on the changes in the vertical loads of the upper and lower limbs on the subjects' streamline posture under water. The horizontal x-axis as lung ventilation and the vertical y-axis as buoyancy forms a linear equation y = ax + b. The relation between hand (upper-limb buoyancy and lung ventilation is defined as y = a1x + b1 and that between foot (lower-limb buoyancy and lung ventilation as y = a2x + b2. Horizontal levelness was calculated as a ratio by dividing a2 by a1 using the inclination (a values from these formulas for an underwater streamline posture. We defined this ratio as the breathing-balance (BB ratio. Although the performance levels in the present study did not show any difference in the absolute quantity of air that humans can inhale in a streamline posture, the BB ratio was higher in a statistically significant manner in junior swimmers competing at international levels compared with the other groups of subjects (P < 0.001. This statistical difference in horizontal levelness, despite the absence of a noticeable difference in the absolute quantity of inhaled air, may be attributable to the way in which each person inhales and exhales air. Top-level junior swimmers that exhibited a high BB ratio might have inhaled in a way that would counteract the sinking of the lower limbs, for example, through abdominal respiration. When exhaling, on the other hand, they might have let out air gradually to mitigate the acceleration force involved in submerging the lower limbs.

The Sliced Pineapple Grid Feature for Predicting Grasping Affordances

DEFF Research Database (Denmark)

Thomsen, Mikkel Tang; Kraft, Dirk; Krüger, Norbert

2017-01-01

The problem of grasping unknown objects utilising vision is addressed in this work by introducing a novel feature, the Sliced Pineapple Grid Feature (SPGF). The SPGF encode semi-local surfaces and allows for distinguishing structures such as “walls”,“edges” and “rims”. These structures are shown...

Postural Control Disturbances Produced By Exposure to HMD and Dome Vr Systems

Science.gov (United States)

Harm, D. L.; Taylor, L. C.

2005-01-01

Two critical and unresolved human factors issues in VR systems are: 1) potential "cybersickness", a form of motion sickness which is experienced in virtual worlds, and 2) maladaptive sensorimotor performance following exposure to VR systems. Interestingly, these aftereffects are often quite similar to adaptive sensorimotor responses observed in astronauts during and/or following space flight. Most astronauts and cosmonauts experience perceptual and sensorimotor disturbances during and following space flight. All astronauts exhibit decrements in postural control following space flight. It has been suggested that training in virtual reality (VR) may be an effective countermeasure for minimizing perceptual and/or sensorimotor disturbances. People adapt to consistent, sustained alterations of sensory input such as those produced by microgravity, and experimentally-produced stimulus rearrangements (e.g., reversing prisms, magnifying lenses, flight simulators, and VR systems). Adaptation is revealed by aftereffects including perceptual disturbances and sensorimotor control disturbances. The purpose of the current study was to compare disturbances in postural control produced by dome and head-mounted virtual environment displays. Individuals recovered from motion sickness and the detrimental effects of exposure to virtual reality on postural control within one hour. Sickness severity and initial decrements in postural equilibrium decreases over days, which suggests that subjects become dual-adapted over time. These findings provide some direction for developing training schedules for VR users that facilitate adaptation, and address safety concerns about aftereffects.

Head movements and postures as pain behavior

Science.gov (United States)

Al-Hamadi, Ayoub; Limbrecht-Ecklundt, Kerstin; Walter, Steffen; Traue, Harald C.

2018-01-01

Pain assessment can benefit from observation of pain behaviors, such as guarding or facial expression, and observational pain scales are widely used in clinical practice with nonverbal patients. However, little is known about head movements and postures in the context of pain. In this regard, we analyze videos of three publically available datasets. The BioVid dataset was recorded with healthy participants subjected to painful heat stimuli. In the BP4D dataset, healthy participants performed a cold-pressor test and several other tasks (meant to elicit emotion). The UNBC dataset videos show shoulder pain patients during range-of-motion tests to their affected and unaffected limbs. In all videos, participants were sitting in an upright position. We studied head movements and postures that occurred during the painful and control trials by measuring head orientation from video over time, followed by analyzing posture and movement summary statistics and occurrence frequencies of typical postures and movements. We found significant differences between pain and control trials with analyses of variance and binomial tests. In BioVid and BP4D, pain was accompanied by head movements and postures that tend to be oriented downwards or towards the pain site. We also found differences in movement range and speed in all three datasets. The results suggest that head movements and postures should be considered for pain assessment and research. As additional pain indicators, they possibly might improve pain management whenever behavior is assessed, especially in nonverbal individuals such as infants or patients with dementia. However, in advance more research is needed to identify specific head movements and postures in pain patients. PMID:29444153

Operationality Improvement Control of Electric Power Assisted Wheelchair by Fuzzy Algorithm Considering Posture Angle

Science.gov (United States)

Murakami, Hiroki; Seki, Hirokazu; Minakata, Hideaki; Tadakuma, Susumu

This paper describes a novel operationality improvement control for electric power assisted wheelchairs. “Electric power assisted wheelchair” which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people, however, the performance of the straight and circular road driving must be further improved because the two wheels drive independently. This paper proposes a novel operationality improvement control by fuzzy algorithm to realize the stable driving on straight and circular roads. The suitable assisted torque of the right and left wheels is determined by fuzzy algorithm based on the posture angular velocity, the posture angle of the wheelchair, the human input torque proportion and the total human torque of the right and left wheels. Some experiments on the practical roads show the effectiveness of the proposed control system.

Optimizing a Biobjective Production-Distribution Planning Problem Using a GRASP

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Martha-Selene Casas-Ramírez

2018-01-01

Full Text Available This paper addresses a biobjective production-distribution planning problem. The problem is formulated as a mixed integer programming problem with two objectives. The objectives are to minimize the total costs and to balance the total workload of the supply chain, which consist of plants and depots, considering that it represents a company vertically integrated. In order to solve the model, we propose an adapted biobjective GRASP to obtain an approximation of the Pareto front. To evaluate the performance of the proposed algorithm, numerical experimentations are conducted over a set of instances used for similar problems. Results indicate that the proposed GRASP obtains a relatively small number of nondominated solutions for each tested instance in very short computational time. The approximated Pareto fronts are discontinuous and nonconvex. Moreover, the solutions clearly show the compromise between both objective functions.

Control of aperture closure during reach-to-grasp movements in Parkinson's disease.

Science.gov (United States)

Rand, M K; Smiley-Oyen, A L; Shimansky, Y P; Bloedel, J R; Stelmach, G E

2006-01-01

This study examined whether the pattern of coordination between arm-reaching toward an object (hand transport) and the initiation of aperture closure for grasping is different between PD patients and healthy individuals, and whether that pattern is affected by the necessity to quickly adjust the reach-to-grasp movement in response to an unexpected shift of target location. Subjects reached for and grasped a vertical dowel, the location of which was indicated by illuminating one of the three dowels placed on a horizontal plane. In control conditions, target location was fixed during the trial. In perturbation conditions, target location was shifted instantaneously by switching the illumination to a different dowel during the reach. The hand distance from the target at which the subject initiated aperture closure (aperture closure distance) was similar for both the control and perturbation conditions within each group of subjects. However, that distance was significantly closer to the target in the PD group than in the control group. The timing of aperture closure initiation varied considerably across the trials in both groups of subjects. In contrast, aperture closure distance was relatively invariant, suggesting that aperture closure initiation was determined by spatial parameters of arm kinematics rather than temporal parameters. The linear regression analysis of aperture closure distance showed that the distance was highly predictable based on the following three parameters: the amplitude of maximum grip aperture, hand velocity, and hand acceleration. This result implies that a control law, the arguments of which include the above parameters, governs the initiation of aperture closure. Further analysis revealed that the control law was very similar between the subject groups under each condition as well as between the control and perturbation conditions for each group. Consequently, the shorter aperture closure distance observed in PD patients apparently is a

Measuring Regularity of Human Postural Sway Using Approximate Entropy and Sample Entropy in Patients with Ehlers-Danlos Syndrome Hypermobility Type

Science.gov (United States)

Rigoldi, Chiara; Cimolin, Veronica; Camerota, Filippo; Celletti, Claudia; Albertini, Giorgio; Mainardi, Luca; Galli, Manuela

2013-01-01

Ligament laxity in Ehlers-Danlos syndrome hypermobility type (EDS-HT) patients can influence the intrinsic information about posture and movement and can have a negative effect on the appropriateness of postural reactions. Several measures have been proposed in literature to describe the planar migration of CoP over the base of support, and the…

Effects of disease severity and medication state on postural control asymmetry during challenging postural tasks in individuals with Parkinson's disease.

Science.gov (United States)

Barbieri, Fabio A; Polastri, Paula F; Baptista, André M; Lirani-Silva, Ellen; Simieli, Lucas; Orcioli-Silva, Diego; Beretta, Victor S; Gobbi, Lilian T B

2016-04-01

The aim of this study was to investigate the effects of disease severity and medication state on postural control asymmetry during challenging tasks in individuals with Parkinson's disease (PD). Nineteen people with PD and 11 neurologically healthy individuals performed three standing task conditions: bipedal standing, tandem and unipedal adapted standing; the individuals with PD performed the tasks in ON and OFF medication state. The participants with PD were distributed into 2 groups according to disease severity: unilateral group (n=8) and bilateral group (n=11). The two PD groups performed the evaluations both under and without the medication. Two force plates were used to analyze the posture. The symmetric index was calculated for various of center of pressure. ANOVA one-way (groups) and two-way (PD groups×medication), with repeated measures for medication, were calculated. For main effects of group, the bilateral group was more asymmetric than CG. For main effects of medication, only unipedal adapted standing presented effects of PD medication. There was PD groups×medication interaction. Under the effects of medication, the unilateral group presented lower asymmetry of RMS in anterior-posterior direction and area than the bilateral group in unipedal adapted standing. In addition, the unilateral group presented lower asymmetry of mean velocity, RMS in anterior-posterior direction and area in unipedal standing and area in tandem adapted standing after a medication dose. Postural control asymmetry during challenging postural tasks was dependent on disease severity and medication state in people with PD. The bilateral group presented higher postural control asymmetry than the control and unilateral groups in challenging postural tasks. Finally, the medication dose was able to reduce postural control asymmetry in the unilateral group during challenging postural tasks. Copyright © 2015 Elsevier B.V. All rights reserved.

Using an accelerometer for analyzing a reach-to-grasp movement after stroke

Directory of Open Access Journals (Sweden)

Stella Maris Michaelsen

2013-12-01

Full Text Available The purpose of this study was using an accelerometer to access the kinematics of reach-to-grasp movements in subjects with hemiparesis. Eight subjects (59.4 ± 6.9 years old with chronic hemiparesis (50.9 ± 25.8 months post-stroke participated in this study. Kinematic assessment was performed using a triaxial accelerometer (EMG Systems, Brazil attached to the subjects' forearm. Ten reach-to-grasp movements of grabbing a 500ml-size bottle were performed by the subjects with the paretic and the non-paretic upper limbs (ULs. The following space-temporal variables were calculated and used to compare the paretic and non-paretic ULs: movement time (MT, time to reach the peak velocity, absolute and relative (TPV and TPV%MT, relative deceleration duration (DEC%MT, time to peak acceleration (TPA and peak hand acceleration (PA. Movements were slower in the paretic UL with increased MT, TPA and DEC. The accelerometer allowed to identify of changes in reaching-to-grasp movements of subjects with hemiparesis. When complex systems are not available, accelerometers can be an alternative to measure UL movements.

An investigation into essential aspects of posture in primary school ...