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Sample records for subjects performed grasping

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

    Science.gov (United States)

    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

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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.

  4. 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

    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.

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

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    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.

  6. 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.

    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

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

    Science.gov (United States)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

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    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.

  10. 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.

  11. 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.

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

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    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.

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. Chronic repetitive reaching and grasping results in decreased motor performance and widespread tissue responses in a rat model of MSD.

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    Barbe, Mary F; Barr, Ann E; Gorzelany, Irene; Amin, Mamta; Gaughan, John P; Safadi, Fayez F

    2003-01-01

    This study investigated changes in motor skills and tissues of the upper extremity (UE) with regard to injury and inflammatory reactions resulting from performance of a voluntary forelimb repetitive reaching and grasping task in rats. Rats reached for food at a rate of 4 reaches/min, 2 h/day, and 3 days/week for up to 8 weeks during which reach rate, task duration and movement strategies were observed. UE tissues were collected bilaterally at weekly time points of 3-8 weeks and examined for morphological changes. Serum was tested for levels of interleukin-1alpha (IL-1) protein. The macrophage-specific antibody, ED1, was used to identify infiltrating macrophages and the ED2 antibody was used to identify resident macrophages. Rats were unable to maintain baseline reach rate in weeks 5 and 6 of task performance. Alternative patterns of movement emerged. Fraying of tendon fibrils was observed after 6 weeks in the mid-forelimb. After 4 weeks, a general elevation of ED1-IR macrophages were seen in all tissues examined bilaterally including the contralateral, uninvolved forelimb and hindlimbs. Significantly more resident macrophages were seen at 6 and 8 weeks in the reach limb. At 8 weeks, serum levels of IL-1alpha increased significantly above week 0. Our results demonstrate that performance of repetitive tasks elicits motor decrements, signs of injury and a cellular and tissue responses associated with inflammation.

  18. Human Hand Motion Analysis and Synthesis of Optimal Power Grasps for a Robotic Hand

    Directory of Open Access Journals (Sweden)

    Francesca Cordella

    2014-03-01

    Full Text Available Biologically inspired robotic systems can find important applications in biomedical robotics, since studying and replicating human behaviour can provide new insights into motor recovery, functional substitution and human-robot interaction. The analysis of human hand motion is essential for collecting information about human hand movements useful for generalizing reaching and grasping actions on a robotic system. This paper focuses on the definition and extraction of quantitative indicators for describing optimal hand grasping postures and replicating them on an anthropomorphic robotic hand. A motion analysis has been carried out on six healthy human subjects performing a transverse volar grasp. The extracted indicators point to invariant grasping behaviours between the involved subjects, thus providing some constraints for identifying the optimal grasping configuration. Hence, an optimization algorithm based on the Nelder-Mead simplex method has been developed for determining the optimal grasp configuration of a robotic hand, grounded on the aforementioned constraints. It is characterized by a reduced computational cost. The grasp stability has been tested by introducing a quality index that satisfies the form-closure property. The grasping strategy has been validated by means of simulation tests and experimental trials on an arm-hand robotic system. The obtained results have shown the effectiveness of the extracted indicators to reduce the non-linear optimization problem complexity and lead to the synthesis of a grasping posture able to replicate the human behaviour while ensuring grasp stability. The experimental results have also highlighted the limitations of the adopted robotic platform (mainly due to the mechanical structure to achieve the optimal grasp configuration.

  19. 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

  20. 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...

  1. Task Requirements Influence Sensory Integration during Grasping in Humans

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    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…

  2. 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...

  3. Effects of modified constraint-induced movement therapy on reach-to-grasp movements and functional performance after chronic stroke: a randomized controlled study.

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    Lin, K-C; Wu, C-Y; Wei, T-H; Lee, C-Y; Liu, J-S

    2007-12-01

    To evaluate changes in (1) motor control characteristics of the hemiparetic hand during the performance of a functional reach-to-grasp task and (2) functional performance of daily activities in patients with stroke treated with modified constraint-induced movement therapy. Two-group randomized controlled trial with pretreatment and posttreatment measures. Rehabilitation clinics. Thirty-two chronic stroke patients (21 men, 11 women; mean age=57.9 years, range=43-81 years) 13-26 months (mean 16.3 months) after onset of a first-ever cerebrovascular accident. Thirty-two patients were randomized to receive modified constraint-induced movement therapy (restraint of the unaffected limb combined with intensive training of the affected limb) or traditional rehabilitation for three weeks. Kinematic analysis was used to assess motor control characteristics as patients reached to grasp a beverage can. Functional outcomes were evaluated using the Motor Activity Log and Functional Independence Measure. There were moderate and significant effects of modified constraint-induced movement therapy on some aspects of motor control of reach-to-grasp and on functional ability. The modified constraint-induced movement therapy group preplanned reaching and grasping (P=0.018) more efficiently and depended more on the feedforward control of reaching (P=0.046) than did the traditional rehabilitation group. The modified constraint-induced movement therapy group also showed significantly improved functional performance on the Motor Activity Log (Pcontrol strategy during goal-directed reaching, a possible mechanism for the improved movement performance of stroke patients undergoing this therapy.

  4. An electromyographic analysis of two handwriting grasp patterns.

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    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.

  5. Subjective performance evaluations and employee careers

    DEFF Research Database (Denmark)

    Frederiksen, Anders; Lange, Fabian; Kriechell, Ben

    Firms commonly use supervisor evaluations to assess the performance of employees who work in complex environments. Doubts persist whether their subjective nature invalidates using these performance measures to learn about careers of individuals and to inform theory in personnel economics. We...... examine personnel data from six large companies and establish how subjective ratings, interpreted as ordinal rankings of employee performances within narrowly defined peer-groups, correlate with objective career outcomes. We find many similarities across firms in how subjective ratings correlate with base...

  6. 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...

  7. 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.

  8. Grasps Recognition and Evaluation of Stroke Patients for Supporting Rehabilitation Therapy

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    Beatriz Leon

    2014-01-01

    Full Text Available Stroke survivors often suffer impairments on their wrist and hand. Robot-mediated rehabilitation techniques have been proposed as a way to enhance conventional therapy, based on intensive repeated movements. Amongst the set of activities of daily living, grasping is one of the most recurrent. Our aim is to incorporate the detection of grasps in the machine-mediated rehabilitation framework so that they can be incorporated into interactive therapeutic games. In this study, we developed and tested a method based on support vector machines for recognizing various grasp postures wearing a passive exoskeleton for hand and wrist rehabilitation after stroke. The experiment was conducted with ten healthy subjects and eight stroke patients performing the grasping gestures. The method was tested in terms of accuracy and robustness with respect to intersubjects’ variability and differences between different grasps. Our results show reliable recognition while also indicating that the recognition accuracy can be used to assess the patients’ ability to consistently repeat the gestures. Additionally, a grasp quality measure was proposed to measure the capabilities of the stroke patients to perform grasp postures in a similar way than healthy people. These two measures can be potentially used as complementary measures to other upper limb motion tests.

  9. 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...

  10. 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.

  11. 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...

  12. GRASP [GRound-Water Adjunct Sensitivity Program]: A computer code to perform post-SWENT [simulator for water, energy, and nuclide transport] adjoint sensitivity analysis of steady-state ground-water flow: Technical report

    International Nuclear Information System (INIS)

    Wilson, J.L.; RamaRao, B.S.; McNeish, J.A.

    1986-11-01

    GRASP (GRound-Water Adjunct Senstivity Program) computes measures of the behavior of a ground-water system and the system's performance for waste isolation, and estimates the sensitivities of these measures to system parameters. The computed measures are referred to as ''performance measures'' and include weighted squared deviations of computed and observed pressures or heads, local Darcy velocity components and magnitudes, boundary fluxes, and travel distance and time along travel paths. The sensitivities are computed by the adjoint method and are exact derivatives of the performance measures with respect to the parameters for the modeled system, taken about the assumed parameter values. GRASP presumes steady-state, saturated grondwater flow, and post-processes the results of a multidimensional (1-D, 2-D, 3-D) finite-difference flow code. This document describes the mathematical basis for the model, the algorithms and solution techniques used, and the computer code design. The implementation of GRASP is verified with simple one- and two-dimensional flow problems, for which analytical expressions of performance measures and sensitivities are derived. The linkage between GRASP and multidimensional finite-difference flow codes is described. This document also contains a detailed user's manual. The use of GRASP to evaluate nuclear waste disposal issues has been emphasized throughout the report. The performance measures and their sensitivities can be employed to assist in directing data collection programs, expedite model calibration, and objectively determine the sensitivity of projected system performance to parameters

  13. 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...

  14. 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...

  15. 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.

  16. Electromyographic Grasp Recognition for a Five Fingered Robotic Hand

    Directory of Open Access Journals (Sweden)

    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.

  17. 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

  18. 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

  19. Design and validation of a morphing myoelectric hand posture controller based on principal component analysis of human grasping.

    Science.gov (United States)

    Segil, Jacob L; Weir, Richard F ff

    2014-03-01

    An ideal myoelectric prosthetic hand should have the ability to continuously morph between any posture like an anatomical hand. This paper describes the design and validation of a morphing myoelectric hand controller based on principal component analysis of human grasping. The controller commands continuously morphing hand postures including functional grasps using between two and four surface electromyography (EMG) electrodes pairs. Four unique maps were developed to transform the EMG control signals in the principal component domain. A preliminary validation experiment was performed by 10 nonamputee subjects to determine the map with highest performance. The subjects used the myoelectric controller to morph a virtual hand between functional grasps in a series of randomized trials. The number of joints controlled accurately was evaluated to characterize the performance of each map. Additional metrics were studied including completion rate, time to completion, and path efficiency. The highest performing map controlled over 13 out of 15 joints accurately.

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

    Directory of Open Access Journals (Sweden)

    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.

  1. Subjective performance evaluations and employee careers

    DEFF Research Database (Denmark)

    Frederiksen, Anders; Lange, Fabian; Kriechel, Ben

    such data are for evaluating theories in personnel economics and whether findings from such data generalize to the labor force at large. In this paper, we examine personnel data from six large companies and establish how subjective ratings, interpreted as ordinal rankings of employees within narrowly...

  2. Hand Grasping Synergies As Biometrics.

    Science.gov (United States)

    Patel, Vrajeshri; Thukral, Poojita; Burns, Martin K; Florescu, Ionut; Chandramouli, Rajarathnam; Vinjamuri, Ramana

    2017-01-01

    Recently, the need for more secure identity verification systems has driven researchers to explore other sources of biometrics. This includes iris patterns, palm print, hand geometry, facial recognition, and movement patterns (hand motion, gait, and eye movements). Identity verification systems may benefit from the complexity of human movement that integrates multiple levels of control (neural, muscular, and kinematic). Using principal component analysis, we extracted spatiotemporal hand synergies (movement synergies) from an object grasping dataset to explore their use as a potential biometric. These movement synergies are in the form of joint angular velocity profiles of 10 joints. We explored the effect of joint type, digit, number of objects, and grasp type. In its best configuration, movement synergies achieved an equal error rate of 8.19%. While movement synergies can be integrated into an identity verification system with motion capture ability, we also explored a camera-ready version of hand synergies-postural synergies. In this proof of concept system, postural synergies performed well, but only when specific postures were chosen. Based on these results, hand synergies show promise as a potential biometric that can be combined with other hand-based biometrics for improved security.

  3. Hand Grasping Synergies As Biometrics

    Directory of Open Access Journals (Sweden)

    Ramana Vinjamuri

    2017-05-01

    Full Text Available Recently, the need for more secure identity verification systems has driven researchers to explore other sources of biometrics. This includes iris patterns, palm print, hand geometry, facial recognition, and movement patterns (hand motion, gait, and eye movements. Identity verification systems may benefit from the complexity of human movement that integrates multiple levels of control (neural, muscular, and kinematic. Using principal component analysis, we extracted spatiotemporal hand synergies (movement synergies from an object grasping dataset to explore their use as a potential biometric. These movement synergies are in the form of joint angular velocity profiles of 10 joints. We explored the effect of joint type, digit, number of objects, and grasp type. In its best configuration, movement synergies achieved an equal error rate of 8.19%. While movement synergies can be integrated into an identity verification system with motion capture ability, we also explored a camera-ready version of hand synergies—postural synergies. In this proof of concept system, postural synergies performed well, but only when specific postures were chosen. Based on these results, hand synergies show promise as a potential biometric that can be combined with other hand-based biometrics for improved security.

  4. Electrotactile EMG feedback improves the control of prosthesis grasping force

    Science.gov (United States)

    Schweisfurth, Meike A.; Markovic, Marko; Dosen, Strahinja; Teich, Florian; Graimann, Bernhard; Farina, Dario

    2016-10-01

    Objective. A drawback of active prostheses is that they detach the subject from the produced forces, thereby preventing direct mechanical feedback. This can be compensated by providing somatosensory feedback to the user through mechanical or electrical stimulation, which in turn may improve the utility, sense of embodiment, and thereby increase the acceptance rate. Approach. In this study, we compared a novel approach to closing the loop, namely EMG feedback (emgFB), to classic force feedback (forceFB), using electrotactile interface in a realistic task setup. Eleven intact-bodied subjects and one transradial amputee performed a routine grasping task while receiving emgFB or forceFB. The two feedback types were delivered through the same electrotactile interface, using a mixed spatial/frequency coding to transmit 8 discrete levels of the feedback variable. In emgFB, the stimulation transmitted the amplitude of the processed myoelectric signal generated by the subject (prosthesis input), and in forceFB the generated grasping force (prosthesis output). The task comprised 150 trials of routine grasping at six forces, randomly presented in blocks of five trials (same force). Interquartile range and changes in the absolute error (AE) distribution (magnitude and dispersion) with respect to the target level were used to assess precision and overall performance, respectively. Main results. Relative to forceFB, emgFB significantly improved the precision of myoelectric commands (min/max of the significant levels) for 23%/36% as well as the precision of force control for 12%/32%, in intact-bodied subjects. Also, the magnitude and dispersion of the AE distribution were reduced. The results were similar in the amputee, showing considerable improvements. Significance. Using emgFB, the subjects therefore decreased the uncertainty of the forward pathway. Since there is a correspondence between the EMG and force, where the former anticipates the latter, the emgFB allowed for

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

    Science.gov (United States)

    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.

  6. From robot to human grasping simulation

    CERN Document Server

    León, Beatriz; Sancho-Bru, Joaquin

    2013-01-01

    The human hand and its dexterity in grasping and manipulating objects are some of the hallmarks of the human species. For years, anatomic and biomechanical studies have deepened the understanding of the human hand’s functioning and, in parallel, the robotics community has been working on the design of robotic hands capable of manipulating objects with a performance similar to that of the human hand. However, although many researchers have partially studied various aspects, to date there has been no comprehensive characterization of the human hand’s function for grasping and manipulation of

  7. Occupational performance of women subjected to mastectomy

    Directory of Open Access Journals (Sweden)

    Jamylle Silva de Brito

    2014-12-01

    Full Text Available Among the several therapeutic approaches to combat breast cancer, mastectomy is the most feared by women, not only because of its aggressive invasive characteristics to the female body, but also because of its biological, functional, emotional, and social repercussions. The objective of the present study was to outline the occupational performance profile through the description of daily life, productive and leisure activities of women that have undergone mastectomy. This is a descriptive cross-sectional study with 21 women carried out at a school hospital in Recife, Pernambuco state, Brazil, from June to September, 2011. We used a sociodemographic questionnaire and occupational assessment by the Canadian Model of Occupational Performance (CMOP. In the occupational performance evaluation, Productivity was the most compromised area, followed by Leisure. Taking care of the body after mastectomy was not a restraint to the development of the daily-life, productive and leisure activities for the operated women, although some reorganization was needed to maintain a satisfactory performance.

  8. The Validity of Subjective Performance Measures

    DEFF Research Database (Denmark)

    Meier, Kenneth J.; Winter, Søren C.; O'Toole, Laurence J.

    2015-01-01

    to provide, and are highly policy specific rendering generalization difficult. But are perceptual performance measures valid, and do they generate unbiased findings? We examine these questions in a comparative study of middle managers in schools in Texas and Denmark. The findings are remarkably similar...

  9. Subjective performance evaluation and gender discrimination

    NARCIS (Netherlands)

    Maas, V.S.; Torres-Gonzalez, R.

    2011-01-01

    Gender discrimination continues to be a problem in organizations. It is therefore important that organizations use performance evaluation methods that ensure equal opportunities for men and women. This article reports the results of an experiment to investigate whether and, if so, how the gender of

  10. Minimal Reducts with Grasp

    Directory of Open Access Journals (Sweden)

    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.

  11. 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.

  12. Subjectivity

    Directory of Open Access Journals (Sweden)

    Jesús Vega Encabo

    2015-11-01

    Full Text Available In this paper, I claim that subjectivity is a way of being that is constituted through a set of practices in which the self is subject to the dangers of fictionalizing and plotting her life and self-image. I examine some ways of becoming subject through narratives and through theatrical performance before others. Through these practices, a real and active subjectivity is revealed, capable of self-knowledge and self-transformation. 

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. 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.

  18. 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.

  19. 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

  20. 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.

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

    Science.gov (United States)

    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).

  2. 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.

  3. 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...

  4. 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.

  5. 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.

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

    Directory of Open Access Journals (Sweden)

    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.

  7. Subjective performance evaluations and reciprocity in principal-agent relations

    DEFF Research Database (Denmark)

    Sebald, Alexander Christopher; Walzl, Markus

    2014-01-01

    . In contrast to existing models of reciprocity, we find that agents tend to sanction whenever the feedback of principals is below their subjective self-evaluations even if agents' pay-offs are independent of it. In turn, principals provide more positive feedback (relative to their actual performance assessment......We conduct a laboratory experiment with agents working on, and principals benefiting from, a real effort task in which the agents' performance can only be evaluated subjectively. Principals give subjective performance feedback to agents, and agents have an opportunity to sanction principals...... of the agent) if this does not affect their pay-off....

  8. 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.

  9. Deficits of reach-to-grasp coordination following stroke: Comparison of instructed and natural movements.

    Science.gov (United States)

    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.

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

    Directory of Open Access Journals (Sweden)

    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

  11. Computer task performance by subjects with Duchenne muscular dystrophy.

    Science.gov (United States)

    Malheiros, Silvia Regina Pinheiro; da Silva, Talita Dias; Favero, Francis Meire; de Abreu, Luiz Carlos; Fregni, Felipe; Ribeiro, Denise Cardoso; de Mello Monteiro, Carlos Bandeira

    2016-01-01

    Two specific objectives were established to quantify computer task performance among people with Duchenne muscular dystrophy (DMD). First, we compared simple computational task performance between subjects with DMD and age-matched typically developing (TD) subjects. Second, we examined correlations between the ability of subjects with DMD to learn the computational task and their motor functionality, age, and initial task performance. The study included 84 individuals (42 with DMD, mean age of 18±5.5 years, and 42 age-matched controls). They executed a computer maze task; all participants performed the acquisition (20 attempts) and retention (five attempts) phases, repeating the same maze. A different maze was used to verify transfer performance (five attempts). The Motor Function Measure Scale was applied, and the results were compared with maze task performance. In the acquisition phase, a significant decrease was found in movement time (MT) between the first and last acquisition block, but only for the DMD group. For the DMD group, MT during transfer was shorter than during the first acquisition block, indicating improvement from the first acquisition block to transfer. In addition, the TD group showed shorter MT than the DMD group across the study. DMD participants improved their performance after practicing a computational task; however, the difference in MT was present in all attempts among DMD and control subjects. Computational task improvement was positively influenced by the initial performance of individuals with DMD. In turn, the initial performance was influenced by their distal functionality but not their age or overall functionality.

  12. Predicting BCI subject performance using probabilistic spatio-temporal filters.

    Directory of Open Access Journals (Sweden)

    Heung-Il Suk

    Full Text Available Recently, spatio-temporal filtering to enhance decoding for Brain-Computer-Interfacing (BCI has become increasingly popular. In this work, we discuss a novel, fully Bayesian-and thereby probabilistic-framework, called Bayesian Spatio-Spectral Filter Optimization (BSSFO and apply it to a large data set of 80 non-invasive EEG-based BCI experiments. Across the full frequency range, the BSSFO framework allows to analyze which spatio-spectral parameters are common and which ones differ across the subject population. As expected, large variability of brain rhythms is observed between subjects. We have clustered subjects according to similarities in their corresponding spectral characteristics from the BSSFO model, which is found to reflect their BCI performances well. In BCI, a considerable percentage of subjects is unable to use a BCI for communication, due to their missing ability to modulate their brain rhythms-a phenomenon sometimes denoted as BCI-illiteracy or inability. Predicting individual subjects' performance preceding the actual, time-consuming BCI-experiment enhances the usage of BCIs, e.g., by detecting users with BCI inability. This work additionally contributes by using the novel BSSFO method to predict the BCI-performance using only 2 minutes and 3 channels of resting-state EEG data recorded before the actual BCI-experiment. Specifically, by grouping the individual frequency characteristics we have nicely classified them into the subject 'prototypes' (like μ - or β -rhythm type subjects or users without ability to communicate with a BCI, and then by further building a linear regression model based on the grouping we could predict subjects' performance with the maximum correlation coefficient of 0.581 with the performance later seen in the actual BCI session.

  13. Optimal contracts based on subjective performance evaluations and reciprocity

    DEFF Research Database (Denmark)

    Sebald, Alexander Christopher; Walzl, Markus

    2015-01-01

    As demonstrated in a recent laboratory experiment (see Sebald & Walzl, 2014), individuals tend to sanction others who subjectively evaluate their performance whenever this assessment falls short of the individuals’ self-evaluation. Interestingly, this is the case even if the individuals’ earnings...

  14. 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…

  15. 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 ...

  16. 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.

  17. Grasp movement decoding from premotor and parietal cortex.

    Science.gov (United States)

    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.

  18. 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.

  19. 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.

  20. Which one Enhances Muscular Performance in ACL Reconstructed Subjects

    Science.gov (United States)

    Harput, Gulcan; Ulusoy, Burak; Atay, Ahmet Ozgur; Baltacı, Gul

    2014-01-01

    Objectives: The aim of this study was to investigate the effects of functional knee brace and kinesiotaping on muscular performance in anterior cruciate ligament reconstructed subjects who reached return to sport phase of the rehabilitation. Methods: Twenty (17 males, 3 females, Age: 24.7±7.1 years, Body weight: 74.4±12.0 kg, Height: 177.9±6.5 cm, BMI: 23.9±3.6 kg/m2) subjects who underwent anterior cruciate ligament reconstruction by using hamstring tendon auto graft were included in this study. When the subjects reached the return to sports phase of rehabilitation which was 6th months after surgery, knee muscle strength, jump performance and balance tests were performed 3 times: bare, with knee brace and with kinesio taping. The order of the tests were randomized to eliminate the effects of fatigue and motor learning. Quadriceps and hamstring muscle strength was measured on an isokinetic dynamometer at 180 °/s and 60°/s angular velocities. Vertical Jump (VJ) and One Leg Hop Tests (OLHT) were used to assess jump performance. Star Excursion Balance Test (SEBT) with anterior, posteromedial and posterolateral reach distance was used to assess the dynamic balance. When all tests were performed, the subjects were asked under which test condition they felt more confident. Repeated measures of ANOVA was used to analyze the difference among three test conditions (bare, kinesiotaping, knee brace). Bonferroni post hoc test was used for pairwise comparison. Results: SEBT posteromedial (PM)and posterolateral (PL) reach distances were found significantly different among three test conditions(PM: F(2,38)=3.42,p=0.04), PL: F(2,38)=4.37,p=0.02). Kinesiotaping increased posteromedial reach distance (p=0.03). On the other hand, brace decreased posterolateral reach distance (p=0.04). VJ and OLHT performance were also found significantly different between three test conditions (VJ: F (2,38)=3.44,p=0.04, OLHT: (F(2,38)=4.04,p=0.02). Kinesio taping increased one leg hop distance

  1. Everyday listening questionnaire: correlation between subjective hearing and objective performance.

    Science.gov (United States)

    Brendel, Martina; Frohne-Buechner, Carolin; Lesinski-Schiedat, Anke; Lenarz, Thomas; Buechner, Andreas

    2014-01-01

    Clinical experience has demonstrated that speech understanding by cochlear implant (CI) recipients has improved over recent years with the development of new technology. The Everyday Listening Questionnaire 2 (ELQ 2) was designed to collect information regarding the challenges faced by CI recipients in everyday listening. The aim of this study was to compare self-assessment of CI users using ELQ 2 with objective speech recognition measures and to compare results between users of older and newer coding strategies. During their regular clinical review appointments a group of representative adult CI recipients implanted with the Advanced Bionics implant system were asked to complete the questionnaire. The first 100 patients who agreed to participate in this survey were recruited independent of processor generation and speech coding strategy. Correlations between subjectively scored hearing performance in everyday listening situations and objectively measured speech perception abilities were examined relative to the speech coding strategies used. When subjects were grouped by strategy there were significant differences between users of older 'standard' strategies and users of the newer, currently available strategies (HiRes and HiRes 120), especially in the categories of telephone use and music perception. Significant correlations were found between certain subjective ratings and the objective speech perception data in noise. There is a good correlation between subjective and objective data. Users of more recent speech coding strategies tend to have fewer problems in difficult hearing situations.

  2. Subjective preference evaluation of sound fields by performing singers

    Science.gov (United States)

    Noson, Dennis

    2003-08-01

    A model of the auditory process is proposed for performing singers, which incorporates the added signal from bone conduction, as well as the psychological distance for subjective preference of the performer from the acoustic sound field of the stage. The explanatory power of previous scientific studies of vocal stage acoustics has been limited by a lack of an underlying theory of performer preference. Ando's theory, using the autocorrelation function (ACF) for parametrizing temporal factors, was applied to interpretation of singer sound field preference determined by the pair comparison method. Melisma style singing (no lyrics) was shown to increase the preferred delay time of reflections from a mean of 14 ms with lyrics to 23 ms without (pThesis advisor: Yoichi Ando Copies of this thesis are available from the author by inquiry at BRC Acoustics, 1741 First Avenue South, Seattle, WA 98134 USA. E-mail address: dnoson@brcacoustics.com

  3. 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.

  4. 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

  5. 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.

  6. 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...

  7. Ethographic ubiquity: original fake, expanded codex, transurban subject, performative doll

    Directory of Open Access Journals (Sweden)

    Massimo Canevacci

    2012-12-01

    Full Text Available My essay presents the emerging of fake as a concept that does not mean false, but a post-dualistic mix of false/truth. The relation between digital culture and ubiquitous subjectivity is fundamental during its process; in the same way, the relation between aura and reproducibility cannot be determined dialectically as Benjamin did. Digital auratic reproducibility is the contemporary context and communicational metropolis is characterized by spontaneous and public performance: so, my conclusion is an analysis of some “living” doll and their uncanny presence.

  8. Repeatability of grasp recognition for robotic hand prosthesis control based on sEMG data.

    Science.gov (United States)

    Palermo, Francesca; Cognolato, Matteo; Gijsberts, Arjan; Muller, Henning; Caputo, Barbara; Atzori, Manfredo

    2017-07-01

    Control methods based on sEMG obtained promising results for hand prosthetics. Control system robustness is still often inadequate and does not allow the amputees to perform a large number of movements useful for everyday life. Only few studies analyzed the repeatability of sEMG classification of hand grasps. The main goals of this paper are to explore repeatability in sEMG data and to release a repeatability database with the recorded experiments. The data are recorded from 10 intact subjects repeating 7 grasps 12 times, twice a day for 5 days. The data are publicly available on the Ninapro web page. The analysis for the repeatability is based on the comparison of movement classification accuracy in several data acquisitions and for different subjects. The analysis is performed using mean absolute value and waveform length features and a Random Forest classifier. The accuracy obtained by training and testing on acquisitions at different times is on average 27.03% lower than training and testing on the same acquisition. The results obtained by training and testing on different acquisitions suggest that previous acquisitions can be used to train the classification algorithms. The inter-subject variability is remarkable, suggesting that specific characteristics of the subjects can affect repeatibility and sEMG classification accuracy. In conclusion, the results of this paper can contribute to develop more robust control systems for hand prostheses, while the presented data allows researchers to test repeatability in further analyses.

  9. Dietary glycaemic load associated with cognitive performance in elderly subjects.

    Science.gov (United States)

    Power, Susan E; O'Connor, Eibhlís M; Ross, R Paul; Stanton, Catherine; O'Toole, Paul W; Fitzgerald, Gerald F; Jeffery, Ian B

    2015-06-01

    Ageing is associated with loss of cognitive function and an increased risk of dementia which is expected to place growing demands on health and long-term care providers. Among multiple causative factors, evidence suggests that cognitive impairment in older subjects may be influenced by diet. The objective of this study was to examine the association between dietary patterns, dietary glycaemic load (GL) and cognition in older Irish adults. Community-dwelling subjects (n 208; 94 males and 114 females; aged 64-93 years) were analysed. Dietary intake was assessed using a validated semi-quantitative food frequency questionnaire. Cognitive capacity was tested using the Mini-Mental State Examination (MMSE). The data were clustered to derive patterns of dietary intake. Multivariable-adjusted logistic and Poisson regression models were used to examine the relationship between dietary GL and MMSE score. Elderly subjects consuming 'prudent' dietary patterns (high in fruit, vegetables, fish, low-fat dairy and salad dressings and low in red meat and white bread) had higher MMSE scores (better cognitive function) than those consuming 'Western' dietary pattern (high in red meat and white bread and low in fruit and vegetables; P nutritional status, residential property price, cardiovascular medications and energy intake. In this community-dwelling elderly Irish cohort, consumption of a high glycaemic diet is associated with poorer cognitive performance as assessed by the MMSE.

  10. 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.

  11. 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.

  12. An opportunity cost model of subjective effort and task performance

    Science.gov (United States)

    Kurzban, Robert; Duckworth, Angela; Kable, Joseph W.; Myers, Justus

    2013-01-01

    Why does performing certain tasks cause the aversive experience of mental effort and concomitant deterioration in task performance? One explanation posits a physical resource that is depleted over time. We propose an alternate explanation that centers on mental representations of the costs and benefits associated with task performance. Specifically, certain computational mechanisms, especially those associated with executive function, can be deployed for only a limited number of simultaneous tasks at any given moment. Consequently, the deployment of these computational mechanisms carries an opportunity cost – that is, the next-best use to which these systems might be put. We argue that the phenomenology of effort can be understood as the felt output of these cost/benefit computations. In turn, the subjective experience of effort motivates reduced deployment of these computational mechanisms in the service of the present task. These opportunity cost representations, then, together with other cost/benefit calculations, determine effort expended and, everything else equal, result in performance reductions. In making our case for this position, we review alternate explanations both for the phenomenology of effort associated with these tasks and for performance reductions over time. Likewise, we review the broad range of relevant empirical results from across subdisciplines, especially psychology and neuroscience. We hope that our proposal will help to build links among the diverse fields that have been addressing similar questions from different perspectives, and we emphasize ways in which alternate models might be empirically distinguished. PMID:24304775

  13. Passive reach and grasp with functional electrical stimulation and robotic arm support

    NARCIS (Netherlands)

    Westerveld, Ard J.; Schouten, Alfred C.; Veltink, Peter H.; van der Kooij, Herman

    2014-01-01

    Rehabilitation of arm and hand function is crucial to increase functional independence of stroke subjects. Here, we investigate the technical feasibility of an integrated training system combining robotics and functional electrical stimulation (FES) to support reach and grasp during functional

  14. 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

  15. 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.

  16. 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

  17. Subjective and objective performance assessment : Performance pay at Trelleborg Forsheda AB

    OpenAIRE

    Luotonen, David; Hasselström, Markus

    2009-01-01

      The purpose of this thesis is to understand the opinions and potential effects of objective and subjective assessments of performance as a basis for performance pay for blue-collar workers. The study takes a qualitative approach to find out how and why four companies - Trelleborg Forsheda, Finnveden Powertrain, Isaberg Rapid and Parker Hannifin- work with salaries, incentive system and performance assessment the way they do. The concept of individual salary is central in this thesis, and in...

  18. Performing Materiality: Rethinking the Subject-Object Relationship as a Site of Exchange in Performance Practice

    OpenAIRE

    Hussein, Nesreen

    2011-01-01

    This thesis reconsiders the relationship between the human subject and the physical object in performance practice, which has been commonly perceived within hierarchical systems of instrumentalisation. The thesis demonstrates that in processes of performance making and reception, the role of physical objects goes beyond mimesis and direct representation. Physical objects and materials have the capacity to take active parts in a complex and multilayered performance dynamic, articulating ways o...

  19. 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...

  20. 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

  1. 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.

  2. 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.

  3. 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

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

    Directory of Open Access Journals (Sweden)

    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.

  5. Experiments in robotic sensorimotor control during grasp

    International Nuclear Information System (INIS)

    Stansfield, S.A.

    1993-01-01

    A series of experiments is presented, using a robot manipulator, which attempt to reproduce human sensorimotor control during grasping. The work utilizes a multifingered, dexterous robot hand equipped with a fingertip force sensor to explore dynamic grasp force adjustment during manipulation. The work is primarily concerned with the relationship between the weight of an object and the grasp force required to lift it. Too weak a grasp is unstable and the object will slip from the hand. Too strong a grasp may damage the object and/or the manipulator. An algorithm is presented which reproduces observed human behavior during grasp-and-lift tasks. The algorithm uses tactile information from the sensor to dynamically adjust the grasp force during lift. It is assumed that there is no a priori knowledge about the object to be manipulated. The effects of different arm/hand postures and object surfaces is explored. Finally, the use of sensory data to detect unexpected object motion and to signal transitions between manipulation phases--with the coincident triggering of new motor programs--is investigated

  6. Analysis of TIMS performance subjected to simulated wind blast

    Science.gov (United States)

    Jaggi, S.; Kuo, S.

    1992-01-01

    The results of the performance of the Thermal Infrared Multispectral Scanner (TIMS) when it is subjected to various wind conditions in the laboratory are described. Various wind conditions were simulated using a 24 inch fan or combinations of air jet streams blowing toward either or both of the blackbody surfaces. The fan was used to simulate a large volume of air flow at moderate speeds (up to 30 mph). The small diameter air jets were used to probe TIMS system response in reaction to localized wind perturbations. The maximum nozzle speed of the air jet was 60 mph. A range of wind directions and speeds were set up in the laboratory during the test. The majority of the wind tests were conducted under ambient conditions with the room temperature fluctuating no more than 2 C. The temperature of the high speed air jet was determined to be within 1 C of the room temperature. TIMS response was recorded on analog tape. Additional thermistor readouts of the blackbody temperatures and thermocouple readout of the ambient temperature were recorded manually to be compared with the housekeeping data recorded on the tape. Additional tests were conducted under conditions of elevated and cooled room temperatures. The room temperature was varied between 19.5 to 25.5 C in these tests. The calibration parameters needed for quantitative analysis of TIMS data were first plotted on a scanline-by-scanline basis. These parameters are the low and high blackbody temperature readings as recorded by the TIMS and their corresponding digitized count values. Using these values, the system transfer equations were calculated. This equation allows us to compute the flux for any video count by computing the slope and intercept of the straight line that relates the flux to the digital count. The actual video of the target (the lab floor in this case) was then compared with a simulated target. This simulated target was assumed to be a blackbody at emissivity of .95 degrees and the temperature was

  7. Control of aperture closure initiation during reach-to-grasp movements under manipulations of visual feedback and trunk involvement in Parkinson's disease.

    Science.gov (United States)

    Rand, Miya Kato; Lemay, Martin; Squire, Linda M; Shimansky, Yury P; Stelmach, George E

    2010-03-01

    The present project was aimed at investigating how two distinct and important difficulties (coordination difficulty and pronounced dependency on visual feedback) in Parkinson's disease (PD) affect each other for the coordination between hand transport toward an object and the initiation of finger closure during reach-to-grasp movement. Subjects with PD and age-matched healthy subjects made reach-to-grasp movements to a dowel under conditions in which the target object and/or the hand were either visible or not visible. The involvement of the trunk in task performance was manipulated by positioning the target object within or beyond the participant's outstretched arm to evaluate the effects of increasing the complexity of intersegmental coordination under different conditions related to the availability of visual feedback in subjects with PD. General kinematic characteristics of the reach-to-grasp movements of the subjects with PD were altered substantially by the removal of target object visibility. Compared with the controls, the subjects with PD considerably lengthened transport time, especially during the aperture closure period, and decreased peak velocity of wrist and trunk movement without target object visibility. Most of these differences were accentuated when the trunk was involved. In contrast, these kinematic parameters did not change depending on the visibility of the hand for both groups. The transport-aperture coordination was assessed in terms of the control law according to which the initiation of aperture closure during the reach occurred when the hand distance-to-target crossed a hand-target distance threshold for grasp initiation that is a function of peak aperture, hand velocity and acceleration, trunk velocity and acceleration, and trunk-target distance at the time of aperture closure initiation. When the hand or the target object was not visible, both groups increased the hand-target distance threshold for grasp initiation compared to its

  8. 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

  9. The extended object-grasping network.

    Science.gov (United States)

    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.

  10. 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.

  11. Bimanual reach to grasp movements after cervical spinal cord injury.

    Directory of Open Access Journals (Sweden)

    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.

  12. One digit interruption: the altered force patterns during functionally cylindrical grasping tasks in patients with trigger digits.

    Directory of Open Access Journals (Sweden)

    Po-Tsun Chen

    Full Text Available Most trigger digit (TD patients complain that they have problems using their hand in daily or occupational tasks due to single or multiple digits being affected. Unfortunately, clinicians do not know much about how this disease affects the subtle force coordination among digits during manipulation. Thus, this study examined the differences in force patterns during cylindrical grasp between TD and healthy subjects. Forty-two TD patients with single digit involvement were included and sorted into four groups based on the involved digits, including thumb, index, middle and ring fingers. Twelve healthy subjects volunteered as healthy controls. Two testing tasks, holding and drinking, were performed by natural grasping with minimal forces. The relations between the force of the thumb and each finger were examined by Pearson correlation coefficients. The force amount and contribution of each digit were compared between healthy controls and each TD group by the independent t test. The results showed all TD groups demonstrated altered correlation patterns of the thumb relative to each finger. Larger forces and higher contributions of the index finger were found during holding by patients with index finger involved, and also during drinking by patients with affected thumb and with affected middle finger. Although no triggering symptom occurred during grasping, the patients showed altered force patterns which may be related to the role of the affected digit in natural grasping function. In conclusion, even if only one digit was affected, the subtle force coordination of all the digits was altered during simple tasks among the TD patients. This study provides the information for the future studies to further comprehend the possible injuries secondary to the altered finger coordination and also to adopt suitable treatment strategies.

  13. One digit interruption: the altered force patterns during functionally cylindrical grasping tasks in patients with trigger digits.

    Science.gov (United States)

    Chen, Po-Tsun; Lin, Chien-Ju; Jou, I-Ming; Chieh, Hsiao-Feng; Su, Fong-Chin; Kuo, Li-Chieh

    2013-01-01

    Most trigger digit (TD) patients complain that they have problems using their hand in daily or occupational tasks due to single or multiple digits being affected. Unfortunately, clinicians do not know much about how this disease affects the subtle force coordination among digits during manipulation. Thus, this study examined the differences in force patterns during cylindrical grasp between TD and healthy subjects. Forty-two TD patients with single digit involvement were included and sorted into four groups based on the involved digits, including thumb, index, middle and ring fingers. Twelve healthy subjects volunteered as healthy controls. Two testing tasks, holding and drinking, were performed by natural grasping with minimal forces. The relations between the force of the thumb and each finger were examined by Pearson correlation coefficients. The force amount and contribution of each digit were compared between healthy controls and each TD group by the independent t test. The results showed all TD groups demonstrated altered correlation patterns of the thumb relative to each finger. Larger forces and higher contributions of the index finger were found during holding by patients with index finger involved, and also during drinking by patients with affected thumb and with affected middle finger. Although no triggering symptom occurred during grasping, the patients showed altered force patterns which may be related to the role of the affected digit in natural grasping function. In conclusion, even if only one digit was affected, the subtle force coordination of all the digits was altered during simple tasks among the TD patients. This study provides the information for the future studies to further comprehend the possible injuries secondary to the altered finger coordination and also to adopt suitable treatment strategies.

  14. Know thyself: misperceptions of actual performance undermine achievement motivation, future performance, and subjective well-being.

    Science.gov (United States)

    Kim, Young-Hoon; Chiu, Chi-Yue; Zou, Zhimin

    2010-09-01

    Contrary to the popular assumption that self-enhancement improves task motivation and future performance, the authors propose that both inflated and deflated self-assessments of performance are linked to an increased likelihood of practicing self-handicapping and having relatively poor performance in future tasks. Consistent with this proposal, we found that irrespective of the level of actual performance, compared with accurate self-assessment, both inflated and deflated self-assessments of task performance are associated with a greater tendency to (a) practice self-handicapping (Study 1: prefer to work under distraction; Study 2: withhold preparatory effort), (b) perform relatively poorly in a subsequent task (Study 3), (c) have relatively low academic achievement (Study 4), and (d) report a relatively low level of subjective well-being (Study 5). The authors discuss these results in terms of their educational implications. (PsycINFO Database Record (c) 2010 APA, all rights reserved).

  15. Modeling task-specific neuronal ensembles improves decoding of grasp

    Science.gov (United States)

    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

  16. Probing the reaching-grasping network in humans through multivoxel pattern decoding.

    Science.gov (United States)

    Di Bono, Maria Grazia; Begliomini, Chiara; Castiello, Umberto; Zorzi, Marco

    2015-11-01

    The quest for a putative human homolog of the reaching-grasping network identified in monkeys has been the focus of many neuropsychological and neuroimaging studies in recent years. These studies have shown that the network underlying reaching-only and reach-to-grasp movements includes the superior parieto-occipital cortex (SPOC), the anterior part of the human intraparietal sulcus (hAIP), the ventral and the dorsal portion of the premotor cortex, and the primary motor cortex (M1). Recent evidence for a wider frontoparietal network coding for different aspects of reaching-only and reach-to-grasp actions calls for a more fine-grained assessment of the reaching-grasping network in humans by exploiting pattern decoding methods (multivoxel pattern analysis--MVPA). Here, we used MPVA on functional magnetic resonance imaging (fMRI) data to assess whether regions of the frontoparietal network discriminate between reaching-only and reach-to-grasp actions, natural and constrained grasping, different grasp types, and object sizes. Participants were required to perform either reaching-only movements or two reach-to-grasp types (precision or whole hand grasp) upon spherical objects of different sizes. Multivoxel pattern analysis highlighted that, independently from the object size, all the selected regions of both hemispheres contribute in coding for grasp type, with the exception of SPOC and the right hAIP. Consistent with recent neurophysiological findings on monkeys, there was no evidence for a clear-cut distinction between a dorsomedial and a dorsolateral pathway that would be specialized for reaching-only and reach-to-grasp actions, respectively. Nevertheless, the comparison of decoding accuracy across brain areas highlighted their different contributions to reaching-only and grasping actions. Altogether, our findings enrich the current knowledge regarding the functional role of key brain areas involved in the cortical control of reaching-only and reach-to-grasp actions

  17. 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....

  18. A novel device for grasping assessment during functional tasks: preliminary results

    Directory of Open Access Journals (Sweden)

    Ana Carolinne Portela Rocha

    2016-02-01

    Full Text Available This paper presents a methodology and first results obtained in a study with a novel device that allows the analysis of grasping quality. Such a device is able to acquire motion information of upper limbs allowing kinetic of manipulation analysis as well. A pilot experiment was carried out with six groups of typically developing children aged between 5 and 10 years old, with 7-8 children in each one. The device, designed to emulate a glass, has an optical system composed by one digital camera and a special convex mirror that together allow image acquisition of grasping hand posture when it is grasped and manipulated. It also carries an Inertial Measurement Unit (IMU that captures motion data as acceleration, orientation, and angular velocities. The novel instrumented object is used in our approach to evaluate functional tasks performance in quantitative terms. During tests each child was invited to grasp the cylindrical part of the device that was placed on the top of a table, simulating the task of drinking a glass of water. In the sequence the child was oriented to transport the device back to the starting position and release it. The task was repeated 3 times for each child. A grasping hand posture evaluation is presented as an example to evaluate grasping quality. Additionally, motion patterns obtained with the triasl performed with the different groups are presented and discussed. This device is attractive due to its portable characteristics, the small size and its ability to evaluate grasping form. The results may be also useful to analyze the evolution of the rehabilitation process through reach-to-grasping movement and the grasping images analysis.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  2. Subjective sleepiness and sleep quality in adolescents are related to objective and subjective measures of school performance

    NARCIS (Netherlands)

    Boschloo, Annemarie; Krabbendam, Lydia; Dekker, Sanne; Lee, Nikki; De Groot, Renate; Jolles, Jelle

    2016-01-01

    This study investigated the relation between sleep and school performance in a large sample of 561 adolescents aged 11–18 years. Three subjective measures of sleep were used: sleepiness, sleep quality, and sleep duration. They were compared to three measures of school performance: objective school

  3. Subjective sleepiness and sleep quality in adolescents are related to objective and subjective measures of school performance

    NARCIS (Netherlands)

    Boschloo, Annemarie; Krabbendam, Lydia; Dekker, Sanne; Lee, Nikki; De Groot, Renate; Jolles, Jelle

    2018-01-01

    This study investigated the relation between sleep and school performance in a large sam- ple of 561 adolescents aged 11–18 years. Three subjective measures of sleep were used: sleepiness, sleep quality, and sleep duration. They were compared to three measures of school performance: objective school

  4. Subjective Sleepiness and Sleep Quality in Adolescents are Related to Objective and Subjective Measures of School Performance.

    NARCIS (Netherlands)

    Boschloo, A.; Krabbendam, L.; Dekker, S.; Lee, N.; Groot, R. de; Jolles, J.

    2013-01-01

    This study investigated the relation between sleep and school performance in a large sample of 561 adolescents aged 11-18 years. Three subjective measures of sleep were used: sleepiness, sleep quality, and sleep duration. They were compared to three measures of school performance: objective school

  5. Grasp specific and user friendly interface design for myoelectric hand prostheses.

    Science.gov (United States)

    Mohammadi, Alireza; Lavranos, Jim; Howe, Rob; Choong, Peter; Oetomo, Denny

    2017-07-01

    This paper presents the design and characterisation of a hand prosthesis and its user interface, focusing on performing the most commonly used grasps in activities of daily living (ADLs). Since the operation of a multi-articulated powered hand prosthesis is difficult to learn and master, there is a significant rate of abandonment by amputees in preference for simpler devices. In choosing so, amputees chose to live with fewer features in their prosthesis that would more reliably perform the basic operations. In this paper, we look simultaneously at a hand prosthesis design method that aims for a small number of grasps, a low complexity user interface and an alternative method to the current use of EMG as a preshape selection method through the use of a simple button; to enable amputees to get to and execute the intended hand movements intuitively, quickly and reliably. An experiment is reported at the end of the paper comparing the speed and accuracy with which able-bodied naive subjects are able to select the intended preshapes through the use of a simplified EMG method and a simple button. It is shown that the button was significantly superior in the speed of successful task completion and marginally superior in accuracy (success of first attempt).

  6. Classification of Hand Grasp Kinetics and Types Using Movement-Related Cortical Potentials and EEG Rhythms

    Directory of Open Access Journals (Sweden)

    Mads Jochumsen

    2017-01-01

    Full Text Available Detection of single-trial movement intentions from EEG is paramount for brain-computer interfacing in neurorehabilitation. These movement intentions contain task-related information and if this is decoded, the neurorehabilitation could potentially be optimized. The aim of this study was to classify single-trial movement intentions associated with two levels of force and speed and three different grasp types using EEG rhythms and components of the movement-related cortical potential (MRCP as features. The feature importance was used to estimate encoding of discriminative information. Two data sets were used. 29 healthy subjects executed and imagined different hand movements, while EEG was recorded over the contralateral sensorimotor cortex. The following features were extracted: delta, theta, mu/alpha, beta, and gamma rhythms, readiness potential, negative slope, and motor potential of the MRCP. Sequential forward selection was performed, and classification was performed using linear discriminant analysis and support vector machines. Limited classification accuracies were obtained from the EEG rhythms and MRCP-components: 0.48±0.05 (grasp types, 0.41±0.07 (kinetic profiles, motor execution, and 0.39±0.08 (kinetic profiles, motor imagination. Delta activity contributed the most but all features provided discriminative information. These findings suggest that information from the entire EEG spectrum is needed to discriminate between task-related parameters from single-trial movement intentions.

  7. the performance of a beef breeding herd subjected to continuous

    African Journals Online (AJOL)

    nations of calf weaning mass and cow reconceDtion rate. Introduction. It is generally ... plane of nutrition averaged 32 days between calving and subsequent oestrus ... be of value in measuring performance patterns and/or determining which ...

  8. Optimal Designs for Performance Assessments: The Subject Factor.

    Science.gov (United States)

    Parkes, Jay

    Much speculation abounds concerning how expensive performance assessments are or are going to be. Recent projections indicate that, in order to achieve an acceptably high generalizability coefficient, many additional tasks may need to be added, which will enlarge costs. Such projections are, to some degree, correct, and to some degree simplistic.…

  9. Performativity / Expressivity: The Mobile Micro Screen and its Subject

    NARCIS (Netherlands)

    Verhoeff, N.

    2014-01-01

    Informed by a tradition of cinema and visual culture studies on the one hand, and science and technology studies and new materialism on the other, we mobilize Peircean semiotics in order to theorize new media technologies and related practices. Our question is, in what way performativity and

  10. 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.

  11. 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.

  12. 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....

  13. 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...

  14. 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

  15. 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.

  16. 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.

  17. 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

  18. 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.

  19. 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.

  20. 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.…

  1. 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

  2. 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...

  3. 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...

  4. Subjective Performance Evaluation in the Public Sector: Evidence from School Inspections. CEE DP 135

    Science.gov (United States)

    Hussain, Iftikhar

    2012-01-01

    Performance measurement in the public sector is largely based on objective metrics, which may be subject to gaming behaviour. This paper investigates a novel subjective performance evaluation system where independent inspectors visit schools at very short notice, publicly disclose their findings and sanction schools rated fail. First, I…

  5. Identifying relevant feature-action associations for grasping unmodelled objects

    DEFF Research Database (Denmark)

    Thomsen, Mikkel Tang; Kraft, Dirk; Krüger, Norbert

    2015-01-01

    content. The method is provided with a large and structured set of visual features, motivated by the visual hierarchy in primates and finds relevant feature action associations automatically. We apply our method in a simulated environment on three different object sets for the case of grasp affordance...... learning. For box objects, we achieve a 0.90 success probability, 0.80 for round objects and up to 0.75 for open objects, when presented with novel objects. In this work, we in particular demonstrate the effect of choosing appropriate feature representations. We demonstrate a significant performance...

  6. 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)

  7. SEOM's Sentinel-3/OLCI' project CAWA: advanced GRASP aerosol retrieval

    Science.gov (United States)

    Dubovik, Oleg; litvinov, Pavel; Huang, Xin; Aspetsberger, Michael; Fuertes, David; Brockmann, Carsten; Fischer, Jürgen; Bojkov, Bojan

    2016-04-01

    The CAWA "Advanced Clouds, Aerosols and WAter vapour products for Sentinel-3/OLCI" ESA-SEOM project aims on the development of advanced atmospheric retrieval algorithms for the Sentinel-3/OLCI mission, and is prepared using Envisat/MERIS and Aqua/MODIS datasets. This presentation discusses mainly CAWA aerosol product developments and results. CAWA aerosol retrieval uses recently developed GRASP algorithm (Generalized Retrieval of Aerosol and Surface Properties) algorithm described by Dubovik et al. (2014). GRASP derives extended set of atmospheric parameters using multi-pixel concept - a simultaneous fitting of a large group of pixels under additional a priori constraints limiting the time variability of surface properties and spatial variability of aerosol properties. Over land GRASP simultaneously retrieves properties of both aerosol and underlying surface even over bright surfaces. GRAPS doesn't use traditional look-up-tables and performs retrieval as search in continuous space of solution. All radiative transfer calculations are performed as part of the retrieval. The results of comprehensive sensitivity tests, as well as results obtained from real Envisat/MERIS data will be presented. The tests analyze various aspects of aerosol and surface reflectance retrieval accuracy. In addition, the possibilities of retrieval improvement by means of implementing synergetic inversion of a combination of OLCI data with observations by SLSTR are explored. Both the results of numerical tests, as well as the results of processing several years of Envisat/MERIS data illustrate demonstrate reliable retrieval of AOD (Aerosol Optical Depth) and surface BRDF. Observed retrieval issues and advancements will be discussed. For example, for some situations we illustrate possibilities of retrieving aerosol absorption - property that hardly accessible from satellite observations with no multi-angular and polarimetric capabilities.

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

    Science.gov (United States)

    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.

  9. 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.

  10. 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

  11. 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.

  12. Tactile feedback is an effective instrument for the training of grasping with a prosthesis at low- and medium-force levels.

    Science.gov (United States)

    De Nunzio, Alessandro Marco; Dosen, Strahinja; Lemling, Sabrina; Markovic, Marko; Schweisfurth, Meike Annika; Ge, Nan; Graimann, Bernhard; Falla, Deborah; Farina, Dario

    2017-08-01

    Grasping is a complex task routinely performed in an anticipatory (feedforward) manner, where sensory feedback is responsible for learning and updating the internal model of grasp dynamics. This study aims at evaluating whether providing a proportional tactile force feedback during the myoelectric control of a prosthesis facilitates learning a stable internal model of the prosthesis force control. Ten able-bodied subjects controlled a sensorized myoelectric prosthesis performing four blocks of consecutive grasps at three levels of target force (30, 50, and 70%), repeatedly closing the fully opened hand. In the first and third block, the subjects received tactile and visual feedback, respectively, while during the second and fourth block, the feedback was removed. The subjects also performed an additional block with no feedback 1 day after the training (Retest). The median and interquartile range of the generated forces was computed to assess the accuracy and precision of force control. The results demonstrated that the feedback was indeed an effective instrument for the training of prosthesis control. After the training, the subjects were still able to accurately generate the desired force for the low and medium target (30 and 50% of maximum force available in a prosthesis), despite the feedback being removed within the session and during the retest (low target force). However, the training was substantially less successful for high forces (70% of prosthesis maximum force), where subjects exhibited a substantial loss of accuracy as soon as the feedback was removed. The precision of control decreased with higher forces and it was consistent across conditions, determined by an intrinsic variability of repeated myoelectric grasping. This study demonstrated that the subject could rely on the tactile feedback to adjust the motor command to the prosthesis across trials. The subjects adjusted the mean level of muscle activation (accuracy), whereas the precision could not

  13. Evaluation of Human Prehension Using Grasp Quality Measures

    Directory of Open Access Journals (Sweden)

    Beatriz León

    2012-10-01

    Full Text Available One of the main features of the human hand is its grasping ability. Robot grasping has been studied for years and different quality measures have been proposed to evaluate the stability and manipulability of grasps. Although the human hand is obviously more complex than robot hands, the methods used in robotics might be adopted to study the human grasp. The purpose of this work is to propose a set of measures that allow the evaluation of different aspects of the human grasp. The most common robotic grasp quality measures have been adapted to the evaluation of the human hand and a new quality measure – the fatigue index – is proposed in order to incorporate the biomechanical aspect into the evaluation. The minimum set of indices that allows the evaluation of the different aspects of the grasp is obtained from the analysis of a human prehension experiment.

  14. Are subjective memory problems related to suggestibility, compliance, false memories, and objective memory performance?

    Science.gov (United States)

    Van Bergen, Saskia; Jelicic, Marko; Merckelbach, Harald

    2009-01-01

    The relationship between subjective memory beliefs and suggestibility, compliance, false memories, and objective memory performance was studied in a community sample of young and middle-aged people (N = 142). We hypothesized that people with subjective memory problems would exhibit higher suggestibility and compliance levels and would be more susceptible to false recollections than those who are optimistic about their memory. In addition, we expected a discrepancy between subjective memory judgments and objective memory performance. We found that subjective memory judgments correlated significantly with compliance, with more negative memory judgments accompanying higher levels of compliance. Contrary to our expectation, subjective memory problems did not correlate with suggestibility or false recollections. Furthermore, participants were accurate in estimating their objective memory performance.

  15. Effects of Subject Self-Esteem, Test Performance Feedback, and Counselor Attractiveness on Influence in Counseling

    Science.gov (United States)

    Sell, John M.

    1974-01-01

    Counselor attractiveness, subject self-esteem, and subject receipt of test performance feedback were manipulated in a counseling analogue experiment. The results demonstrated no relationship between the independent variables and counselor influence, although the experimental induction of attractiveness was successful. Implications for a theory of…

  16. Subjective Performance Evaluations, Self-esteem, and Ego-threats in Principal-agent Relations

    DEFF Research Database (Denmark)

    Sebald, Alexander Christopher; Walzl, Markus

    find that agents sanction whenever the feedback of principals is below their subjective self-evaluations even if the agents' payoff is independent of the principals' feedback. Based on our experimental analysis we propose a principal-agent model with subjective performance evaluations that accommodates...

  17. A method to evaluate performance reliability of individual subjects in laboratory research applied to work settings.

    Science.gov (United States)

    1978-10-01

    This report presents a method that may be used to evaluate the reliability of performance of individual subjects, particularly in applied laboratory research. The method is based on analysis of variance of a tasks-by-subjects data matrix, with all sc...

  18. Complex modulation of fingertip forces during precision grasp and lift after theta burst stimulation over the dorsal premotor cortex

    Directory of Open Access Journals (Sweden)

    Drljačić Dragana

    2017-01-01

    Full Text Available Background/Aim. Adaptive control and fingertip force synchronization of precise grasp stability during unimanual manipulation of small objects represents an illustrative example of highly fractionated movements that are foundation of fine motor control. It is assumed that this process is controlled by several motor areas of the frontal lobe, particularly applicable to the primary motor (M-1 and dorsal premotor cortex (PMd. Aiming to examine the role of PMd during fine coordination of fingertip forces we applied theta burst repetitive magnetic stimulation (TBS to disrupt neural processing in that cortical area. Methods. Using a single-blind, randomized, crossover design, 10 healthy subjects (29 ± 3.9 years received single sessions of continuous TBS (cTBS600, intermittent TBS (iTBS600, or sham stimulation, separate from one another at least one week, over the PMd region of dominant hemisphere. Precision grasp and lift were assessed by instrumented device, recording grip (G and load (L forces, during three manipulation tasks (ramp-and-hold, oscillation force producing and simple lifting tasks, with each hand separately, before and after interventions. Results. We observed the improvement of task performance related to constant error (CE in oscillation task with the dominant hand (DH after the iTBS (p = 0.009. On the contrary, the cTBS reduced variable error (VE for non-dominant hand (NH, p = 0.005. Considering force coordination we found that iTBS worsened variables for NH (G/L ratio, p = 0.017; cross-correlation of the G and L, p = 0.047; Gain, p = 0.047. Conclusion. These results demonstrate the ability of TBS to modulate fingertip forces during precision grasping and lifting, when applied over PMd. These findings support the role of PMd in human motor control and forces generation required to hold small objects stable in our hands.

  19. Subjective user experience and performance with active tangibles on a tabletop interface

    NARCIS (Netherlands)

    Erp, J.B. van; Toet, A.; Meijer, K.; Janssen, J.; Jong, A. de

    2015-01-01

    We developed active tangibles (Sensators) that can be used in combination with multitouch tabletops and that can provide multisensory (visual, auditory, and vibrotactile) feedback. For spatial alignment and rotation tasks we measured subjective user experience and objective performance with these

  20. Subjective User Experience and Performance with Active Tangibles on a Tabletop Interfaces

    NARCIS (Netherlands)

    van Erp, Johannes Bernardus Fransiscus; Toet, Alexander; Meijer, Koos; Janssen, Joris; Jong, Arnoud; Streitz, Norbert; Markopoulos, Panos

    We developed active tangibles (Sensators) that can be used in combination with multitouch tabletops and that can provide multisensory (visual, auditory, and vibrotactile) feedback. For spatial alignment and rotation tasks we measured subjective user experience and objective performance with these

  1. Do already grasped objects activate motor affordances?

    Science.gov (United States)

    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.

  2. Predicting subjective vitality and performance in sports: the role of passion and achievement goals.

    Science.gov (United States)

    Li, Chiung-Huang

    2010-06-01

    The major purpose of this study was to test the hypothesized paths from dualistic passions through achievement goals to subjective vitality and performance in sports. 645 high school athletes participated. The proposed structural equation model, with relationships between dualistic passions and subjective vitality and sports performance mediated by achievement goals, fit the data well, especially for mastery-approach and performance-approach goals. Harmonious and obsessive passions may lead athletes to high performance via the adoption of mastery-approach goals. However, these passions seem to have two paths influencing personal functioning: direct effects make players feel energetic, and indirect effects on subjective vitality through adoption of mastery-approach and performance-approach goals.

  3. 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

  4. 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...

  5. 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.

  6. 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...

  7. 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 ...

  8. Static, dynamic balance and functional performance in subjects with and without plantar fasciitis

    Directory of Open Access Journals (Sweden)

    Geiseane Aguiar Gonçalves

    Full Text Available Abstract Introduction: Plantar fasciitis (PF is characterized by non-inflammatory degeneration and pain under the heel, and is one of the most common foot complaints. The compensations and adjustments made to decrease the discomfort caused by the disease are clinical findings and can be a factor that contributes to impaired balance and decreased functional performance. Objective: To compare functional performance as well as static and dynamic balance among subjects with and without PF. Methods: The sample consisted of 124 subjects of both sexes aged 20-60 years. Participants were divided into two groups: a bilateral PF group (PFG; n = 62 and a control group (CG, n = 62. The following outcomes were analyzed: static and dynamic balance (using functional tests and functional performance (using a questionnaire. We used Student’s t test for independent samples to compare variables between the groups. The alpha error was set at 0.05. Results: Subjects with PF showed greater impairment in their overall dynamic balance performance (p < 0.001 than the control group, except for left posteromedial movement (p = 0.19. The CG showed showed better functional performance (p < 0.001 than the PF group. There was no difference between groups for the variable static balance on stable (p = 0.160 and unstable surfaces (p = 0.085. Conclusion: Subjects with PF displayed smaller reach distances in the overall Star Excursion Balance Test (SEBT, demonstrating a deficit in dynamic balance and functional performance when compared with healthy subjects.

  9. 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.

  10. 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...

  11. 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.

  12. Subjective and objective quantification of physician's workload and performance during radiation therapy planning tasks.

    Science.gov (United States)

    Mazur, Lukasz M; Mosaly, Prithima R; Hoyle, Lesley M; Jones, Ellen L; Marks, Lawrence B

    2013-01-01

    To quantify, and compare, workload for several common physician-based treatment planning tasks using objective and subjective measures of workload. To assess the relationship between workload and performance to define workload levels where performance could be expected to decline. Nine physicians performed the same 3 tasks on each of 2 cases ("easy" vs "hard"). Workload was assessed objectively throughout the tasks (via monitoring of pupil size and blink rate), and subjectively at the end of each case (via National Aeronautics and Space Administration Task Load Index; NASA-TLX). NASA-TLX assesses the 6 dimensions (mental, physical, and temporal demands, frustration, effort, and performance); scores > or ≈ 50 are associated with reduced performance in other industries. Performance was measured using participants' stated willingness to approve the treatment plan. Differences in subjective and objective workload between cases, tasks, and experience were assessed using analysis of variance (ANOVA). The correlation between subjective and objective workload measures were assessed via the Pearson correlation test. The relationships between workload and performance measures were assessed using the t test. Eighteen case-wise and 54 task-wise assessments were obtained. Subjective NASA-TLX scores (P .1), were significantly lower for the easy vs hard case. Most correlations between the subjective and objective measures were not significant, except between average blink rate and NASA-TLX scores (r = -0.34, P = .02), for task-wise assessments. Performance appeared to decline at NASA-TLX scores of ≥55. The NASA-TLX may provide a reasonable method to quantify subjective workload for broad activities, and objective physiologic eye-based measures may be useful to monitor workload for more granular tasks within activities. The subjective and objective measures, as herein quantified, do not necessarily track each other, and more work is needed to assess their utilities. From a

  13. Grasping at ontological straws: overcoming reductionism in the Advaita Vedānta-Neuroscience dialogue.

    Science.gov (United States)

    Kaplan, Stephen

    2009-01-01

    Contemporary neuropsychology reveals that the parietal lobe contains neurons that are specifically attuned to the act of grasping and this act may be fundamental to the establishment of the phenomenal boundaries between subject and object. Furthermore, alterations to this process, such as the hypoactivation of this region during meditation or the hyperactivation associated with schizophrenia, may eliminate or confuse, respectively, the phenomenal boundaries between subject and object. Traversing disciplines, the Advaita Vedānta school of Hinduism traces some of its key terms for subject and object to the verbal root grah, to grasp. The subject is literally the grasper. Furthermore, the practice of asparśa yoga, the yoga of no-touch, is aimed at stopping, hypoactivating, the grasping process in order to transcend all subject-object boundaries. This paper will argue that while we have not uncovered an identity of thought, we have uncovered a confluence of ideas between these two disciplines. We will see that this confluence of ideas has not pitted the believer against the critic-not forced us into the great reductionism debate that has dominated so much of the interchange between religious studies and the sciences. This case study will illuminate some of the methodological ways around this reductionism battle and also the boundaries of both disciplines for the intellectual benefit of each.

  14. Reach-to-grasp movement as a minimization process.

    Science.gov (United States)

    Yang, Fang; Feldman, Anatol G

    2010-02-01

    It is known that hand transport and grasping are functionally different but spatially coordinated components of reach-to-grasp (RTG) movements. As an extension of this notion, we suggested that body segments involved in RTG movements are controlled as a coherent ensemble by a global minimization process associated with the necessity for the hand to reach the motor goal. Different RTG components emerge following this process without pre-programming. Specifically, the minimization process may result from the tendency of neuromuscular elements to diminish the spatial gap between the actual arm-hand configuration and its virtual (referent) configuration specified by the brain. The referent configuration is specified depending on the object shape, localization, and orientation. Since the minimization process is gradual, it can be interrupted and resumed following mechanical perturbations, at any phase during RTG movements, including hand closure. To test this prediction of the minimization hypothesis, we asked subjects to reach and grasp a cube placed within the reach of the arm. Vision was prevented during movement until the hand returned to its initial position. As predicted, by arresting wrist motion at different points of hand transport in randomly selected trials, it was possible to halt changes in hand aperture at any phase, not only during hand opening but also during hand closure. Aperture changes resumed soon after the wrist was released. Another test of the minimization hypothesis was made in RTG movements to an object placed beyond the reach of the arm. It has previously been shown (Rossi et al. in J Physiol 538:659-671, 2002) that in such movements, the trunk motion begins to contribute to hand transport only after a critical phase when the shifts in the referent arm configuration have finished (at about the time when hand velocity is maximal). The minimization rule suggests that when the virtual contribution of the arm to hand transport is completed

  15. The subjective determinants of job performance and job involvement in organizational context.

    OpenAIRE

    Koblicová, Leona

    2016-01-01

    The job performance is conditioned by range of objective factors and subjective determinants as well. This thesis dedicates to mapping of job involvement meaning engagement, enthusiasm, commitment and work motivation. Considering to that, oganization can influence future job performance of its employee through employee development, when it tries to grow up the job interest, develops requiered skills and so potencially supports one's performance. The text tries to sum up knowledge background o...

  16. 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.

  17. Improved automated perimetry performance in elderly subjects after listening to Mozart

    Directory of Open Access Journals (Sweden)

    Junia Cabral Marques

    2009-01-01

    Full Text Available PURPOSE: To evaluate the performance of automated perimetry of elderly subjects naïve to AP after listening to a Mozart sonata. INTRODUCTION: Automated perimetry (AP is a psychophysical test used to assess visual fields in patients with neurological disorders and glaucoma. In a previous study, Fiorelli et al. showed that young subjects who listened to a Mozart sonata prior to undergoing AP performed better in terms of reliability than those who did not listen to the sonata. METHODS: Fifty-two AP-naïve, normal subjects underwent Automated perimetry (SITA 24-2. The study group (25 subjects underwent AP after listening to Mozart's Sonata for Two Pianos in D Major, and the control group (27 subjects underwent Automated perimetry without prior exposure to the music. RESULTS: The study group had significantly lower false negative rates and a lower visual field reliability score than the controls (P=0.04 and P=0.04, respectively. The test time was shorter for the study group (P=0.03. DISCUSSION: This study shows that elderly subjects, when exposed to the Mozart sonata immediately before AP testing, have lower false negative rates and lower visual field reliability scores when compared with an age- and gender-matched control group. Our results differ from those of Fiorelli et al. who found lower false positive rates and less fixation loss in addition to lower false negative rates. CONCLUSION: Listening to a Mozart sonata seems to improve automated perimetry reliability in elderly subjects.

  18. Improved automated perimetry performance in elderly subjects after listening to Mozart.

    Science.gov (United States)

    Marques, Junia Cabral; Vanessa, Adriana Chaves Oliveira; Fiorelli, Macedo Batista; Kasahara, Niro

    2009-01-01

    To evaluate the performance of automated perimetry of elderly subjects naïve to AP after listening to a Mozart sonata. Automated perimetry (AP) is a psychophysical test used to assess visual fields in patients with neurological disorders and glaucoma. In a previous study, Fiorelli et al. showed that young subjects who listened to a Mozart sonata prior to undergoing AP performed better in terms of reliability than those who did not listen to the sonata. Fifty-two AP-naïve, normal subjects underwent Automated perimetry (SITA 24-2). The study group (25 subjects) underwent AP after listening to Mozart's Sonata for Two Pianos in D Major, and the control group (27 subjects) underwent Automated perimetry without prior exposure to the music. The study group had significantly lower false negative rates and a lower visual field reliability score than the controls (P=0.04 and P=0.04, respectively). The test time was shorter for the study group (P=0.03). This study shows that elderly subjects, when exposed to the Mozart sonata immediately before AP testing, have lower false negative rates and lower visual field reliability scores when compared with an age- and gender-matched control group. Our results differ from those of Fiorelli et al. who found lower false positive rates and less fixation loss in addition to lower false negative rates. Listening to a Mozart sonata seems to improve automated perimetry reliability in elderly subjects.

  19. 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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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.

  2. Noninvasive Electroencephalogram Based Control of a Robotic Arm for Reach and Grasp Tasks

    Science.gov (United States)

    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

  3. Phase dependence of transport-aperture coordination variability reveals control strategy of reach-to-grasp movements.

    Science.gov (United States)

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

    2010-11-01

    Based on an assumption of movement control optimality in reach-to-grasp movements, we have recently developed a mathematical model of transport-aperture coordination (TAC), according to which the hand-target distance is a function of hand velocity and acceleration, aperture magnitude, and aperture velocity and acceleration (Rand et al. in Exp Brain Res 188:263-274, 2008). Reach-to-grasp movements were performed by young adults under four different reaching speeds and two different transport distances. The residual error magnitude of fitting the above model to data across different trials and subjects was minimal for the aperture-closure phase, but relatively much greater for the aperture-opening phase, indicating considerable difference in TAC variability between those phases. This study's goal is to identify the main reasons for that difference and obtain insights into the control strategy of reach-to-grasp movements. TAC variability within the aperture-opening phase of a single trial was found minimal, indicating that TAC variability between trials was not due to execution noise, but rather a result of inter-trial and inter-subject variability of motor plan. At the same time, the dependence of the extent of trial-to-trial variability of TAC in that phase on the speed of hand transport was sharply inconsistent with the concept of speed-accuracy trade-off: the lower the speed, the larger the variability. Conversely, the dependence of the extent of TAC variability in the aperture-closure phase on hand transport speed was consistent with that concept. Taking into account recent evidence that the cost of neural information processing is substantial for movement planning, the dependence of TAC variability in the aperture-opening phase on task performance conditions suggests that it is not the movement time that the CNS saves in that phase, but the cost of neuro-computational resources and metabolic energy required for TAC regulation in that phase. Thus, the CNS

  4. 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...

  5. 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

  6. Linguistic approach to object recognition by grasping

    Energy Technology Data Exchange (ETDEWEB)

    Marik, V

    1982-01-01

    A method for recognizing both the three-dimensional object shapes and their sizes by grasping them with an antropomorphic five-finger artificial hand is described. The hand is equipped with position sensing elements in the joints of the fingers and with a tactile transducer net on the palm surface. The linguistic method uses formal grammars and languages for the pattern description. The recognition is hierarchically arranged, every level being different from the others by a formal language which has been used. On every level the pattern description is generated and verified from the symmetrical and semantical points of view. The results of the implementation of the recognition of cones, pyramides, spheres, prisms and cylinders are presented and discussed. 8 references.

  7. Speech perception performance of subjects with type I diabetes mellitus in noise

    Directory of Open Access Journals (Sweden)

    Bárbara Cristiane Sordi Silva

    Full Text Available Abstract Introduction: Diabetes mellitus (DM is a chronic metabolic disorder of various origins that occurs when the pancreas fails to produce insulin in sufficient quantities or when the organism fails to respond to this hormone in an efficient manner. Objective: To evaluate the speech recognition in subjects with type I diabetes mellitus (DMI in quiet and in competitive noise. Methods: It was a descriptive, observational and cross-section study. We included 40 participants of both genders aged 18-30 years, divided into a control group (CG of 20 healthy subjects with no complaints or auditory changes, paired for age and gender with the study group, consisting of 20 subjects with a diagnosis of DMI. First, we applied basic audiological evaluations (pure tone audiometry, speech audiometry and immittance audiometry for all subjects; after these evaluations, we applied Sentence Recognition Threshold in Quiet (SRTQ and Sentence Recognition Threshold in Noise (SRTN in free field, using the List of Sentences in Portuguese test. Results: All subjects showed normal bilateral pure tone threshold, compatible speech audiometry and "A" tympanometry curve. Group comparison revealed a statistically significant difference for SRTQ (p = 0.0001, SRTN (p < 0.0001 and the signal-to-noise ratio (p < 0.0001. Conclusion: The performance of DMI subjects in SRTQ and SRTN was worse compared to the subjects without diabetes.

  8. Characterization of subjective uncertainty in the 1996 performance assessment for the Waste Isolation Pilot Plant

    International Nuclear Information System (INIS)

    HELTON, JON CRAIG; MARTELL, MARY-ALENA; TIERNEY, MARTIN S.

    2000-01-01

    The 1996 performance assessment (PA) for the Waste Isolation Pilot Plant (WIPP) maintains a separation between stochastic (i.e., aleatory) and subjective (i.e., epistemic) uncertainty, with stochastic uncertainty arising from the possible disruptions that could occur at the WIPP over the 10,000 yr regulatory period specified by the US Environmental Protection Agency (40 CFR 191,40 CFR 194) and subjective uncertainty arising from an inability to uniquely characterize many of the inputs required in the 1996 WIPP PA. The characterization of subjective uncertainty is discussed, including assignment of distributions, uncertain variables selected for inclusion in analysis, correlation control, sample size, statistical confidence on mean complementary cumulative distribution functions, generation of Latin hypercube samples, sensitivity analysis techniques, and scenarios involving stochastic and subjective uncertainty

  9. Characterization of subjective uncertainty in the 1996 performance assessment for the Waste Isolation Pilot Plant

    Energy Technology Data Exchange (ETDEWEB)

    HELTON,JON CRAIG; MARTELL,MARY-ALENA; TIERNEY,MARTIN S.

    2000-05-18

    The 1996 performance assessment (PA) for the Waste Isolation Pilot Plant (WIPP) maintains a separation between stochastic (i.e., aleatory) and subjective (i.e., epistemic) uncertainty, with stochastic uncertainty arising from the possible disruptions that could occur at the WIPP over the 10,000 yr regulatory period specified by the US Environmental Protection Agency (40 CFR 191,40 CFR 194) and subjective uncertainty arising from an inability to uniquely characterize many of the inputs required in the 1996 WIPP PA. The characterization of subjective uncertainty is discussed, including assignment of distributions, uncertain variables selected for inclusion in analysis, correlation control, sample size, statistical confidence on mean complementary cumulative distribution functions, generation of Latin hypercube samples, sensitivity analysis techniques, and scenarios involving stochastic and subjective uncertainty.

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

    Science.gov (United States)

    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.

  11. 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.

  12. Forward lunge as a functional performance test in ACL deficient subjects: test-retest reliability

    DEFF Research Database (Denmark)

    Alkjaer, Tine; Henriksen, Marius; Dyhre-Poulsen, Poul

    2009-01-01

    The forward lunge movement may be used as a functional performance test of anterior cruciate ligament (ACL) deficient and reconstructed subjects. The purposes were 1) to determine the test-retest reliability of a forward lunge in healthy subjects and 2) to determine the required numbers...... of repetitions necessary to yield satisfactory reliability. Nineteen healthy subjects performed four trials of a forward lunge on two different days. The movement time, impulses of the ground reaction forces (IFz, IFy), knee joint kinematics and dynamics during the forward lunge were calculated. The relative...... reliability was determined by calculation of Intraclass Correlation Coefficients (ICC). The IFz, IFy and the positive work of the knee extensors showed excellent reliability (ICC >0.75). All other variables demonstrated acceptable reliability (0.4>ICCreliability increased when more than...

  13. Analysis of Praxis physics subject assessment examinees and performance: Who are our prospective physics teachers?

    Science.gov (United States)

    Shah, Lisa; Hao, Jie; Rodriguez, Christian A.; Fallin, Rebekah; Linenberger-Cortes, Kimberly; Ray, Herman E.; Rushton, Gregory T.

    2018-06-01

    A generally agreed upon tenant of the physics teaching community is the centrality of subject-specific expertise in effective teaching. However, studies which assess the content knowledge of incoming K-12 physics teachers in the U.S. have not yet been reported. Similarly lacking are studies on if or how the demographic makeup of aspiring physics educators is different from previously reported analyses of the actual high school physics teaching workforce. Here we present findings about the demographics and subject knowledge of prospective high school physics teachers using data from Praxis physics subject assessments administered between 2006 and 2016. Our analysis reveals significant variations in exam participation and performance between men and women, as well as those with different undergraduate majors and academic performance over the past decade. Findings from this work inform understandings and decisions about the quality, recruitment, and preparation of the high school physics teaching workforce.

  14. Evaluating Robotic Surgical Skills Performance Under Distractive Environment Using Objective and Subjective Measures.

    Science.gov (United States)

    Suh, Irene H; LaGrange, Chad A; Oleynikov, Dmitry; Siu, Ka-Chun

    2016-02-01

    Distractions are recognized as a significant factor affecting performance in safety critical domains. Although operating rooms are generally full of distractions, the effect of distractions on robot-assisted surgical (RAS) performance is unclear. Our aim was to investigate the effect of distractions on RAS performance using both objective and subjective measures. Fifteen participants performed a knot-tying task using the da Vinci Surgical System and were exposed to 3 distractions: (1) passive distraction entailed listening to noise with a constant heart rate, (2) active distraction included listening to noise and acknowledging a change of random heart rate from 60 to 120 bpm, and (3) interactive distraction consisted of answering math questions. The objective kinematics of the surgical instrument tips were used to evaluate performance. Electromyography (EMG) of the forearm and hand muscles of the participants were collected. The median EMG frequency (EMG(fmed)) and the EMG envelope (EMG(env)) were analyzed. NASA Task Load Index and Fundamentals of Laparoscopic Surgery score were used to evaluate the subjective performance. One-way repeated analysis of variance was applied to examine the effects of distraction on skills performance. Spearman's correlations were conducted to compare objective and subjective measures. Significant distraction effect was found for all objective kinematics measures (P < .05). There were significant distraction effects for EMG measures (EMG(env), P < .004; EMG(fmed), P = .031). Significant distraction effects were also found for subjective measurements. Distraction impairs surgical skills performance and increases muscle work. Understanding how the surgeons cope with distractions is important in developing surgical education. © The Author(s) 2015.

  15. 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.

  16. 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.

  17. Media Usage, Religiosity and Gender as Determinant of Performance in Chemistry Subject

    Science.gov (United States)

    Oloyede, Ganiyat Kehinde; Mercy, Ofole Ndidi

    2016-01-01

    This research was designed to investigate the effect of media usage, religiosity and gender on performance in chemistry subject. This study employed survey research design. Two hundred participants (66 males and 134 females) drawn from public Senior Secondary Schools in Ibadan North Local Government Area, Oyo State constituted the study's sample.…

  18. Performance of a rigid and a flexible adhesive in lumber joints subjected to moisture content changes

    Science.gov (United States)

    G. P. Krueger; R. F. Blomquist

    1964-01-01

    Experimental work was undertaken to investigate the extent and magnitude of deterioration that can occur in typical plywood-to-lumber glue joints subjected to stresses resulting from changes in the moisture content of the wood, and to compare the performance of a somewhat flexible or deformable adhesive to that of a rigid adhesive in these joints. Results showed that...

  19. Connections of Grasping and Horizontal Hand Movements with Articulation in Czech Speakers

    Czech Academy of Sciences Publication Activity Database

    Tiainen, M.; Lukavský, Jiří; Tiippana, K.; Vainio, M.; Šimko, J.; Felisberti, F.; Vainio, L.

    2017-01-01

    Roč. 8, duben (2017), s. 1-10, č. článku 516. ISSN 1664-1078 Grant - others:AV ČR(CZ) StrategieAV21/14 Program:StrategieAV Institutional support: RVO:68081740 Keywords : articulation * motor actions * language * grasping * manual gestures * speech * manual actions Subject RIV: AN - Psychology OBOR OECD: Cognitive sciences Impact factor: 2.323, year: 2016

  20. Multimodal decoding and congruent sensory information enhance reaching performance in subjects with cervical spinal cord injury

    Directory of Open Access Journals (Sweden)

    Elaine Anna Corbett

    2014-05-01

    Full Text Available Cervical spinal cord injury (SCI paralyzes muscles of the hand and arm, making it difficult to perform activities of daily living. Restoring the ability to reach can dramatically improve quality of life for people with cervical SCI. Any reaching system requires a user interface to decode parameters of an intended reach, such as trajectory and target. A challenge in developing such decoders is that often few physiological signals related to the intended reach remain under voluntary control, especially in patients with high cervical injuries. Furthermore, the decoding problem changes when the user is controlling the motion of their limb, as opposed to an external device. The purpose of this study was to investigate the benefits of combining disparate signal sources to control reach in people with a range of impairments, and to consider the effect of two feedback approaches. Subjects with cervical SCI performed robot-assisted reaching, controlling trajectories with either shoulder electromyograms (EMGs or EMGs combined with gaze. We then evaluated how reaching performance was influenced by task-related sensory feedback, testing the EMG-only decoder in two conditions. The first involved moving the arm with the robot, providing congruent sensory feedback through their remaining sense of proprioception. In the second, the subjects moved the robot without the arm attached, as in applications that control external devices. We found that the multimodal decoding algorithm worked well for all subjects, enabling them to perform straight, accurate reaches. The inclusion of gaze information, used to estimate target location, was especially important for the most impaired subjects. In the absence of gaze information, congruent sensory feedback improved performance. These results highlight the importance of proprioceptive feedback, and suggest that multi-modal decoders are likely to be most beneficial for highly impaired subjects and in tasks where such

  1. 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

  2. Subjective Evaluation of Packet Service Performance in UMTS and Heterogeneous Networks

    DEFF Research Database (Denmark)

    Teyeb, Oumer Mohammed; Sørensen, Troels Bundgaard; Mogensen, Preben

    2006-01-01

    Quality of Service (QoS) in mobile telecommunication systems is usually identified by some basic performance metrics such as delay, throughput and jitter. However, the main impact of service quality is on the end user, and as such a detailed study of service performance should involve the end user......, users rated the perceived quality of the services under different network conditions. The users’ ratings are analyzed and the results showed clear trends with very few outliers. The objective and subjective measures also were found to be in line except for one case where a higher layer effect influenced....... In this paper, such an approach is taken where subjective performance evaluation is undertaken for web browsing and video streaming services in Universal Mobile Telecommunication System (UMTS) and a heterogeneous network comprised of UMTS and Wireless LAN (WLAN). Using a real-time network emulation testbed...

  3. Classification Systems for Individual Differences in Multiple-task Performance and Subjective Estimates of Workload

    Science.gov (United States)

    Damos, D. L.

    1984-01-01

    Human factors practitioners often are concerned with mental workload in multiple-task situations. Investigations of these situations have demonstrated repeatedly that individuals differ in their subjective estimates of workload. These differences may be attributed in part to individual differences in definitions of workload. However, after allowing for differences in the definition of workload, there are still unexplained individual differences in workload ratings. The relation between individual differences in multiple-task performance, subjective estimates of workload, information processing abilities, and the Type A personality trait were examined.

  4. Evaluation of Subjective and Objective Performance Metrics for Haptically Controlled Robotic Systems

    Directory of Open Access Journals (Sweden)

    Cong Dung Pham

    2014-07-01

    Full Text Available This paper studies in detail how different evaluation methods perform when it comes to describing the performance of haptically controlled mobile manipulators. Particularly, we investigate how well subjective metrics perform compared to objective metrics. To find the best metrics to describe the performance of a control scheme is challenging when human operators are involved; how the user perceives the performance of the controller does not necessarily correspond to the directly measurable metrics normally used in controller evaluation. It is therefore important to study whether there is any correspondence between how the user perceives the performance of a controller, and how it performs in terms of directly measurable metrics such as the time used to perform a task, number of errors, accuracy, and so on. To perform these tests we choose a system that consists of a mobile manipulator that is controlled by an operator through a haptic device. This is a good system for studying different performance metrics as the performance can be determined by subjective metrics based on feedback from the users, and also as objective and directly measurable metrics. The system consists of a robotic arm which provides for interaction and manipulation, which is mounted on a mobile base which extends the workspace of the arm. The operator thus needs to perform both interaction and locomotion using a single haptic device. While the position of the on-board camera is determined by the base motion, the principal control objective is the motion of the manipulator arm. This calls for intelligent control allocation between the base and the manipulator arm in order to obtain intuitive control of both the camera and the arm. We implement three different approaches to the control allocation problem, i.e., whether the vehicle or manipulator arm actuation is applied to generate the desired motion. The performance of the different control schemes is evaluated, and our

  5. Testing of Visual Field with Virtual Reality Goggles in Manual and Visual Grasp Modes

    Directory of Open Access Journals (Sweden)

    Dariusz Wroblewski

    2014-01-01

    Full Text Available Automated perimetry is used for the assessment of visual function in a variety of ophthalmic and neurologic diseases. We report development and clinical testing of a compact, head-mounted, and eye-tracking perimeter (VirtualEye that provides a more comfortable test environment than the standard instrumentation. VirtualEye performs the equivalent of a full threshold 24-2 visual field in two modes: (1 manual, with patient response registered with a mouse click, and (2 visual grasp, where the eye tracker senses change in gaze direction as evidence of target acquisition. 59 patients successfully completed the test in manual mode and 40 in visual grasp mode, with 59 undergoing the standard Humphrey field analyzer (HFA testing. Large visual field defects were reliably detected by VirtualEye. Point-by-point comparison between the results obtained with the different modalities indicates: (1 minimal systematic differences between measurements taken in visual grasp and manual modes, (2 the average standard deviation of the difference distributions of about 5 dB, and (3 a systematic shift (of 4–6 dB to lower sensitivities for VirtualEye device, observed mostly in high dB range. The usability survey suggested patients’ acceptance of the head-mounted device. The study appears to validate the concepts of a head-mounted perimeter and the visual grasp mode.

  6. Testing of visual field with virtual reality goggles in manual and visual grasp modes.

    Science.gov (United States)

    Wroblewski, Dariusz; Francis, Brian A; Sadun, Alfredo; Vakili, Ghazal; Chopra, Vikas

    2014-01-01

    Automated perimetry is used for the assessment of visual function in a variety of ophthalmic and neurologic diseases. We report development and clinical testing of a compact, head-mounted, and eye-tracking perimeter (VirtualEye) that provides a more comfortable test environment than the standard instrumentation. VirtualEye performs the equivalent of a full threshold 24-2 visual field in two modes: (1) manual, with patient response registered with a mouse click, and (2) visual grasp, where the eye tracker senses change in gaze direction as evidence of target acquisition. 59 patients successfully completed the test in manual mode and 40 in visual grasp mode, with 59 undergoing the standard Humphrey field analyzer (HFA) testing. Large visual field defects were reliably detected by VirtualEye. Point-by-point comparison between the results obtained with the different modalities indicates: (1) minimal systematic differences between measurements taken in visual grasp and manual modes, (2) the average standard deviation of the difference distributions of about 5 dB, and (3) a systematic shift (of 4-6 dB) to lower sensitivities for VirtualEye device, observed mostly in high dB range. The usability survey suggested patients' acceptance of the head-mounted device. The study appears to validate the concepts of a head-mounted perimeter and the visual grasp mode.

  7. Influence of age on left ventricular performance during exercise in normal Japanese subject

    International Nuclear Information System (INIS)

    Konishi, Tokuji; Koyama, Takao; Aoki, Toshikazu; Makino, Katsutoshi; Yamamuro, Masashi; Nakai, Kyudayu; Nakamura, Masayuki; Nakano, Takeshi.

    1990-01-01

    To assess the effects of age on left ventricular performance, multistage supine ergometer exercise radionuclide ventriculography (RNV) was performed in 92 normal subjects. The subjects ranged in age from 24 to 86 years and were free of cardiopulmonary disease and diabetes. Age-related changes in exercise duration, left ventricular end-diastolic volume (LVEDV), left ventricular end-systolic volume (LVESV), cardiac output (CO) left ventricular ejection fraction (LVEF), left ventricular dv/dt, systolic and diastolic time indexes of dv/dt, and peak systolic pressure/left ventricular end-systolic volume (PSP/LVESV) were analyzed at rest and during the peak exercise stage. Age-related decrease in LVEDV and peak diastolic dv/dt were significant at rest. The time indexes of ECG R to peak systolic dv/dt and time of end-systole to peak diastolic dv/dt also were prolonged with age. Both maximum heart rate and exercise duration were shown to decline with age. No age-related difference was observed in LVESV, LVEF or PSP/LVESV either at rest or during exercise. However, the change of LVEF and LVESV during exercise was less in subjects aged 60 or more. These results indicate decreased left ventricular function during exercise in elderly subjects. (author)

  8. Subjective memory complaints are associated with poorer cognitive performance in adults with HIV.

    Science.gov (United States)

    Kamkwalala, Asante; Hulgan, Todd; Newhouse, Paul

    2017-05-01

    With successful antiretroviral therapy in the US, HIV-positive adults now routinely survive into old age. However, increased life expectancy with HIV introduces the added complication of age-related cognitive decline. Aging with HIV has been associated with poorer cognitive outcomes compared to HIV-negative adults. While up to 50% of older HIV-positive adults will develop some degree of cognitive impairment over their lifetime, cognitive symptoms are often not consistently monitored, until those symptoms are significant enough to impair daily life. In this study we found that subjective memory complaint (SMC) ratings correlated with measurable memory performance impairments in HIV-positive adults, but not HIV-negative adults. As the HIV-positive population ages, structured subjective cognitive assessment may be beneficial to identify the early signs of cognitive impairment, and subsequently allow for earlier interventions to maintain cognitive performance as these adults continue to survive into old age.

  9. 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...

  10. 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...

  11. 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....

  12. International Differences in Subjective Performance Evaluation, Compensation and Career Dynamics in a Global Company

    DEFF Research Database (Denmark)

    Halse, Nikolaj; Smeets, Valerie Anne Rolande; Warzynski, Frederic Michel Patrick

    In this paper, we use confidential personnel records from a large multinational firm to study the differences in subjective performance evaluation and their consequences across countries. We focus our analysis on three different sets of countries: Europe (where the headquarter is established), U.......S. and Asia (Japan and China). We try to understand why performance evaluation is distributed differently across countries, and how these differences affect wage growth, the size of the bonus and promotion decisions. We find that evaluations tend to be better on average at the headquarter, but also that wages...

  13. 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

  14. 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.

    2007-01-01

    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

  15. Pantomime-grasping: Advance knowledge of haptic feedback availability supports an absolute visuo-haptic calibration

    Directory of Open Access Journals (Sweden)

    Shirin eDavarpanah Jazi

    2016-05-01

    Full Text Available An emerging issue in movement neurosciences is whether haptic feedback influences the nature of the information supporting a simulated grasping response (i.e., pantomime-grasping. In particular, recent work by our group contrasted pantomime-grasping responses performed with (i.e., PH+ trials and without (i.e., PH- trials terminal haptic feedback in separate blocks of trials. Results showed that PH- trials were mediated via relative visual information. In contrast, PH+ trials showed evidence of an absolute visuo-haptic calibration – a finding attributed to an error signal derived from a comparison between expected and actual haptic feedback (i.e., an internal forward model. The present study examined whether advanced knowledge of haptic feedback availability influences the aforementioned calibration process. To that end, PH- and PH+ trials were completed in separate blocks (i.e., the feedback schedule used in our group’s previous study and a block wherein PH- and PH+ trials were randomly interleaved on a trial-by-trial basis (i.e., random feedback schedule. In other words, the random feedback schedule precluded participants from predicting whether haptic feedback would be available at the movement goal location. We computed just-noticeable-difference (JND values to determine whether responses adhered to, or violated, the relative psychophysical principles of Weber’s law. Results for the blocked feedback schedule replicated our group’s previous work, whereas in the random feedback schedule PH- and PH+ trials were supported via relative visual information. Accordingly, we propose that a priori knowledge of haptic feedback is necessary to support an absolute visuo-haptic calibration. Moreover, our results demonstrate that the presence and expectancy of haptic feedback is an important consideration in contrasting the behavioral and neural properties of natural and stimulated (i.e., pantomime-grasping grasping.

  16. Effects of background music on objective and subjective performance measures in an auditory BCI

    Directory of Open Access Journals (Sweden)

    Sijie Zhou

    2016-10-01

    Full Text Available Several studies have explored brain computer interface (BCI systems based on auditory stimuli, which could help patients with visual impairments. Usability and user satisfaction are important considerations in any BCI. Although background music can influence emotion and performance in other task environments, and many users may wish to listen to music while using a BCI, auditory and other BCIs are typically studied without background music. Some work has explored the possibility of using polyphonic music in auditory BCI systems. However, this approach requires users with good musical skills, and has not been explored in online experiments. Our hypothesis was that an auditory BCI with background music would be preferred by subjects over a similar BCI without background music, without any difference in BCI performance. We introduce a simple paradigm (which does not require musical skill using percussion instrument sound stimuli and background music, and evaluated it in both offline and online experiments. The result showed that subjects preferred the auditory BCI with background music. Different performance measures did not reveal any significant performance effect when comparing background music vs. no background. Since the addition of background music does not impair BCI performance but is preferred by users, auditory (and perhaps other BCIs should consider including it. Our study also indicates that auditory BCIs can be effective even if the auditory channel is simultaneously otherwise engaged.

  17. Effects of valerian on subjective sedation, field sobriety testing and driving simulator performance.

    Science.gov (United States)

    Thomas, Kelan; Canedo, Joanne; Perry, Paul J; Doroudgar, Shadi; Lopes, Ingrid; Chuang, Hannah Mae; Bohnert, Kimberly

    2016-07-01

    The availability of herbal medicines over-the-counter (OTC) has increased the use of natural products for self-treatment. Valerian has been used to effectively treat generalized anxiety disorder and insomnia. Studies suggest that valerenic acid may increase gamma-aminobutyric acid (GABA) modulation in the brain. Benzodiazepines have a similar mechanism of action and have been linked to an increased risk of hospitalizations due to traffic accidents. Despite the risk of somnolence, the safety of driving while under the influence of valerian remains unknown. The purpose of the study was to determine the effects of a one-time valerian 1600mg dose on subjective sedation effects, standardized field sobriety testing (SFST) and driving simulator performance parameters. The study design was a randomized, placebo-controlled, double-blind, cross-over trial. For each session, participants received either a dose of valerian or placebo. The outcome measures included a simple visual reaction test (SVRT), subjective sleepiness scales, SFST performance scores, and driving simulator performance parameters. There were no significant differences in the SVRT or sleepiness scales between placebo and valerian exposures, but the study may have been underpowered. SFST total and individual test failure rates were not significantly different between the two exposures. The driving simulator performance parameters were equivalent between the two exposure conditions. A one-time valerian 1600mg dose, often used to treat insomnia, does not appear to impair driving simulator performance after acute ingestion. Copyright © 2016 Elsevier Ltd. All rights reserved.

  18. Immediate movement history influences reach-to-grasp action selection in children and adults.

    Science.gov (United States)

    Kent, Samuel W; Wilson, Andrew D; Plumb, Mandy S; Williams, Justin H G; Mon-Williams, Mark

    2009-01-01

    Action selection is subject to many biases. Immediate movement history is one such bias seen in young infants. Is this bias strong enough to affect adult behavior? Adult participants reached and grasped a cylinder positioned to require either pronation or supination of the hand. Successive cylinder positions changed either randomly or systematically between trials. Random positioning led to optimized economy of movement. In contrast, systematic changes in position biased action selection toward previously selected actions at the expense of movement economy. Thus, one switches to a new movement only when the savings outweigh the costs of the switch. Immediate movement history had an even larger influence on children aged 7-15 years. This suggests that switching costs are greater in children, which is consistent with their reduced grasping experience. The presence of this effect in adults suggests that immediate movement history exerts a more widespread and pervasive influence on patterns of action selection than researchers had previously recognized.

  19. Force Myography for Monitoring Grasping in Individuals with Stroke with Mild to Moderate Upper-Extremity Impairments: A Preliminary Investigation in a Controlled Environment

    Directory of Open Access Journals (Sweden)

    Gautam P. Sadarangani

    2017-07-01

    Full Text Available There is increasing research interest in technologies that can detect grasping, to encourage functional use of the hand as part of daily living, and thus promote upper-extremity motor recovery in individuals with stroke. Force myography (FMG has been shown to be effective for providing biofeedback to improve fine motor function in structured rehabilitation settings, involving isolated repetitions of a single grasp type, elicited at a predictable time, without upper-extremity movements. The use of FMG, with machine learning techniques, to detect and distinguish between grasping and no grasping, continues to be an active area of research, in healthy individuals. The feasibility of classifying FMG for grasp detection in populations with upper-extremity impairments, in the presence of upper-extremity movements, as would be expected in daily living, has yet to be established. We explore the feasibility of FMG for this application by establishing and comparing (1 FMG-based grasp detection accuracy and (2 the amount of training data necessary for accurate grasp classification, in individuals with stroke and healthy individuals. FMG data were collected using a flexible forearm band, embedded with six force-sensitive resistors (FSRs. Eight participants with stroke, with mild to moderate upper-extremity impairments, and eight healthy participants performed 20 repetitions of three tasks that involved reaching, grasping, and moving an object in different planes of movement. A validation sensor was placed on the object to label data as corresponding to a grasp or no grasp. Grasp detection performance was evaluated using linear and non-linear classifiers. The effect of training set size on classification accuracy was also determined. FMG-based grasp detection demonstrated high accuracy of 92.2% (σ = 3.5% for participants with stroke and 96.0% (σ = 1.6% for healthy volunteers using a support vector machine (SVM. The use of a training set that was 50

  20. Subjective Significance Shapes Arousal Effects on Modified Stroop Task Performance: A Duality of Activation Mechanisms Account.

    Science.gov (United States)

    Imbir, Kamil K

    2016-01-01

    Activation mechanisms such as arousal are known to be responsible for slowdown observed in the Emotional Stroop and modified Stroop tasks. Using the duality of mind perspective, we may conclude that both ways of processing information (automatic or controlled) should have their own mechanisms of activation, namely, arousal for an experiential mind, and subjective significance for a rational mind. To investigate the consequences of both, factorial manipulation was prepared. Other factors that influence Stroop task processing such as valence, concreteness, frequency, and word length were controlled. Subjective significance was expected to influence arousal effects. In the first study, the task was to name the color of font for activation charged words. In the second study, activation charged words were, at the same time, combined with an incongruent condition of the classical Stroop task around a fixation point. The task was to indicate the font color for color-meaning words. In both studies, subjective significance was found to shape the arousal impact on performance in terms of the slowdown reduction for words charged with subjective significance.

  1. Subjective Significance Shapes Arousal Effects on Modified Stroop Task Performance: a Duality of Activation Mechanisms Account

    Directory of Open Access Journals (Sweden)

    Kamil Konrad Imbir

    2016-02-01

    Full Text Available Activation mechanisms such as arousal are known to be responsible for slowdown observed in the Emotional Stroop (EST and modified Stroop tasks. Using the duality of mind perspective, we may conclude that both ways of processing information (automatic or controlled should have their own mechanisms of activation, namely, arousal for an experiential mind, and subjective significance for a rational mind. To investigate the consequences of both, factorial manipulation was prepared. Other factors that influence Stroop task processing such as valence, concreteness, frequency and word length were controlled. Subjective significance was expected to influence arousal effects. In the first study, the task was to name the color of font for activation charged words. In the second study, activation charged words were, at the same time, combined with an incongruent condition of the classical Stroop task around a fixation point. The task was to indicate the font color for color-meaning words. In both studies, subjective significance was found to shape the arousal impact on performance in terms of the slowdown reduction for words charged with subjective significance.

  2. SSRI effects on pyschomotor performance: assessment of citalopram and escitalopram on normal subjects.

    Science.gov (United States)

    Paul, Michel A; Gray, Gary W; Love, Ryan J; Lange, Marvin

    2007-07-01

    Standard aeromedical doctrine dictates that aircrew receiving treatment for depression are grounded during treatment and follow-up observation, generally amounting to at least 1 yr. The Canadian Forces has initiated a program to return selected aircrew being treated for depression to restricted flying duties once stabilized on an approved antidepressant with resolution of depression. The currently approved medications are sertraline (a selective serotonin reuptake inhibitor) and bupropion (noradrenaline and dopamine reuptake inhibitor). This study was undertaken to determine whether or not citalopram or escitalopram affect psychomotor performance. In a double-blind crossover protocol with counter-balanced treatment order, 24 normal volunteer subjects (14 men and 10 women) were assessed for psychomotor performance during placebo, citalopram (40 mg), and escitalopram (20 mg) treatment. Each treatment arm lasted 2 wk, involving a daily morning ingestion of one capsule. There was a 1-wk washout period between medication courses. Subjects completed a drug side-effect questionnaire and were tested on three psychomotor test batteries once per week. Neither citalopram nor escitalopram affected serial reaction time, logical reasoning, serial subtraction, multitask, or MacWorth clock task performance. While we found some of the expected side effects due to citalopram and escitalopram, there was no impact on psychomotor performance. These findings support the possibility of using citalopram and escitalopram for returning aircrew to restricted flight duties (non-tactical flying) under close observation as a maintenance treatment after full resolution of depression.

  3. Effect of oral dietary supplement for chicks subjected to thermal oscillation on performance and intestinal morphometry

    Directory of Open Access Journals (Sweden)

    Jovanir Inês Müller Fernandes

    2017-09-01

    Full Text Available The aim of the study was to evaluate the efficacy of a nutritional formulation based on amino acids and vitamins supplemented in the drinking water for chicks in the first week of life subjected to thermal oscillation on performance, organ development and intestinal morphometry from 1 to 21 days. 640-male broiler chicks were distributed in a 2x2 factorial completely randomized design (with or without dietary supplementation and at comfort temperature or thermal oscillation. Chicks subjected to thermal oscillation presented worse performance (p < 0.05 than those under thermal comfort of 1 to 7, 1 to 14 and 1 to 21 days. Nutritional supplementation did not alter the performance (p < 0.05 of the birds, but resulted in a higher body weight (p < 0.05 regardless of the environmental thermal condition. At 7 days, chicks under thermal comfort had better intestinal morphometric parameters (p < 0.05, in relation to birds under thermal oscillation. In conclusion, the temperature oscillations caused negative consequences to the productive performance and the intestinal morphology of chicks for which dietary supplementation was not enough to mitigate the effects of the environmental challenge during the first week of life of the birds.

  4. 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.

  5. 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.

  6. Tracking Systems for Virtual Rehabilitation: Objective Performance vs. Subjective Experience. A Practical Scenario

    Directory of Open Access Journals (Sweden)

    Roberto Lloréns

    2015-03-01

    Full Text Available Motion tracking systems are commonly used in virtual reality-based interventions to detect movements in the real world and transfer them to the virtual environment. There are different tracking solutions based on different physical principles, which mainly define their performance parameters. However, special requirements have to be considered for rehabilitation purposes. This paper studies and compares the accuracy and jitter of three tracking solutions (optical, electromagnetic, and skeleton tracking in a practical scenario and analyzes the subjective perceptions of 19 healthy subjects, 22 stroke survivors, and 14 physical therapists. The optical tracking system provided the best accuracy (1.074 ± 0.417 cm while the electromagnetic device provided the most inaccurate results (11.027 ± 2.364 cm. However, this tracking solution provided the best jitter values (0.324 ± 0.093 cm, in contrast to the skeleton tracking, which had the worst results (1.522 ± 0.858 cm. Healthy individuals and professionals preferred the skeleton tracking solution rather than the optical and electromagnetic solution (in that order. Individuals with stroke chose the optical solution over the other options. Our results show that subjective perceptions and preferences are far from being constant among different populations, thus suggesting that these considerations, together with the performance parameters, should be also taken into account when designing a rehabilitation system.

  7. The effects of glycine on subjective daytime performance in partially sleep-restricted healthy volunteers

    Directory of Open Access Journals (Sweden)

    Makoto eBannai

    2012-04-01

    Full Text Available Approximately 30% of the general population suffers from insomnia. Given that insomnia causes many problems, amelioration of the symptoms is crucial. Recently, we found that a nonessential amino acid, glycine subjectively and objectively improves sleep quality in humans who have difficulty sleeping. We evaluated the effects of glycine on daytime sleepiness, fatigue and performances in sleep-restricted healthy subjects. Sleep was restricted to 25% less than the usual sleep time for three consecutive nights. Before bedtime, 3 g of glycine or placebo were ingested, sleepiness and fatigue were evaluated using the visual analogue scale (VAS and a questionnaire, and performance were estimated by personal computer (PC performance test program on the following day. In subjects given glycine, the VAS data showed a significant reduction in fatigue and a tendency toward reduced sleepiness. These observations were also found via the questionnaire, indicating that glycine improves daytime sleepiness and fatigue induced by acute sleep restriction. PC performance test revealed significant improvement in psychomotor vigilance test. We also measured plasma melatonin and the expression of circadian-modulated genes expression in the rat suprachiasmatic nucleus (SCN to evaluate the effects of glycine on circadian rhythms. Glycine did not show significant effects on plasma melatonin concentrations during either the dark or light period. Moreover, the expression levels of clock genes such as Bmal1 and Per2 remained unchanged. However, we observed a glycine-induced increase in the neuropeptides arginine vasopressin and vasoactive intestinal polypeptide in the light period. Although no alterations in the circadian clock itself were observed, our results indicate that glycine modulated SCN function. Thus, glycine modulates certain neuropeptides in the SCN and this phenomenon may indirectly contribute to improving the occasional sleepiness and fatigue induced by sleep

  8. An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping

    Directory of Open Access Journals (Sweden)

    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.

  9. Performances on simulator and da Vinci robot on subjects with and without surgical background.

    Science.gov (United States)

    Moglia, Andrea; Ferrari, Vincenzo; Melfi, Franca; Ferrari, Mauro; Mosca, Franco; Cuschieri, Alfred; Morelli, Luca

    2017-08-17

    To assess whether previous training in surgery influences performance on da Vinci Skills Simulator and da Vinci robot. In this prospective study, thirty-seven participants (11 medical students, 17 residents, and 9 attending surgeons) without previous experience in laparoscopy and robotic surgery performed 26 exercises at da Vinci Skills Simulator. Thirty-five then executed a suture using a da Vinci robot. The overall scores on the exercises at the da Vinci Skills Simulator show a similar performance among the groups with no statistically significant pair-wise differences (p poor for the untrained groups (5 (3.5, 9)), without statistically significant difference (p < .05). This study showed, for subjects new to laparoscopy and robotic surgery, insignificant differences in the scores at the da Vinci Skills Simulator and at the da Vinci robot on inanimate models.

  10. Subjective and neurovegetative changes in healthy volunteers and panic patients performing simulated public speaking.

    Science.gov (United States)

    Parente, Alexandre C B V; Garcia-Leal, Cybele; Del-Ben, Cristina M; Guimarães, Francisco S; Graeff, Frederico G

    2005-12-01

    Drug-free symptomatic panic patients, drug-treated nonsymptomatic patients and healthy controls were submitted to simulated public speaking. Subjective anxiety, cognitive impairment and discomfort measured by the visual analog mood scale as well as skin conductance level were higher in symptomatic patients than in controls at the beginning of the experimental session, nonsymptomatic patients lying in between. Subjective sedation, spontaneous fluctuations of skin conductance, heart rate and blood pressure were similar in the three groups. Preparation and performance of speech decreased sedation while increasing anxiety, cognitive impairment, level and fluctuations of skin conductance, heart rate and blood pressure. Anxiety, cognitive impairment and conductance level were less increased in symptomatic patients than in controls. Electrodermal activity, but not cardiovascular measures of sympathetic arousal correlated with anticipatory anxiety. Chronic treatment with serotonin uptake inhibitors attenuated the differences between panic patients and controls, supporting the participation of serotonin in panic disorder.

  11. A Comparative Study of the Empirical Relationship in Student Performance between Physics and Other STEM Subjects

    Science.gov (United States)

    Guerra, Maricela

    The Next Generation Science Standards (NGSS) advocated by the National Research Council emphasize the connections among Science, Technology, Engineering, and Mathematics (STEM) disciplines. By design, NGSS is expected to replace the previous science education standards to enhance the quality of STEM education across the nation. To support this initiative, this investigation was conducted to fill a void in the research literature by developing an empirical indicator for the relationship of student performance across STEM subjects using a large-scale database from the Trends in Mathematics and Science Study (TIMSS). In particular, an innovative approach has been taken in this study to support the canonical correlation analysis of student plausible scores between physics and other STEM subjects at different grade levels and in a cross-country context. Results from this doctoral research revealed the need to strengthen the alignment between the intended, implemented, and attained curricula to support the integration of STEM disciplines in the United States.

  12. Motor performance during and following acute alcohol intoxication in healthy non-alcoholic subjects

    DEFF Research Database (Denmark)

    Poulsen, Mette Buch; Jakobsen, Johannes Klitgaard; Andersen, Henning

    2007-01-01

    Chronic alcohol abuse has adverse effects on skeletal muscle, and reduced muscle strength is frequently seen in chronic alcoholics. In this study the acute effects of moderate alcohol intoxication on motor performance was evaluated in 19 non-alcoholic healthy subjects (10 women, 9 men......). A randomised double-blinded placebo controlled design was applied to subjects receiving alcohol in juice and pure juice at two separate test periods. Isokinetic and isometric muscle strength and endurance were determined before, during, 24 and 48 h after the ingestion of alcohol in juice and juice (placebo......). To detect a reduced activation of the central motor pathways superimposed external electrical stimulations during voluntary contractions were applied. Creatine kinase (CK) was measured to detect any alcohol-induced changes in sarcolemmal integrity. No change was seen in isokinetic as well as in isometric...

  13. Bioinspired locomotion and grasping in water: the soft eight-arm OCTOPUS robot.

    Science.gov (United States)

    Cianchetti, M; Calisti, M; Margheri, L; Kuba, M; Laschi, C

    2015-05-13

    The octopus is an interesting model for the development of soft robotics, due to its high deformability, dexterity and rich behavioural repertoire. To investigate the principles of octopus dexterity, we designed an eight-arm soft robot and evaluated its performance with focused experiments. The OCTOPUS robot presented here is a completely soft robot, which integrates eight arms extending in radial direction and a central body which contains the main processing units. The front arms are mainly used for elongation and grasping, while the others are mainly used for locomotion. The robotic octopus works in water and its buoyancy is close to neutral. The experimental results show that the octopus-inspired robot can walk in water using the same strategy as the animal model, with good performance over different surfaces, including walking through physical constraints. It can grasp objects of different sizes and shapes, thanks to its soft arm materials and conical shape.

  14. Motivational profiles in table tennis players: Relations with performance anxiety and subjective vitality.

    Science.gov (United States)

    Chu, Tsz Lun Alan; Zhang, Tao; Hung, Tsung-Min

    2018-06-27

    Research has suggested the need to use a person-centred approach to examine multidimensionality of motivation. Guided by self-determination theory (Deci & Ryan, 1985), the primary aim of the present study was to examine the motivational profiles in table tennis players and their composition by gender, country, training status, and competition levels (from recreational to international). The secondary aim was to examine the differences in performance anxiety and subjective vitality across the motivational profiles. Participants were 281 table tennis players from multiple countries, mostly the U.S. and China. Hierarchical and nonhierarchical cluster analyses were conducted and showed three motivational profiles with distinct quantity and quality: "low", "controlled", and "self-determined". Chi-square tests of independence demonstrated significant differences in their cluster membership by country, formal training with a coach, and competition levels, but not gender. MANCOVA results indicated differences in performance anxiety and subjective vitality across the motivational profiles, in which the controlled profile had the greatest anxiety symptoms. These differences are attributed to the quality over quantity of motivation, which have meaningful implications for table tennis coaches and sport psychology consultants to diagnose and intervene with players in order to reduce their performance anxiety and improve their well-being.

  15. Subjective overachievement: individual differences in self-doubt and concern with performance.

    Science.gov (United States)

    Oleson, K C; Poehlmann, K M; Yost, J H; Lynch, M E; Arkin, R M

    2000-06-01

    We discuss the construct of doubt about one's competence and suggest that doubt can have myriad consequences (e.g., self-handicapping, defensive pessimism). We focus on the effect of self-doubt when it is combined with a concern with performance and assert that this combination leads to the phenomenon of subjective overachievement. In two studies, we present a new 17-item Subjective Overachievement Scale (SOS), which includes two independent subscales measuring individual differences in self-doubt and concern with performance. The first study, consisting of two large samples (Ns = 2,311 and 1,703), provides evidence that the scale has high internal consistency and a clear two-factor structure. Additionally, the subscales have adequate test-retest reliability (Ns = 67 and 115). A second study reveals that the SOS has good convergent and discriminant validity. Both subscales are unrelated to social desirability but exhibit the predicted patterns of associations with other related constructs. The Concern with Performance Subscale is correlated with achievement motivation, whereas the Self-Doubt Subscale is correlated with scales assessing negative affectivity (e.g., self-esteem, social anxiety) and other self-related strategies associated with concerns about one's competence (e.g., self-handicapping, defensive pessimism, impostor phenomenon). The SOS, which combines the two subscales, appears to tap a unique strategy that individuals may use to deal with doubts about their own competence.

  16. Prediction of Cognitive Performance and Subjective Sleepiness Using a Model of Arousal Dynamics.

    Science.gov (United States)

    Postnova, Svetlana; Lockley, Steven W; Robinson, Peter A

    2018-04-01

    A model of arousal dynamics is applied to predict objective performance and subjective sleepiness measures, including lapses and reaction time on a visual Performance Vigilance Test (vPVT), performance on a mathematical addition task (ADD), and the Karolinska Sleepiness Scale (KSS). The arousal dynamics model is comprised of a physiologically based flip-flop switch between the wake- and sleep-active neuronal populations and a dynamic circadian oscillator, thus allowing prediction of sleep propensity. Published group-level experimental constant routine (CR) and forced desynchrony (FD) data are used to calibrate the model to predict performance and sleepiness. Only the studies using dim light (performance measures during CR and FD protocols, with sleep-wake cycles ranging from 20 to 42.85 h and a 2:1 wake-to-sleep ratio. New metrics relating model outputs to performance and sleepiness data are developed and tested against group average outcomes from 7 (vPVT lapses), 5 (ADD), and 8 (KSS) experimental protocols, showing good quantitative and qualitative agreement with the data (root mean squared error of 0.38, 0.19, and 0.35, respectively). The weights of the homeostatic and circadian effects are found to be different between the measures, with KSS having stronger homeostatic influence compared with the objective measures of performance. Using FD data in addition to CR data allows us to challenge the model in conditions of both acute sleep deprivation and structured circadian misalignment, ensuring that the role of the circadian and homeostatic drives in performance is properly captured.

  17. Seismic Performance Evaluation of Reinforced Concrete Frames Subjected to Seismic Loads

    Science.gov (United States)

    Zameeruddin, Mohd.; Sangle, Keshav K.

    2017-06-01

    Ten storied-3 bays reinforced concrete bare frame designed for gravity loads following the guidelines of IS 456 and IS 13920 for ductility is subjected to seismic loads. The seismic demands on this building were calculated by following IS 1893 for response spectra of 5% damping (for hard soil type). Plastic hinges were assigned to the beam and column at both ends to represent the failure mode, when member yields. Non-linear static (pushover) analysis was performed to evaluate the performance of the building in reference to first (ATC 40), second (FEMA 356) and next-generation (FEMA 440) performance based seismic design procedures. Base shear against top displacement curve of structure, known as pushover curve was obtained for two actions of plastic hinge behavior, force-controlled (brittle) and deformation-controlled (ductile) actions. Lateral deformation corresponding to performance point proves the building capability to sustain a certain level of seismic loads. The failure is represented by a sequence of formation of plastic hinges. Deformation-controlled action of hinges showed that building behaves like strong-column-weak-beam mechanism, whereas force-controlled action showed formation of hinges in the column. The study aims to understand the first, second and next generation performance based design procedure in prediction of actual building responses and their conservatism into the acceptance criteria.

  18. Effects of Sleep Hygiene Education on Subjective Sleep Quality and Academic Performance

    Directory of Open Access Journals (Sweden)

    Erkan Sahin

    2014-12-01

    Full Text Available Aim: Sleep problems are common in students with one third of university students reporting insufficient sleep. It is known that sleep quality and daytime sleepiness cause decrasing academic performans. For this reason we aimed to investigate the effects of a sleep hygiene education on sleep quality and academic performance of first year medical students. Material and Method: Self-reported sleep data and academic performance of 131 first grade medical students were collected. To all students enrolled Pittsburg Sleep Quality Scale in the assessment of sleep quality and Epworth Sleepiness Scale for assessment of daytime sleepiness in the evaluation.The students were divided into two subgroups and the intervention group received a 30 minute structured sleep hygiene education. Global academic performance was assessed by grade point average at the end of the year. Results: Mean Pittsburgh sleep quality index score of the students was 7.9±3.5 and 106 (82.8% of then had a score %u22655.After intervention, .the worse the initial sleep quality, the more improvement by the sleep hygiene education on sleep quality and academic performance. Discussion: An education on sleep hygiene might improve subjective sleep quality and academic performance of medical students.

  19. Subjective memory complaints, cognitive performance, and psychological factors in healthy older adults.

    Science.gov (United States)

    Steinberg, Susanne I; Negash, Selamawit; Sammel, Mary D; Bogner, Hillary; Harel, Brian T; Livney, Melissa G; McCoubrey, Hannah; Wolk, David A; Kling, Mitchel A; Arnold, Steven E

    2013-12-01

    To determine whether subjective memory complaints (SMCs) are associated with performance on objective cognitive measures and psychological factors in healthy, community-dwelling older adults. The cohort was composed of adults, 65 years and older with no clinical evidence of cognitive impairment (n = 125). Participants were administered: CogState computerized neurocognitive battery, Prospective Retrospective Memory Questionnaire, personality and meaning-in-life measures. SMCs were associated with poorer performance on measures of executive function (p = 0.001). SMCs were also associated with impaired delayed recall (p = 0.006) but this did not remain significant after statistical adjustment for multiple comparisons. SMCs were inversely associated with conscientiousness (p = 0.004) and directly associated with neuroticism (p cognitive changes and are associated with personality traits and meaning-in-life in healthy, older adults.

  20. Performance of Single Friction Pendulum bearing for isolated buildings subjected to seismic actions in Vietnam

    Science.gov (United States)

    Nguyen, N. V.; Nguyen, C. H.; Hoang, H. P.; Huong, K. T.

    2018-04-01

    Using structural control technology in earthquake resistant design of buildings in Vietnam is very limited. In this paper, a performance evaluation of using Single Friction Pendulum (SFP) bearing for seismically isolated buildings with earthquake conditions in Vietnam is presented. A two-dimensional (2-D) model of the 5-storey building subjected to earthquakes is analyzed in time domain. Accordingly, the model is analyzed for 2 cases: with and without SFP bearing. The ground acceleration data is selected and scaled to suit the design acceleration in Hanoi followed by the Standard TCVN 9386:2012. It is shown that the seismically isolated buildings gets the performance objectives while achieving an 91% reduction in the base shear, a significant decrease in the inter-story drift and absolute acceleration of each story.

  1. Comparison of performance coatings thermally sprayed subject to testing adhesive wear

    International Nuclear Information System (INIS)

    Marangoni, G.F.; Arnt, A.B.C.; Rocha, M.R. da

    2014-01-01

    In this work, the microstructural changes and wear resistance adhesive coatings obtained from powders thermally sprayed by high velocity oxy-fuel (HVOF) were evaluated. Based coatings chrome-nickel and tungsten-cobalt are applied in conditions subject to intense wear especially abrasive. With the aim of evaluate the performance of these coatings under conditions of adhesive wear, these coatings samples were tested by the standard ASTM G99. As test parameters were used: Tungsten carbide pin (SAE 52100) with 6 mm diameter, normal load of 50N and a tangential velocity of 0.5 m / s. The worn surfaces of the coatings were characterized by optical and scanning electron microscopy and X-ray diffraction. Results indicate that the performance front wear is related to the conditions of adhesion and uniformity of the coating applied. (author)

  2. 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.

  3. [Comparative effects of ginkgo biloba extracts on psychomotor performances and memory in healthy subjects].

    Science.gov (United States)

    Warot, D; Lacomblez, L; Danjou, P; Weiller, E; Payan, C; Puech, A J

    1991-01-01

    The effect on psychomotor and mnesic performances of acute oral dose (600 mg) of 2 Ginkgo biloba extracts were evaluated in twelve healthy female in a dummy placebo-controlled double blind study. Tests were performed comprising: objective measures of vigilance [critical flicker frequency (CFF), choice reaction time (CRT)], memory tasks (pictures and Sternberg scanning tests) and self-rating evaluation (visual analogue scales). Tests session took place before and 1 hour post-dosing. No statistically significant changes from placebo were observed on CFF, CRT or subjective rating of drug effects. No differences between treatment were evidenced on Sternberg scanning test and pictures recognition. Comparing to baseline, free recall score, while decreasing under placebo and Ginkgo, remained the same under Tanakan. As the differences between treatment are localized on one test, it appears important to examine the reproductility in healthy subjects. In order to verify the clinical relevance of these results, they need to be replicated in older healthy volunteers with age-associated memory impairment.

  4. The GRASP project - a multidisciplinary study of hydrology and biogeochemistry in a periglacial catchment area

    Science.gov (United States)

    Johansson, Emma; Lindborg, Tobias

    2017-04-01

    The Arctic region is sensitive to global warming, and permafrost thaw and release of old carbon are examples of processes that may have a positive feedback effect to the global climate system. Quantification and assumptions on future change are often based on model predictions. Such models require cross-disciplinary data of high quality that often is lacking. Biogeochemical processes in the landscape are highly influenced by the hydrology, which in turn is intimately related to permafrost processes. Thus, a multidisciplinary approach is needed when collecting data and setting up field experiments aiming at increase the understanding of these processes. Here we summarize and present data collected in the GRASP, Greenland Analogue Surface Project. GRASP is a catchment-scale field study of the periglacial area in the Kangerlussuaq region, West Greenland, focusing on hydrological and biogeochemical processes in the landscape. The site investigations were initiated in 2010 and have since then resulted in three separate data sets published in ESSD (Earth system and Science Data) each one focusing on i) meteorological data and hydrology, ii) biogeochemistry and iii) geometries of sediments and the active layer. The three data-sets, which are freely available via the PANGAEA data base, enable conceptual and coupled numerical modeling of hydrological and biogeochemical processes. An important strength with the GRASP data is that all data is collected within the same, relatively small, catchment area. This implies that measurements are more easily linked to the right source area or process. Despite the small catchment area it includes the major units of the periglacial hydrological system; a lake, a talik, a supra- and subpermafrost aquifer and, consequently, biogeochemical processes in each of these units may be studied. The new data from GRASP is both used with the aim to increase the knowledge of present day periglacial hydrology and biogeochemistry but also in order to

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

    Science.gov (United States)

    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.

  6. 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.

  7. Effects of Visual Communication Tool and Separable Status Display on Team Performance and Subjective Workload in Air Battle Management

    National Research Council Canada - National Science Library

    Schwartz, Daniel; Knott, Benjamin A; Galster, Scott M

    2008-01-01

    ... ambient cabin noise while performing several visual and manual tasks. The purpose of this study is to compare team performance and subjective workload on a simulated AWACS scenario, for two conditions of communication...

  8. 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

  9. Optimizing a Biobjective Production-Distribution Planning Problem Using a GRASP

    Directory of Open Access Journals (Sweden)

    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.

  10. Subjective memory complaints and cognitive performance in a sample of healthy elderly

    Directory of Open Access Journals (Sweden)

    Paulo Caramelli

    Full Text Available Abstract Memory loss is a major complaint among the elderly population. However, the clinical significance of this symptom is variable and also controversial in the scientific literature. Objective: To compare the cognitive performance of two groups of healthy elderly, one group with and the other without, subjective memory complaints (SMC. Methods: Sixty cognitively intact elderly individuals (39 females and 21 males, aged 69.9±6.3 years and with educational level of 8.5±5.5 years, were included in the study. Participants were submitted to the Mini-Mental State Examination and to the Cornell depression scale in order to rule out global cognitive impairment and depression, respectively. Moreover, they answered the MAC-Q, a questionnaire devised to evaluate subjective impression of memory function. Subsequently, they were submitted to the digit span forward and backward, the Brief Cognitive Screening Battery, and to the Frontal Assessment Battery. Results: Twenty-seven individuals had MAC-Q scores <25 and thus were classified as not having SMC, while 33 had MAC-Q scores ³25 and were considered to have SMC. No differences for age, gender, education and MMSE scores were found between the two groups. The comparison between the performance of the groups of complainers and non-complainers on the different cognitive tests yielded no significant difference, although there was a trend toward non-complainers performing better on incidental memory. Conclusions: The presence of SMC was not associated to objective memory impairment or to other cognitive deficits in this group of elderly individuals.

  11. 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

  12. Temporary Nerve Block at Selected Digits Revealed Hand Motor Deficits in Grasping Tasks

    Directory of Open Access Journals (Sweden)

    Aude Carteron

    2016-11-01

    Full Text Available Peripheral sensory feedback plays a crucial role in ensuring correct motor execution throughout hand grasp control. Previous studies utilized local anesthesia to deprive somatosensory feedback in the digits or hand, observations included sensorimotor deficits at both corticospinal and peripheral levels. However, the questions of how the disturbed and intact sensory input integrate and interact with each other to assist the motor program execution, and whether the motor coordination based on motor output variability between affected and non-affected elements (e.g., digits becomes interfered by the local sensory deficiency, have not been answered. The current study aims to investigate the effect of peripheral deafferentation through digital nerve blocks at selective digits on motor performance and motor coordination in grasp control. Our results suggested that the absence of somatosensory information induced motor deficits in hand grasp control, as evidenced by reduced maximal force production ability in both local and non-local digits, impairment of force and moment control during object lift and hold, and attenuated motor synergies in stabilizing task performance variables, namely the tangential force and moment of force. These findings implied that individual sensory input is shared across all the digits and the disturbed signal from local sensory channel(s has a more comprehensive impact on the process of the motor output execution in the sensorimotor integration process. Additionally, a feedback control mechanism with a sensation-based component resides in the formation process for the motor covariation structure.

  13. For your eyes only: Effect of confederate's eye level on reach-to-grasp action

    Directory of Open Access Journals (Sweden)

    Francois eQuesque

    2014-12-01

    Full Text Available Previous studies have shown that the spatio-temporal parameters of reach-to-grasp movement are influenced by the social context in which the motor action is performed. In particular, when interacting with a confederate, movements are slower, with longer initiation times and more ample trajectories, which has been interpreted as implicit communicative information emerging through voluntary movement to catch the partner’s attention and optimize cooperation (Quesque et al., 2013. Because gaze is a crucial component of social interactions, the present study evaluated the role of a confederate's eye level on the social modulation of trajectory curvature. An actor and a partner facing each other took part in a cooperative task consisting, for one of them, of grasping and moving a wooden dowel under time constraints. Before this Main action, the actor performed a Preparatory action, which consisted of placing the wooden dowel on a central marking. The partner's eye level was unnoticeably varied using an adjustable seat that matched or was higher than the actor’s seat. Our data confirmed the previous effects of social intention on motor responses. Furthermore, we observed an effect of the partner's eye level on the Preparatory action, leading the actors to exaggerate unconsciously the trajectory curvature in relation to their partner's eye level. No interaction was found between the actor's social intention and their partner's eye level. These results suggest that other bodies are implicitly taken into account when a reach-to-grasp movement is produced in a social context.

  14. 40 CFR 80.820 - What gasoline is subject to the toxics performance requirements of this subpart?

    Science.gov (United States)

    2010-07-01

    ... 40 Protection of Environment 16 2010-07-01 2010-07-01 false What gasoline is subject to the toxics... PROTECTION AGENCY (CONTINUED) AIR PROGRAMS (CONTINUED) REGULATION OF FUELS AND FUEL ADDITIVES Gasoline Toxics Gasoline Toxics Performance Requirements § 80.820 What gasoline is subject to the toxics performance...

  15. 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)

  16. 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.

  17. 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.

  18. A glucose-caffeine 'energy drink' ameliorates subjective and performance deficits during prolonged cognitive demand.

    Science.gov (United States)

    Kennedy, David O; Scholey, Andrew B

    2004-06-01

    Effects of a combination of caffeine and glucose were assessed in two double-blind, placebo-controlled, cross-over studies during extended performance of cognitively demanding tasks. In the first study, 30 participants received two drinks containing carbohydrate and caffeine (68 g/38 mg; 68 g/46 mg, respectively) and a placebo drink, in counter-balanced order, on separate days. In the second study 26 participants received a drink containing 60 g of carbohydrate and 33 mg of caffeine and a placebo drink. In both studies, participants completed a 10-min battery of tasks comprising 2-min versions of Serial 3s and Serial 7s subtraction tasks and a 5-min version of the Rapid Visual Information Processing task (RVIP), plus a rating of 'mental fatigue', once before the drink and six times in succession commencing 10 min after its consumption. In comparison to placebo, all three active drinks improved the accuracy of RVIP performance and both the drink with the higher level of caffeine in first study and the active drink in the second study resulted in lower ratings of mental fatigue. These results indicate that a combination of caffeine and glucose can ameliorate deficits in cognitive performance and subjective fatigue during extended periods of cognitive demand.

  19. Stability and performance analysis of a jump linear control system subject to digital upsets

    Science.gov (United States)

    Wang, Rui; Sun, Hui; Ma, Zhen-Yang

    2015-04-01

    This paper focuses on the methodology analysis for the stability and the corresponding tracking performance of a closed-loop digital jump linear control system with a stochastic switching signal. The method is applied to a flight control system. A distributed recoverable platform is implemented on the flight control system and subject to independent digital upsets. The upset processes are used to stimulate electromagnetic environments. Specifically, the paper presents the scenarios that the upset process is directly injected into the distributed flight control system, which is modeled by independent Markov upset processes and independent and identically distributed (IID) processes. A theoretical performance analysis and simulation modelling are both presented in detail for a more complete independent digital upset injection. The specific examples are proposed to verify the methodology of tracking performance analysis. The general analyses for different configurations are also proposed. Comparisons among different configurations are conducted to demonstrate the availability and the characteristics of the design. Project supported by the Young Scientists Fund of the National Natural Science Foundation of China (Grant No. 61403395), the Natural Science Foundation of Tianjin, China (Grant No. 13JCYBJC39000), the Scientific Research Foundation for the Returned Overseas Chinese Scholars, State Education Ministry, China, the Tianjin Key Laboratory of Civil Aircraft Airworthiness and Maintenance in Civil Aviation of China (Grant No. 104003020106), and the Fund for Scholars of Civil Aviation University of China (Grant No. 2012QD21x).

  20. Performance of Hybrid Steel Fibers Reinforced Concrete Subjected to Air Blast Loading

    Directory of Open Access Journals (Sweden)

    Mohammed Alias Yusof

    2013-01-01

    Full Text Available This paper presents the results of the experimental data and simulation on the performance of hybrid steel fiber reinforced concrete (HSFRC and also normal reinforced concrete (NRC subjected to air blast loading. HSFRC concrete mix consists of a combination of 70% long steel hook end fibre and also 30% of short steel hook end fibre with a volume fraction of 1.5% mix. A total of six concrete panels were subjected to air blast using plastic explosive (PE4 weighing 1 kg each at standoff distance of 0.3 meter. The parameters measured are mode of failure under static and blast loading and also peak overpressure that resulted from detonation using high speed data acquisition system. In addition to this simulation work using AUTODYN was carried out and validated using experimental data. The experimental results indicate that hybrid steel fiber reinforced concrete panel (HSFRC possesses excellent resistance to air blast loading as compared to normal reinforced concrete (NRC panel. The simulation results were also found to be close with experimental data. Therefore the results have been validated using experimental data.

  1. Classification of brain signals associated with imagination of hand grasping, opening and reaching by means of wavelet-based common spatial pattern and mutual information.

    Science.gov (United States)

    Amanpour, Behzad; Erfanian, Abbas

    2013-01-01

    An important issue in designing a practical brain-computer interface (BCI) is the selection of mental tasks to be imagined. Different types of mental tasks have been used in BCI including left, right, foot, and tongue motor imageries. However, the mental tasks are different from the actions to be controlled by the BCI. It is desirable to select a mental task to be consistent with the desired action to be performed by BCI. In this paper, we investigated the detecting the imagination of the hand grasping, hand opening, and hand reaching in one hand using electroencephalographic (EEG) signals. The results show that the ERD/ERS patterns, associated with the imagination of hand grasping, opening, and reaching are different. For classification of brain signals associated with these mental tasks and feature extraction, a method based on wavelet packet, regularized common spatial pattern (CSP), and mutual information is proposed. The results of an offline analysis on five subjects show that the two-class mental tasks can be classified with an average accuracy of 77.6% using proposed method. In addition, we examine the proposed method on datasets IVa from BCI Competition III and IIa from BCI Competition IV.

  2. 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

  3. 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

  4. Fingertip force planning during grasp is disrupted by impaired sensorimotor integration in children with hemiplegic cerebral palsy

    NARCIS (Netherlands)

    Gordon, A.M.; Charles, J.; Steenbergen, B.

    2006-01-01

    In the present study we examine the ability of children with hemiplegic cerebral palsy (CP) to use anticipatory control of fingertip forces during grasping, and whether anticipatory control is facilitated by lifts with the contralateral hand. Eight children with CP (age 4-13) were asked to perform

  5. The tracking performance of distributed recoverable flight control systems subject to high intensity radiated fields

    Science.gov (United States)

    Wang, Rui

    It is known that high intensity radiated fields (HIRF) can produce upsets in digital electronics, and thereby degrade the performance of digital flight control systems. Such upsets, either from natural or man-made sources, can change data values on digital buses and memory and affect CPU instruction execution. HIRF environments are also known to trigger common-mode faults, affecting nearly-simultaneously multiple fault containment regions, and hence reducing the benefits of n-modular redundancy and other fault-tolerant computing techniques. Thus, it is important to develop models which describe the integration of the embedded digital system, where the control law is implemented, as well as the dynamics of the closed-loop system. In this dissertation, theoretical tools are presented to analyze the relationship between the design choices for a class of distributed recoverable computing platforms and the tracking performance degradation of a digital flight control system implemented on such a platform while operating in a HIRF environment. Specifically, a tractable hybrid performance model is developed for a digital flight control system implemented on a computing platform inspired largely by the NASA family of fault-tolerant, reconfigurable computer architectures known as SPIDER (scalable processor-independent design for enhanced reliability). The focus will be on the SPIDER implementation, which uses the computer communication system known as ROBUS-2 (reliable optical bus). A physical HIRF experiment was conducted at the NASA Langley Research Center in order to validate the theoretical tracking performance degradation predictions for a distributed Boeing 747 flight control system subject to a HIRF environment. An extrapolation of these results for scenarios that could not be physically tested is also presented.

  6. Effect of knowledge of APOE genotype on subjective and objective memory performance in healthy older adults.

    Science.gov (United States)

    Lineweaver, Tara T; Bondi, Mark W; Galasko, Douglas; Salmon, David P

    2014-02-01

    The knowledge that one carries the apolipoprotein E (APOE) ε4 allele risk factor for Alzheimer's disease was recently found to have little short-term psychological risk. The authors investigated the impact of knowledge of carrying the risk allele on subjective ratings of memory and objective memory test performance of older adults. Using a nested case-control design, the authors administered objective verbal and visual memory tests and self-rating scales of memory function to 144 cognitively normal older adults (ages 52-89) with known APOE genotype who knew (ε4+, N=25; ε4-, N=49) or did not know (ε4+, N=25; ε4-, N=45) their genotype and genetic risk for Alzheimer's disease prior to neuropsychological evaluation. Significant genotype-by-disclosure interaction effects were observed on several memory rating scales and tests of immediate and delayed verbal recall. Older adults who knew their ε4+ genotype judged their memory more harshly and performed worse on an objective verbal memory test than did ε4+ adults who did not know. In contrast, older adults who knew their ε4- genotype judged their memory more positively than did ε4- adults who did not know, but these groups did not differ in objective memory test performance. Informing older adults that they have an APOE genotype associated with an increased risk of Alzheimer's disease can have adverse consequences on their perception of their memory abilities and their performance on objective memory tests. The patient's knowledge of his or her genotype and risk of Alzheimer's disease should be considered when evaluating cognition in the elderly.

  7. 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

  8. Learning to control a brain-machine interface for reaching and grasping by primates.

    Directory of Open Access Journals (Sweden)

    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.

  9. Stability Criterion of Linear Stochastic Systems Subject to Mixed H2/Passivity Performance

    Directory of Open Access Journals (Sweden)

    Cheung-Chieh Ku

    2015-01-01

    Full Text Available The H2 control scheme and passivity theory are applied to investigate the stability criterion of continuous-time linear stochastic system subject to mixed performance. Based on the stochastic differential equation, the stochastic behaviors can be described as multiplicative noise terms. For the considered system, the H2 control scheme is applied to deal with the problem on minimizing output energy. And the asymptotical stability of the system can be guaranteed under desired initial conditions. Besides, the passivity theory is employed to constrain the effect of external disturbance on the system. Moreover, the Itô formula and Lyapunov function are used to derive the sufficient conditions which are converted into linear matrix inequality (LMI form for applying convex optimization algorithm. Via solving the sufficient conditions, the state feedback controller can be established such that the asymptotical stability and mixed performance of the system are achieved in the mean square. Finally, the synchronous generator system is used to verify the effectiveness and applicability of the proposed design method.

  10. Performance Evaluation on Transmission Tower-Line System with Passive Friction Dampers Subjected to Wind Excitations

    Directory of Open Access Journals (Sweden)

    Bo Chen

    2015-01-01

    Full Text Available The vibration control and performance evaluation on a transmission-tower line system by using friction dampers subjected to wind excitations are carried out in this study. The three-dimensional finite element (FE model of a transmission tower is firstly constructed. A two-dimensional lumped mass model of a transmission tower is developed for dynamic analysis. The analytical model of transmission tower-line system is proposed by taking the dynamic interaction between the tower and the transmission lines into consideration. The mechanical model of passive friction damper is presented by involving the effects of damper axial stiffness. The equation of motion of the transmission tower-line system incorporated with the friction dampers disturbed by wind excitations is established. A real transmission tower-line system is taken as an example to examine the feasibility and reliability of the proposed control approach. An extensive parameter study is carried out to find the optimal parameters of friction damper and to assess the effects of slipping force axial stiffness and hysteresis loop on control performance. The work on an example structure indicates that the application of friction dampers with optimal parameters could significantly reduce wind-induced responses of the transmission tower-line system.

  11. Subjective memory complaint only relates to verbal episodic memory performance in mild cognitive impairment

    Science.gov (United States)

    Gifford, Katherine A.; Liu, Dandan; Damon, Stephen M.; Chapman, William G.; Romano, Raymond R.; Samuels, Lauren R.; Lu, Zengqi; Jefferson, Angela L.

    2015-01-01

    Background A cognitive concern from the patient, informant, or clinician is required for the diagnosis of mild cognitive impairment (MCI); however, the cognitive and neuroanatomical correlates of complaint are poorly understood. Objective We assessed how self-complaint relates to cognitive and neuroimaging measures in older adults with MCI. Method MCI participants were drawn from the Alzheimer’s Disease Neuroimaging Initiative and dichotomized into two groups based on the presence of self-reported memory complaint (no complaint n=191, 77±7 years; complaint n=206, 73±8 years). Cognitive outcomes included episodic memory, executive functioning, information processing speed, and language. Imaging outcomes included regional lobar volumes (frontal, parietal, temporal, cingulate) and specific medial temporal lobe structures (hippocampal volume, entorhinal cortex thickness, parahippocampal gyrus thickness). Results Linear regressions, adjusting for age, gender, race, education, Mini-Mental State Examination score, mood, and apolipoprotein E-4 status, found that cognitive complaint related to immediate (β=−1.07, pmemory performances assessed on a serial list learning task (β=−1.06, p=0.001) but no other cognitive measures or neuroimaging markers. Conclusions Self-reported memory concern was unrelated to structural neuroimaging markers of atrophy and measures of information processing speed, executive functioning, or language. In contrast, subjective memory complaint related to objective verbal episodic learning performance. Future research is warranted to better understand the relation between cognitive complaint and surrogate markers of abnormal brain aging, including Alzheimer’s disease, across the cognitive aging spectrum. PMID:25281602

  12. Subjective memory complaint only relates to verbal episodic memory performance in mild cognitive impairment.

    Science.gov (United States)

    Gifford, Katherine A; Liu, Dandan; Damon, Stephen M; Chapman, William G; Romano Iii, Raymond R; Samuels, Lauren R; Lu, Zengqi; Jefferson, Angela L

    2015-01-01

    A cognitive concern from the patient, informant, or clinician is required for the diagnosis of mild cognitive impairment (MCI); however, the cognitive and neuroanatomical correlates of complaint are poorly understood. We assessed how self-complaint relates to cognitive and neuroimaging measures in older adults with MCI. MCI participants were drawn from the Alzheimer's Disease Neuroimaging Initiative and dichotomized into two groups based on the presence of self-reported memory complaint (no complaint n = 191, 77 ± 7 years; complaint n = 206, 73 ± 8 years). Cognitive outcomes included episodic memory, executive functioning, information processing speed, and language. Imaging outcomes included regional lobar volumes (frontal, parietal, temporal, cingulate) and specific medial temporal lobe structures (hippocampal volume, entorhinal cortex thickness, parahippocampal gyrus thickness). Linear regressions, adjusting for age, gender, race, education, Mini-Mental State Examination score, mood, and apolipoprotein E4 status, found that cognitive complaint related to immediate (β = -1.07, p memory performances assessed on a serial list learning task (β = -1.06, p = 0.001) but no other cognitive measures or neuroimaging markers. Self-reported memory concern was unrelated to structural neuroimaging markers of atrophy and measures of information processing speed, executive functioning, or language. In contrast, subjective memory complaint related to objective verbal episodic learning performance. Future research is warranted to better understand the relation between cognitive complaint and surrogate markers of abnormal brain aging, including Alzheimer's disease, across the cognitive aging spectrum.

  13. Safety performance of a near surface repository subject to a fuel burning

    International Nuclear Information System (INIS)

    Stefanini, Lorenzo; Frano, Rosa Lo; Forasassi, Giuseppe

    2015-01-01

    This study aims to investigate the performances of a near surface repository subject to fuel burning occurring simultaneously or subsequently to a large commercial aircraft impact. Specifically the thermal effects caused by a Boeing-747 crushing (considered like “beyond design basis accident”) are studied. An important part of this study is the analysis of the possible (thermo-mechanical) degradation effects, as dehydration, degasification, pressurization, etc. that the concrete may undergo, particularly in the case of prolonged fire, and of the resistance of structure itself in this condition. Conservative assumptions and restrictions have been made with regard to the fire scenario, the maximum temperature of which is calculated on the basis of the fuel airplane amount, the normal impact, the variation of the material properties along with the temperature as well the damaging phenomena of concrete. The airplane impact load, calculated with the Riera approach, and the maximum temperature, reached during the fuel combustion, are used as input (boundary condition) in the numerical simulations performed by MARC© code. The obtained results showed that a repository wall thickness, ranging from 0.6 to 0.9 m, is not sufficient to prevent the local penetration of wall. To reduce the computational cost, the analyses have been made only on a half part of the structure, highlighting the dominance of thermal effects. Despite the ongoing concrete degradation phenomena, the overall integrity of the repository seemed to be guaranteed as well as the containment and the confinement of radioactive waste. (author)

  14. Evaluation of sealing performance of metal cask subjected to vertical impact load due to aircraft engine

    International Nuclear Information System (INIS)

    Namba, Kosuke; Shirai, Koji; Saegusa, Toshiari

    2010-01-01

    To confirm the sealing performance of a metal cask subjected to impact force due to commercial aircraft crash against a spent fuel storage facility, a vertical impact test was carried out. In this test, a simplified deformable missile was used by considering the rigidity of the actual aircraft engine and accelerated to the specified impact velocity (60 m/s) to hit the full-scale lid structure with the primary and secondary lids. Then, the leak rate, the inner pressure between the lids, and the displacement of the lids were measured. The leak rate of the secondary lid exceeded 1.0x10 -3 Pa·m 3 /s upon impact. However, because no residual lid opening displacement occurred after loading, the leak rate recovered to less than 1.0x10 -6 Pa·m 3 /s after 3 h from the impact test. In addition, to clarify the impact behaviour of the lid structure, the impact analysis using the LS-DYNA code was executed. It was found that the lid bolts maintained the good tightening force after impact loading, and the sealing performance of the full-scale metal cask would not be affected immediately by the vertical impact of the aircraft engine with a speed of 60 m/s. (author)

  15. SEISMIC PERFORMANCE OF MOMENT-RESISTING CONCRETE FRAMES SUBJECTED TO EARTHQUAKE EXCITATION

    Directory of Open Access Journals (Sweden)

    FADZLI MOHAMED NAZRI

    2014-12-01

    Full Text Available In this study, moment-resisting concrete frames (MRCFs were designed based on Eurocodes 2 and 8, which indicate the seismic provisions and requirements for building design and construction. This study aims to investigate the damage measure of MRCFs subjected to earthquake excitation by pushover analysis (POA and incremental dynamic analysis (IDA. In POA, inverted triangular lateral load and uniform lateral load patterns were used to produce a base shear–drift curve. In IDA, seven far-field and seven near-field ground motion records were selected to establish the base shear–drift relationship. Structural response and damage measures were examined by the performance-based seismic design limit states. Vision 2000 proposed four performance states, namely, fully operational, operational, life safety (LS, and near collapse. The results showed that the designed structures have low stiffness because all MRCFs failed to meet the LS limit state. The base shear–drift relationship produced a higher demand in IDA than in POA. In POA, the lateral uniform load pattern produced higher demand than the lateral inverted triangular load pattern. In IDA, the farfield effect produced higher demand than the near-field effect. POA approximated IDA accurately at the elastic stage, but the approximation failed after the yield point.

  16. Functional asymmetries in early learning during right, left, and bimanual performance in right-handed subjects.

    Science.gov (United States)

    Aznárez-Sanado, Maite; Fernández-Seara, Maria A; Loayza, Francis R; Pastor, Maria A

    2013-03-01

    To elucidate differences in activity and connectivity during early learning due to the performing hand. Twenty right-handed subjects were recruited. The neural correlates of explicit visuospatial learning executed with the right, the left hand, and bimanually were investigated using functional magnetic resonance imaging. Connectivity analyses were carried out using the psychophysiological interactions model, considering right and left anterior putamen as index regions. A common neural network was found for the three tasks during learning. Main activity increases were located in posterior cingulate cortex, supplementary motor area, parietal cortex, anterior putamen, and cerebellum (IV-V), whereas activity decrements were observed in prefrontal regions. However, the left hand task showed a greater recruitment of left hippocampal areas when compared with the other tasks. In addition, enhanced connectivity between the right anterior putamen and motor cortical and cerebellar regions was found for the left hand when compared with the right hand task. An additional recruitment of brain regions and increased striato-cortical and striato-cerebellar functional connections is needed when early learning is performed with the nondominant hand. In addition, access to brain resources during learning may be directed by the dominant hand in the bimanual task. Copyright © 2012 Wiley Periodicals, Inc.

  17. 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

  18. Adaptation of reach-to-grasp movement in response to force perturbations.

    Science.gov (United States)

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

    2004-01-01

    This study examined how reach-to-grasp movements are modified during adaptation to external force perturbations applied on the arm during reach. Specifically, we examined whether the organization of these movements was dependent upon the condition under which the perturbation was applied. In response to an auditory signal, all subjects were asked to reach for a vertical dowel, grasp it between the index finger and thumb, and lift it a short distance off the table. The subjects were instructed to do the task as fast as possible. The perturbation was an elastic load acting on the wrist at an angle of 105 deg lateral to the reaching direction. The condition was modified by changing the predictability with which the perturbation was applied in a given trial. After recording unperturbed control trials, perturbations were applied first on successive trials (predictable perturbations) and then were applied randomly (unpredictable perturbations). In the early predictable perturbation trials, reach path length became longer and reaching duration increased. As more predictable perturbations were applied, the reach path length gradually decreased and became similar to that of control trials. Reaching duration also decreased gradually as the subjects adapted by exerting force against the perturbation. In addition, the amplitude of peak grip aperture during arm transport initially increased in response to repeated perturbations. During the course of learning, it reached its maximum and thereafter slightly decreased. However, it did not return to the normal level. The subjects also adapted to the unpredictable perturbations through changes in both arm transport and grasping components, indicating that they can compensate even when the occurrence of the perturbation cannot be predicted during the inter-trial interval. Throughout random perturbation trials, large grip aperture values were observed, suggesting that a conservative aperture level is set regardless of whether the

  19. Software engineering capability for Ada (GRASP/Ada Tool)

    Science.gov (United States)

    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.

  20. Endogenous sex hormones and memory performance in middle-aged Greek women with subjective memory complaints.

    Science.gov (United States)

    Armeni, Eleni; Apostolakis, Michail; Christidi, Foteini; Rizos, Demetrios; Kaparos, George; Panoulis, Konstantinos; Augoulea, Areti; Alexandrou, Andreas; Karopoulou, Evangelia; Zalonis, Ioannis; Triantafyllou, Nikolaos; Lambrinoudaki, Irene

    2018-02-01

    The changing hormonal milieu during the menopausal transition may contribute to the development of memory disorders. We aimed to assess the association of sex hormones with memory function in a sample of Greek middle-aged women. This pilot study included 44 women with subjective memory complaints. Memory performance was evaluated using the Hopkins Verbal Learning Test (HVLT), the Brief Visuospatial Memory test (BVMT), and the verbal digits backwards test (VSPAN), to assess verbal, visuospatial, and working memory performance, respectively. Menopausal symptoms were assessed using the Green Climacteric Scale. VSPAN backwards scores were positively associated with log-transformed free androgen index (logFAI), in models adjusted for age, education, log-transformed free estrogen index (logFEI), hypertension, and the intensity of menopausal symptoms. BVMT total scores were predicted by logFAI (b-coefficient = 0.424, p value = 0.002), education, and combined climacteric symptomatology, in a model adjusted for age, logFEI, and hypertension. Women with circulating estradiol above the median value of 10 pg/mL had better total HTLV total scores compared to women with estradiol values below the median (HTLV total scores, estradiol ≤ 10 pg/mL vs. > 10 pg/mL: 24.2 ± 3.6 vs. 30.0 ± 7.9, p value = 0.007 unadjusted). This association was affected by education and remained independent of menopausal symptoms and testosterone levels, education, and hypertension (model R 2 = 22.3%; b-coefficient = 0.318, p value = 0.024). Endogenous total estradiol is associated with verbal episodic memory, while logFAI is associated with working memory performance and visuospatial episodic memory in this sample of postmenopausal women. These associations were not influenced by age, education, or menopausal symptoms. Larger studies are necessary to evaluate the significance of our findings.

  1. Fiber Bragg grating-based performance monitoring of a slope model subjected to seepage

    Science.gov (United States)

    Zhu, Hong-Hu; Shi, Bin; Yan, Jun-Fan; Zhang, Jie; Zhang, Cheng-Cheng; Wang, Bao-Jun

    2014-09-01

    In the past few years, fiber optic sensing technologies have played an increasingly important role in the health monitoring of civil infrastructures. These innovative sensing technologies have recently been successfully applied to the performance monitoring of a series of geotechnical structures. Fiber optic sensors have shown many unique advantages in comparison with conventional sensors, including immunity to electrical noise, higher precision and improved durability and embedding capabilities; fiber optic sensors are also smaller in size and lighter in weight. In order to explore the mechanism of seepage-induced slope instability, a small-scale 1 g model test of the soil slope has been performed in the laboratory. During the model’s construction, specially fabricated sensing fibers containing nine fiber Bragg grating (FBG) strain sensors connected in a series were horizontally and vertically embedded into the soil mass. The surcharge load was applied on the slope crest, and the groundwater level inside of the slope was subsequently varied using two water chambers installed besides the slope model. The fiber optic sensing data of the vertical and horizontal strains within the slope model were automatically recorded by an FBG interrogator and a computer during the test. The test results are presented and interpreted in detail. It is found that the gradually accumulated deformation of the slope model subjected to seepage can be accurately captured by the quasi-distributed FBG strain sensors. The test results also demonstrate that the slope stability is significantly affected by ground water seepage, which fits well with the results that were calculated using finite element and limit equilibrium methods. The relationship between the strain measurements and the safety factors is further analyzed, together with a discussion on the residual strains. The performance evaluation of a soil slope using fiber optic strain sensors is proved to be a potentially effective

  2. Fiber Bragg grating-based performance monitoring of a slope model subjected to seepage

    International Nuclear Information System (INIS)

    Zhu, Hong-Hu; Shi, Bin; Yan, Jun-Fan; Zhang, Cheng-Cheng; Wang, Bao-Jun; Zhang, Jie

    2014-01-01

    In the past few years, fiber optic sensing technologies have played an increasingly important role in the health monitoring of civil infrastructures. These innovative sensing technologies have recently been successfully applied to the performance monitoring of a series of geotechnical structures. Fiber optic sensors have shown many unique advantages in comparison with conventional sensors, including immunity to electrical noise, higher precision and improved durability and embedding capabilities; fiber optic sensors are also smaller in size and lighter in weight. In order to explore the mechanism of seepage-induced slope instability, a small-scale 1 g model test of the soil slope has been performed in the laboratory. During the model’s construction, specially fabricated sensing fibers containing nine fiber Bragg grating (FBG) strain sensors connected in a series were horizontally and vertically embedded into the soil mass. The surcharge load was applied on the slope crest, and the groundwater level inside of the slope was subsequently varied using two water chambers installed besides the slope model. The fiber optic sensing data of the vertical and horizontal strains within the slope model were automatically recorded by an FBG interrogator and a computer during the test. The test results are presented and interpreted in detail. It is found that the gradually accumulated deformation of the slope model subjected to seepage can be accurately captured by the quasi-distributed FBG strain sensors. The test results also demonstrate that the slope stability is significantly affected by ground water seepage, which fits well with the results that were calculated using finite element and limit equilibrium methods. The relationship between the strain measurements and the safety factors is further analyzed, together with a discussion on the residual strains. The performance evaluation of a soil slope using fiber optic strain sensors is proved to be a potentially effective

  3. Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings

    Science.gov (United States)

    Su, Chen; Jiang, Xiaobo

    2017-01-01

    The reach-to-grasp activities play an important role in our daily lives. The developed RUPERT for stroke patients with high stiffness in arm flexor muscles is a low-cost lightweight portable exoskeleton rehabilitation robot whose joints are unidirectionally actuated by pneumatic artificial muscles (PAMs). In order to expand the useful range of RUPERT especially for patients with flaccid paralysis, functional electrical stimulation (FES) is taken to activate paralyzed arm muscles. As both the exoskeleton robot driven by PAMs and the neuromuscular skeletal system under FES possess the highly nonlinear and time-varying characteristics, iterative learning control (ILC) is studied and is taken to control this newly designed hybrid rehabilitation system for reaching trainings. Hand function rehabilitation refers to grasping. Because of tiny finger muscles, grasping and releasing are realized by FES array electrodes and matrix scan method. By using the surface electromyography (EMG) technique, the subject's active intent is identified. The upper limb rehabilitation robot powered by PAMs cooperates with FES arrays to realize active reach-to-grasp trainings, which was verified through experiments. PMID:29065566

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

    Science.gov (United States)

    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.

  5. Getting a grip: different actions and visual guidance of the thumb and finger in precision grasping.

    Science.gov (United States)

    Melmoth, Dean R; Grant, Simon

    2012-10-01

    We manipulated the visual information available for grasping to examine what is visually guided when subjects get a precision grip on a common class of object (upright cylinders). In Experiment 1, objects (2 sizes) were placed at different eccentricities to vary the relative proximity to the participant's (n = 6) body of their thumb and finger contact positions in the final grip orientations, with vision available throughout or only for movement programming. Thumb trajectories were straighter and less variable than finger paths, and the thumb normally made initial contact with the objects at a relatively invariant landing site, but consistent thumb first-contacts were disrupted without visual guidance. Finger deviations were more affected by the object's properties and increased when vision was unavailable after movement onset. In Experiment 2, participants (n = 12) grasped 'glow-in-the-dark' objects wearing different luminous gloves in which the whole hand was visible or the thumb or the index finger was selectively occluded. Grip closure times were prolonged and thumb first-contacts disrupted when subjects could not see their thumb, whereas occluding the finger resulted in wider grips at contact because this digit remained distant from the object. Results were together consistent with visual feedback guiding the thumb in the period just prior to contacting the object, with the finger more involved in opening the grip and avoiding collision with the opposite contact surface. As people can overtly fixate only one object contact point at a time, we suggest that selecting one digit for online guidance represents an optimal strategy for initial grip placement. Other grasping tasks, in which the finger appears to be used for this purpose, are discussed.

  6. Becoming a Health and Physical Education (HPE) Teacher: Student Teacher "Performances" in the Physical Education Subject Department Office

    Science.gov (United States)

    Rossi, Tony; Sirna, Karen; Tinning, Richard

    2008-01-01

    This study considered how physical education teacher education students "perform" their "selves" within subject department offices during the practicum or "teaching practice". The research was framed by a conceptual framework informed by the work of Goffman on "performance" and "front". The findings revealed three common performances across the…

  7. The Relationship between Happiness, Subjective Well-Being, Creativity and Job Performance of Primary School Teachers in Ramhormoz City

    Science.gov (United States)

    Jalali, Zohreh; Heidari, Alireza

    2016-01-01

    The research aimed to investigate the relationship between happiness, subjective well-being, creativity and job performance of primary school teachers in Ramhormoz City. Hence, a sample of 330 individuals was selected through random stratified sampling. The research tools included Oxford Happiness Inventory, Subjective Well-being Scale by Keyes…

  8. Effect of Protectants on the Fermentation Performance of Wine Yeasts Subjected to Osmotic Stress

    Directory of Open Access Journals (Sweden)

    Andrea Caridi

    2003-01-01

    Full Text Available During alcoholic fermentation of must from dried grapes, yeasts are subjected to very high sugar concentrations, besides other environmental stresses, and they modify their metabolic behaviour giving low ethanol yield and abnormally high acetic acid production. To investigate the protective effect of catechin, inositol, and SO2 on wine yeasts, three thermotolerant strains of Saccharomyces cerevisiae, selected for wine making of must from dried grapes, and three strains of Saccharomyces selected for the production of wine, were inoculated in a sample of must at very high osmotic strength. A significant (p<0.01 or p<0.05 relationship between the addition of 100 mg/L of catechin, inositol or SO2 to the grape must and the change in the metabolic behaviour of the yeasts was observed. Compared to the control and depending on strain and protectant, the fermentation rate after 3 days increased up to 55 %, the ethanol content of the wines increased up to 16 %, the unitary succinic acid production increased up to 55 %, the unitary acetic acid production decreased up to 53 %, and the unitary glycerol production decreased up to 69 %. So by adding catechin, inositol or SO2 to the grape must it is possible to minimise the abnormal fermentation performance that wine yeasts exhibit in wine making of must from dried grapes.

  9. Executive functioning performance predicts subjective and physiological acute stress reactivity: preliminary results.

    Science.gov (United States)

    Hendrawan, Donny; Yamakawa, Kaori; Kimura, Motohiro; Murakami, Hiroki; Ohira, Hideki

    2012-06-01

    Individual differences in baseline executive functioning (EF) capacities have been shown to predict state anxiety during acute stressor exposure. However, no previous studies have clearly demonstrated the relationship between EF and physiological measures of stress. The present study investigated the efficacy of several well-known EF tests (letter fluency, Stroop test, and Wisconsin Card Sorting Test) in predicting both subjective and physiological stress reactivity during acute psychosocial stress exposure. Our results show that letter fluency served as the best predictor for both types of reactivity. Specifically, the higher the letter fluency score, the lower the acute stress reactivity after controlling for the baseline stress response, as indicated by lower levels of state anxiety, negative mood, salivary cortisol, and skin conductance. Moreover, the predictive power of the letter fluency test remained significant for state anxiety and cortisol indices even after further adjustments for covariates by adding the body mass index (BMI) as a covariate. Thus, good EF performance, as reflected by high letter fluency scores, may dampen acute stress responses, which suggests that EF processes are directly associated with aspects of stress regulation. Copyright © 2012 Elsevier B.V. All rights reserved.

  10. Effects of work zone configurations and traffic density on performance variables and subjective workload.

    Science.gov (United States)

    Shakouri, Mahmoud; Ikuma, Laura H; Aghazadeh, Fereydoun; Punniaraj, Karthy; Ishak, Sherif

    2014-10-01

    This paper investigates the effect of changing work zone configurations and traffic density on performance variables and subjective workload. Data regarding travel time, average speed, maximum percent braking force and location of lane changes were collected by using a full size driving simulator. The NASA-TLX was used to measure self-reported workload ratings during the driving task. Conventional lane merge (CLM) and joint lane merge (JLM) were modeled in a driving simulator, and thirty participants (seven female and 23 male), navigated through the two configurations with two levels of traffic density. The mean maximum braking forces was 34% lower in the JLM configuration, and drivers going through the JLM configuration remained in the closed lane longer. However, no significant differences in speed were found between the two merge configurations. The analysis of self-reported workload ratings show that participants reported 15.3% lower total workload when driving through the JLM. In conclusion, the implemented changes in the JLM make it a more favorable merge configuration in both high and low traffic densities in terms of optimizing traffic flow by increasing the time and distance cars use both lanes, and in terms of improving safety due to lower braking forces and lower reported workload. Copyright © 2014 Elsevier Ltd. All rights reserved.

  11. Development of prosthesis grasp control systems on a robotic testbed

    NARCIS (Netherlands)

    Peerdeman, B.; Fabrizi, Ugo; Palli, Gianluca; Melchiorri, Claudio; Stramigioli, Stefano; Misra, Sarthak

    2012-01-01

    Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand

  12. Hand Preference for Precision Grasping Predicts Language Lateralization

    Science.gov (United States)

    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…

  13. 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...

  14. 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

  15. 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...

  16. Grasping an object comfortably: orientation information is held in memory

    NARCIS (Netherlands)

    Roche, K; Verheij, R.; Voudouris, D.; Chainay, H.; Smeets, J.B.J.

    2015-01-01

    It has been shown that memorized information can influence real-time visuomotor control. For instance, a previously seen object (prime) influences grasping movements toward a target object. In this study, we examined how general the priming effect is: does it depend on the orientation of the target

  17. 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...

  18. 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

  19. GRASP (Greedy Randomized Adaptive Search Procedures) applied to optimization of petroleum products distribution in pipeline networks; GRASP (Greedy Randomized Adaptative Search Procedures) aplicado ao 'scheduling' de redes de distribuicao de petroleo e derivados

    Energy Technology Data Exchange (ETDEWEB)

    Conte, Viviane Cristhyne Bini; Arruda, Lucia Valeria Ramos de; Yamamoto, Lia [Universidade Tecnologica Federal do Parana (UTFPR), Curitiba, PR (Brazil)

    2008-07-01

    Planning and scheduling of the pipeline network operations aim the most efficient use of the resources resulting in a better performance of the network. A petroleum distribution pipeline network is composed by refineries, sources and/or storage parks, connected by a set of pipelines, which operate the transportation of petroleum and derivatives among adjacent areas. In real scenes, this problem is considered a combinatorial problem, which has difficult solution, which makes necessary methodologies of the resolution that present low computational time. This work aims to get solutions that attempt the demands and minimize the number of batch fragmentations on the sent operations of products for the pipelines in a simplified model of a real network, through by application of the local search metaheuristic GRASP. GRASP does not depend of solutions of previous iterations and works in a random way so it allows the search for the solution in an ampler and diversified search space. GRASP utilization does not demand complex calculation, even the construction stage that requires more computational effort, which provides relative rapidity in the attainment of good solutions. GRASP application on the scheduling of the operations of this network presented feasible solutions in a low computational time. (author)

  20. Effects of vitamin D supplementation and exercise training on physical performance in Chilean vitamin D deficient elderly subjects.

    Science.gov (United States)

    Bunout, Daniel; Barrera, Gladys; Leiva, Laura; Gattas, Vivien; de la Maza, María Pía; Avendaño, Marcelo; Hirsch, Sandra

    2006-08-01

    The aim was to assess the effects of resistance training and vitamin D supplementation on physical performance of healthy elderly subjects. Ninety-six subjects, aged 70 years or more with 25 OH vitamin D levels of 16 ng/ml or less, were randomized to a resistance training or control group. Trained and control groups were further randomized to receive in a double blind fashion, vitamin D 400 IU plus 800 mg of calcium per day or calcium alone. Subjects were followed for nine months. Serum 25 OH vitamin D increased from 12.4+/-2.2 to 25.8+/-6.5 ng/ml among subjects supplemented with vitamin D. Trained subjects had significant improvements in quadriceps muscle strength, the short physical performance test and timed up and go. The latter improved more in trained subjects supplemented with vitamin D. At the end of the follow up, gait speed was higher among subjects supplemented with vitamin (whether trained or not) than in non-supplemented subjects (838+/-147 and 768+/-127 m/12 min, respectively, p=0.02). Romberg ratio was lower among supplemented controls than non-supplemented trained subjects (128+/-40% and 144+/-37%, respectively, p=0.05). In conclusion, vitamin D supplementation improved gait speed and body sway, and training improved muscle strength.

  1. 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.

  2. 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.

  3. Longitudinal associations of subjective memory with memory performance and depressive symptoms: between-person and within-person perspectives.

    Science.gov (United States)

    Hülür, Gizem; Hertzog, Christopher; Pearman, Ann; Ram, Nilam; Gerstorf, Denis

    2014-12-01

    Clinical diagnostic criteria for memory loss in adults typically assume that subjective memory ratings accurately reflect compromised memory functioning. Research has documented small positive between-person associations between subjective memory and memory performance in older adults. Less is known, however, about whether within-person fluctuations in subjective memory covary with within-person variance in memory performance and depressive symptoms. The present study applied multilevel models of change to 9 waves of data from 27,395 participants of the Health and Retirement Study (HRS; mean age at baseline = 63.78; SD = 10.30; 58% women) to examine whether subjective memory is associated with both between-person differences and within-person variability in memory performance and depressive symptoms and explored the moderating role of known correlates (age, gender, education, and functional limitations). Results revealed that across persons, level of subjective memory indeed covaried with level of memory performance and depressive symptoms, with small-to-moderate between-person standardized effect sizes (0.19 for memory performance and -0.21 for depressive symptoms). Within individuals, occasions when participants scored higher than usual on a test of episodic memory or reported fewer-than-average depressive symptoms generated above-average subjective memory. At the within-person level, subjective memory ratings became more sensitive to within-person alterations in memory performance over time and those suffering from functional limitations were more sensitive to within-person alterations in memory performance and depressive symptoms. We take our results to suggest that within-person changes in subjective memory in part reflect monitoring flux in one's own memory functioning, but are also influenced by flux in depressive symptoms. (PsycINFO Database Record (c) 2014 APA, all rights reserved).

  4. Longitudinal Associations of Subjective Memory with Memory Performance and Depressive Symptoms: Between-Person and Within-Person Perspectives

    Science.gov (United States)

    Hülür, Gizem; Hertzog, Christopher; Pearman, Ann; Ram, Nilam; Gerstorf, Denis

    2015-01-01

    Clinical diagnostic criteria for memory loss in adults typically assume that subjective memory ratings accurately reflect compromised memory functioning. Research has documented small positive between-person associations between subjective memory and memory performance in older adults. Less is known, however, about whether within-person fluctuations in subjective memory covary with within-person variance in memory performance and depressive symptoms. The present study applied multilevel models of change to nine waves of data from 27,395 participants of the Health and Retirement Study (HRS; mean age at baseline = 63.78; SD = 10.30; 58% women) to examine whether subjective memory is associated with both between-person differences and within-person variability in memory performance and depressive symptoms and explored the moderating role of known correlates (age, gender, education, and functional limitations). Results revealed that across persons, level of subjective memory indeed covaried with level of memory performance and depressive symptoms, with small-to-moderate between-person standardized effect sizes (0.19 for memory performance and 0.21 for depressive symptoms). Within individuals, occasions when participants scored higher than usual on a test of episodic memory or reported fewer-than-average depressive symptoms generated above-average subjective memory. At the within-person level, subjective memory ratings became more sensitive to within-person alterations in memory performance over time and those suffering from functional limitations were more sensitive to within-person alterations in memory performance and depressive symptoms. We take our results to suggest that within-person changes in subjective memory in part reflect monitoring flux in one’s own memory functioning, but are also influenced by flux in depressive symptoms. PMID:25244464

  5. Anticipatory modulation of digit placement for grasp control is affected by Parkinson's disease.

    Directory of Open Access Journals (Sweden)

    Jamie R Lukos

    2010-02-01

    Full Text Available Successful object manipulation relies on the ability to form and retrieve sensorimotor memories of digit forces and positions used in previous object lifts. Past studies of patients affected by Parkinson's disease (PD have revealed that the basal ganglia play a crucial role in the acquisition and/or retrieval of sensorimotor memories for grasp control. Whereas it is known that PD impairs anticipatory control of digit forces during grasp, learning deficits associated with the planning of digit placement have yet to be explored. This question is motivated by recent work in healthy subjects revealing that anticipatory control of digit placement plays a crucial role for successful manipulation.We asked ten PD patients off medication and ten age-matched controls to reach, grasp and lift an object whose center of mass (CM was on the left, right or center. The only task requirement was to minimize object roll during lift. The CM remained the same across consecutive trials (blocked condition or was altered from trial to trial (random condition. We hypothesized that impairment of the basal ganglia-thalamo-cortical circuits in PD patients would reduce their ability to anticipate digit placement appropriate to the CM location. Consequently, we predicted that PD patients would exhibit similar digit placement in the blocked vs. random conditions and produce larger peak object rolls than that of control subjects. In the blocked condition, PD patients exhibited significantly weaker modulation of fingertip contact points to CM location and larger object roll than controls (p<0.05 and p<0.01, respectively. Nevertheless, both controls and PD patients minimized object roll more in the blocked than in the random condition (p<0.01.Our findings indicate that, even though PD patients may have a residual ability of anticipatory control of digit contact points and forces, they fail to implement a motor plan with the same degree of effectiveness as controls. We conclude

  6. 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...

  7. XD-GRASP: Golden-angle radial MRI with reconstruction of extra motion-state dimensions using compressed sensing.

    Science.gov (United States)

    Feng, Li; Axel, Leon; Chandarana, Hersh; Block, Kai Tobias; Sodickson, Daniel K; Otazo, Ricardo

    2016-02-01

    To develop a novel framework for free-breathing MRI called XD-GRASP, which sorts dynamic data into extra motion-state dimensions using the self-navigation properties of radial imaging and reconstructs the multidimensional dataset using compressed sensing. Radial k-space data are continuously acquired using the golden-angle sampling scheme and sorted into multiple motion-states based on respiratory and/or cardiac motion signals derived directly from the data. The resulting undersampled multidimensional dataset is reconstructed using a compressed sensing approach that exploits sparsity along the new dynamic dimensions. The performance of XD-GRASP is demonstrated for free-breathing three-dimensional (3D) abdominal imaging, two-dimensional (2D) cardiac cine imaging and 3D dynamic contrast-enhanced (DCE) MRI of the liver, comparing against reconstructions without motion sorting in both healthy volunteers and patients. XD-GRASP separates respiratory motion from cardiac motion in cardiac imaging, and respiratory motion from contrast enhancement in liver DCE-MRI, which improves image quality and reduces motion-blurring artifacts. XD-GRASP represents a new use of sparsity for motion compensation and a novel way to handle motions in the context of a continuous acquisition paradigm. Instead of removing or correcting motion, extra motion-state dimensions are reconstructed, which improves image quality and also offers new physiological information of potential clinical value. © 2015 Wiley Periodicals, Inc.

  8. Posture of the arm when grasping spheres to place them elsewhere

    NARCIS (Netherlands)

    Schot, W.D.; Brenner, E.; Smeets, J.B.J.

    2010-01-01

    Despite the infinitely many ways to grasp a spherical object, regularities have been observed in the posture of the arm and the grasp orientation. In the present study, we set out to determine the factors that predict the grasp orientation and the final joint angles of reach-tograsp movements.

  9. The validity of subjective performance measures: school principals in Texas and Denmark

    NARCIS (Netherlands)

    Meier, Kenneth J.; Winter, Soren C.; O'Toole, Laurence J.; Favero, Nathan; Andersen, Simon Calmar

    2015-01-01

    Public management studies are increasingly using survey data on managers' perceptions of performance to measure organizational performance. These perceptual measures are tempting to apply because archival performance data or surveys of target group outcomes and satisfaction are often lacking, costly

  10. Force-independent distribution of correlated neural inputs to hand muscles during three-digit grasping.

    Science.gov (United States)

    Poston, Brach; Danna-Dos Santos, Alessander; Jesunathadas, Mark; Hamm, Thomas M; Santello, Marco

    2010-08-01

    The ability to modulate digit forces during grasping relies on the coordination of multiple hand muscles. Because many muscles innervate each digit, the CNS can potentially choose from a large number of muscle coordination patterns to generate a given digit force. Studies of single-digit force production tasks have revealed that the electromyographic (EMG) activity scales uniformly across all muscles as a function of digit force. However, the extent to which this finding applies to the coordination of forces across multiple digits is unknown. We addressed this question by asking subjects (n = 8) to exert isometric forces using a three-digit grip (thumb, index, and middle fingers) that allowed for the quantification of hand muscle coordination within and across digits as a function of grasp force (5, 20, 40, 60, and 80% maximal voluntary force). We recorded EMG from 12 muscles (6 extrinsic and 6 intrinsic) of the three digits. Hand muscle coordination patterns were quantified in the amplitude and frequency domains (EMG-EMG coherence). EMG amplitude scaled uniformly across all hand muscles as a function of grasp force (muscle x force interaction: P = 0.997; cosines of angle between muscle activation pattern vector pairs: 0.897-0.997). Similarly, EMG-EMG coherence was not significantly affected by force (P = 0.324). However, coherence was stronger across extrinsic than that across intrinsic muscle pairs (P = 0.0039). These findings indicate that the distribution of neural drive to multiple hand muscles is force independent and may reflect the anatomical properties or functional roles of hand muscle groups.

  11. SUBJECTIVITY AND HYBRIDITY IN THE AGE OF INTERACTIVE INTERNET MEDIA: THE MUSICAL PERFORMANCES OF CHARICE PEMPENGCO AND ARNEL PINEDA

    Directory of Open Access Journals (Sweden)

    Christi-Anne Castro

    2010-06-01

    Full Text Available This paper examines hybrid subjectivity in the performances by and in the reception of musical artists utilizing the technology of interactive Internet media. It focuses on the career trajectories of the popular Filipino music performers Charice Pempengco and Arnel Pineda, taking into account how their transnational presence and dissemination through internet media communities affect perceptions of locality, nationality and race.

  12. New version: GRASP2K relativistic atomic structure package

    Science.gov (United States)

    Jönsson, P.; Gaigalas, G.; Bieroń, J.; Fischer, C. Froese; Grant, I. P.

    2013-09-01

    , Queen's University, Belfast, N. Ireland Licensing provisions: Standard CPC licence, http://cpc.cs.qub.ac.uk/licence/licence.html No. of lines in distributed program, including test data, etc.: 730252 No. of bytes in distributed program, including test data, etc.: 14808872 Distribution format: tar.gz Programming language: Fortran. Computer: Intel Xeon, 2.66 GHz. Operating system: Suse, Ubuntu, and Debian Linux 64-bit. RAM: 500 MB or more Classification: 2.1. Catalogue identifier of previous version: ADZL_v1_0 Journal reference of previous version: Comput. Phys. Comm. 177 (2007) 597 Does the new version supersede the previous version?: Yes Nature of problem: Prediction of atomic properties — atomic energy levels, oscillator strengths, radiative decay rates, hyperfine structure parameters, Landé gJ-factors, and specific mass shift parameters — using a multiconfiguration Dirac-Hartree-Fock approach. Solution method: The computational method is the same as in the previous GRASP2K [1] version except that for v3 codes the njgraf library module [2] for recoupling has been replaced by librang [3,4]. Reasons for new version: New angular libraries with improved performance are available. Also methodology for transforming from jj- to LSJ-coupling has been developed. Summary of revisions: New angular libraries where the coefficients of fractional parentage have been extended to j=9/2, making calculations feasible for the lanthanides and actinides. Inclusion of a new program jj2lsj, which reports the percentage composition of the wave function in LSJ. Transition programs have been modified to produce a file of transition data with one record for each transition in the same format as Atsp2K [C. Froese Fischer, G. Tachiev, G. Gaigalas and M.R. Godefroid, Comput. Phys. Commun. 176 (2007) 559], which identifies each atomic state by the total energy and a label for the CSF with the largest expansion coefficient in LSJ intermediate coupling. Updated to 64-bit architecture. A

  13. Caffeine administration at night during extended wakefulness effectively mitigates performance impairment but not subjective assessments of fatigue and sleepiness.

    Science.gov (United States)

    Paech, Gemma M; Banks, Siobhan; Pajcin, Maja; Grant, Crystal; Johnson, Kayla; Kamimori, Gary H; Vedova, Chris B Della

    2016-06-01

    The current study investigated the effects of repeated caffeine administration on performance and subjective reports of sleepiness and fatigue during 50h extended wakefulness. Twenty-four, non-smokers aged 22.5±2.9y (mean±SD) remained awake for two nights (50h) in a controlled laboratory environment. During this period, 200mg of caffeine or placebo gum was administered at 01:00, 03:00, 05:00 and 07:00 on both nights (total of 800mg/night). Neurobehavioral performance and subjective reports were assessed throughout the wake period. Caffeine improved performance compared to placebo, but did not affect overall ratings of subjective sleepiness and fatigue. Performance and sleepiness worsened with increasing time awake for both conditions. However, caffeine slowed performance impairments such that after 50h of wakefulness performance was better following caffeine administration compared to placebo. Caffeine also slowed the increase in subjective sleepiness and performance ratings, but only during the first night of wakefulness. After two nights of sleep deprivation, there was no difference in sleepiness ratings between the two conditions. These results demonstrate that strategic administration of caffeine effectively mitigates performance impairments associated with 50h wakefulness but does not improve overall subjective assessments of sleepiness, fatigue and performance. Results indicate that while performance impairment is alleviated, individuals may continue to report feelings of sleepiness. Individuals who use caffeine as a countermeasure in sustained operations may feel as though caffeine is not effective despite impairments in objective performance being largely mitigated. Copyright © 2016 Elsevier Inc. All rights reserved.

  14. Automated System Organizations Under Spatial Grasp Technology

    Science.gov (United States)

    2014-06-01

    following example taken from [13] (Fig. 24 and the following BML code). The task is to be performed by two armoured squadrons BN-661 Coy1, and BN-661...world missions in a great variety of areas including environmental protection, education, demographics , economy, space research, security, and

  15. GRASP/Ada: Graphical Representations of Algorithms, Structures, and Processes for Ada. The development of a program analysis environment for Ada: Reverse engineering tools for Ada, task 2, phase 3

    Science.gov (United States)

    Cross, James H., II

    1991-01-01

    The main objective is the investigation, formulation, and generation of graphical representations of algorithms, structures, and processes for Ada (GRASP/Ada). The presented task, in which various graphical representations that can be extracted or generated from source code are described and categorized, is focused on reverse engineering. The following subject areas are covered: the system model; control structure diagram generator; object oriented design diagram generator; user interface; and the GRASP library.

  16. Evaluation of performance, safety, subject acceptance, and compliance of a disposable autoinjector for subcutaneous injections in healthy volunteers.

    Science.gov (United States)

    Berteau, Cecile; Schwarzenbach, Florence; Donazzolo, Yves; Latreille, Mathilde; Berube, Julie; Abry, Herve; Cotten, Joël; Feger, Celine; Laurent, Philippe E

    2010-10-05

    A disposable autoinjector was developed for subcutaneous (SC) self-injection by patients with chronic diseases. To verify its performance and evaluate its acceptance, a clinical study was conducted in healthy volunteers, comparing SC injections performed by subjects using the autoinjector with SC injections performed by nurses using a syringe. This was a randomized, single-center, crossover study comparing SC self-injection using an autoinjector with SC nurse-administered injection using a syringe. Two volumes (0.2 mL and 1 mL) were injected into healthy volunteers. Study objectives included assessment of the accuracy and consistency of the volume injected by the injection systems, and skin reaction and pain associated with the injection. The fluid depot in the SC tissue layer was evaluated by ultrasound. Subject acceptance was evaluated using questionnaires on attitudes and emotions towards the injection technique, and challenged by seeking the subjects' preferred system for a final study injection or future treatment. A total of 960 injections (480 with autoinjector, 480 with syringe) were performed in 40 subjects. There were no significant differences in mean fluid leakage and injected volumes between the systems. Pain associated with the injection was significantly lower with the auto-injector than with the syringe. Local skin reaction at the injection site was overall satisfactory. Injections were appropriately performed by all subjects. At study end, all 40 subjects preferred the autoinjector for a final study injection and for future treatment. This study indicated that the autoinjector used by the subject was similar to a syringe used by a nurse in terms of performance and safety in administering the injections, and better in terms of pain, overall acceptance, and preference.

  17. Event-related potentials during individual, cooperative, and competitive task performance differ in subjects with analytic vs. holistic thinking.

    Science.gov (United States)

    Apanovich, V V; Bezdenezhnykh, B N; Sams, M; Jääskeläinen, I P; Alexandrov, YuI

    2018-01-01

    It has been presented that Western cultures (USA, Western Europe) are mostly characterized by competitive forms of social interaction, whereas Eastern cultures (Japan, China, Russia) are mostly characterized by cooperative forms. It has also been stated that thinking in Eastern countries is predominantly holistic and in Western countries analytic. Based on this, we hypothesized that subjects with analytic vs. holistic thinking styles show differences in decision making in different types of social interaction conditions. We investigated behavioural and brain-activity differences between subjects with analytic and holistic thinking during a choice reaction time (ChRT) task, wherein the subjects either cooperated, competed (in pairs), or performed the task without interaction with other participants. Healthy Russian subjects (N=78) were divided into two groups based on having analytic or holistic thinking as determined with an established questionnaire. We measured reaction times as well as event-related brain potentials. There were significant differences between the interaction conditions in task performance between subjects with analytic and holistic thinking. Both behavioral performance and physiological measures exhibited higher variance in holistic than in analytic subjects. Differences in amplitude and P300 latency suggest that decision making was easier for the holistic subjects in the cooperation condition, in contrast to analytic subjects for whom decision making based on these measures seemed to be easier in the competition condition. The P300 amplitude was higher in the individual condition as compared with the collective conditions. Overall, our results support the notion that the brains of analytic and holistic subjects work differently in different types of social interaction conditions. Copyright © 2017 Elsevier B.V. All rights reserved.

  18. Validation of a novel automatic sleep spindle detector with high performance during sleep in middle aged subjects

    DEFF Research Database (Denmark)

    Wendt, Sabrina Lyngbye; Christensen, Julie A. E.; Kempfner, Jacob

    2012-01-01

    Many of the automatic sleep spindle detectors currently used to analyze sleep EEG are either validated on young subjects or not validated thoroughly. The purpose of this study is to develop and validate a fast and reliable sleep spindle detector with high performance in middle aged subjects....... An automatic sleep spindle detector using a bandpass filtering approach and a time varying threshold was developed. The validation was done on sleep epochs from EEG recordings with manually scored sleep spindles from 13 healthy subjects with a mean age of 57.9 ± 9.7 years. The sleep spindle detector reached...

  19. Performance of brain-damaged, schizophrenic, and normal subjects on a visual searching task.

    Science.gov (United States)

    Goldstein, G; Kyc, F

    1978-06-01

    Goldstein, Rennick, Welch, and Shelly (1973) reported on a visual searching task that generated 94.1% correct classifications when comparing brain-damaged and normal subjects, and 79.4% correct classifications when comparing brain-damaged and psychiatric patients. In the present study, representing a partial cross-validation with some modification of the test procedure, comparisons were made between brain-damaged and schizophrenic, and brain-damaged and normal subjects. There were 92.5% correct classifications for the brain-damaged vs normal comparison, and 82.5% correct classifications for the brain-damaged vs schizophrenic comparison.

  20. 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...

  1. An Aircraft Service Staff Rostering using a Hybrid GRASP Algorithm

    Directory of Open Access Journals (Sweden)

    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.

  2. Subspecialty Exposure in a Psychiatry Clerkship Does Not Improve Student Performance in the Subject Examination

    Science.gov (United States)

    Retamero, Carolina; Ramchandani, Dilip

    2013-01-01

    Objective: The authors compared the NBME subject examination scores and subspecialty profiles of 3rd-year medical students who were assigned to psychiatry subspecialties during their clerkship with those who were not. Method: The authors collated and analyzed the shelf examination scores, the clinical grades, and the child psychiatry and emergency…

  3. Analysis of Praxis Physics Subject Assessment Examinees and Performance: Who Are Our Prospective Physics Teachers?

    Science.gov (United States)

    Shah, Lisa; Hao, Jie; Rodriguez, Christian A.; Fallin, Rebekah; Linenberger-Cortes, Kimberly; Ray, Herman E.; Rushton, Gregory T.

    2018-01-01

    A generally agreed-upon tenant of the physics teaching community is the centrality of subject-specific expertise in effective teaching. However, studies which assess the content knowledge of incoming K-12 physics teachers in the U.S. have not yet been reported. Similarly lacking are studies on if or how the demographic makeup of aspiring physics…

  4. 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.

  5. The Synthesis of Force Closure Grasps in the Plane.

    Science.gov (United States)

    1985-09-01

    TASK U Artificial Inteligence Laboratory AREA A WORK UN IT "NMUIERS ~( 545 Technology Square Cambridge, MA 02139 SI. CONTROLLING OFICE NAME ANO... ARTIFICIAL INThLLIX’ ENCE LABORATORY A. 1. Memo 861 September, 1985 The Synthesis of Force-Closure Grasps In the Plane DTIC ’VeL% ,#ECTE 1 VnDcNguyenU Abstract... Artificial In- telligenmcc Liabomatory of thle Massachuset Is hInsttute of Teclhnolog3 . Support for the Lahoratot * s Artificial Intelligence research is

  6. An Aircraft Service Staff Rostering using a Hybrid GRASP Algorithm

    OpenAIRE

    Cho, Vincent; Wu, Gene Pak Kit; Ip, W.H.

    2009-01-01

    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 constrain...

  7. Physiological Requirements to Perform the Glittre Activities of Daily Living Test by Subjects With Mild-to-Severe COPD.

    Science.gov (United States)

    Souza, Gérson F; Moreira, Graciane L; Tufanin, Andréa; Gazzotti, Mariana R; Castro, Antonio A; Jardim, José R; Nascimento, Oliver A

    2017-08-01

    The Glittre activities of daily living (ADL) test is supposed to evaluate the functional capacity of COPD patients. The physiological requirements of the test and the time taken to perform it by COPD patients in different disease stages are not well known. The objective of this work was to compare the metabolic, ventilatory, and cardiac requirements and the time taken to carry out the Glittre ADL test by COPD subjects with mild, moderate, and severe disease. Spirometry, Medical Research Council questionnaire, cardiopulmonary exercise test, and 2 Glittre ADL tests were evaluated in 62 COPD subjects. Oxygen uptake (V̇ O 2 ), carbon dioxide production, pulmonary ventilation, breathing frequency, heart rate, S pO 2 , and dyspnea were analyzed before and at the end of the tests. Maximum voluntary ventilation, Glittre peak V̇ O 2 /cardiopulmonary exercise test (CPET) peak V̇ O 2 , Glittre V̇ E /maximum voluntary ventilation, and Glittre peak heart rate/CPET peak heart rate ratios were calculated to analyze their reserves. Subjects carried out the Glittre ADL test with similar absolute metabolic, ventilatory, and cardiac requirements. Ventilatory reserve decreased progressively from mild to severe COPD subjects ( P reserve than the mild and moderate subjects ( P = .006 and P = .043, respectively) and significantly lower Glittre peak heart rate/CPET peak heart rate than mild subjects ( P = .01). Time taken to carry out the Glittre ADL test was similar among the groups ( P = .82 for GOLD 1 vs GOLD 2, P = .19 for GOLD 1 vs GOLD 3, and P = .45 for GOLD 2 vs GOLD 3). As the degree of air-flow obstruction progresses, the COPD subjects present significant lower ventilatory reserve to perform the Glittre ADL test. In addition, metabolic and cardiac reserves may differentiate the severe subjects. These variables may be better measures to differentiate functional performance than Glittre ADL time. Copyright © 2017 by Daedalus Enterprises.

  8. Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite

    Science.gov (United States)

    Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

    2017-12-01

    The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling and motion planning strategy for the post-capture phase is proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrates the effectiveness of the proposed method.

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

    Directory of Open Access Journals (Sweden)

    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.

  10. 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.

  11. Effect of pencil grasp on the speed and legibility of handwriting after a 10-minute copy task in Grade 4 children.

    Science.gov (United States)

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

    2012-06-01

    To investigate the impact of common pencil grasp patterns on the speed and legibility of handwriting after a 10-minute copy task, intended to induce muscle fatigue, in typically developing children and in those non-proficient in handwriting. A total of 120 Grade 4 students completed a standardised handwriting assessment before and after a 10-minute copy task. The students indicated the perceived difficulty of the handwriting task at baseline and after 10 minutes. The students also completed a self-report questionnaire regarding their handwriting proficiency upon completion. The majority of the students rated higher effort after the 10-minute copy task than at baseline (rank sum: P = 0.00001). The effort ratings were similar for the different grasp patterns (multiple linear regression: F = 0.37, P = 0.895). For both typically developing children and those with handwriting issues, the legibility of the writing samples decreased after the 10-minute copy task but the speed of writing increased. CONCLUSIONS AND SIGNIFICANCE OF THE STUDY: The quality of the handwriting decreased after the 10-minute copy task; however, there was no difference in the quality or speed scores among the different pencil grasps before and after the copy task. The dynamic tripod pencil grasp did not offer any advantage over the lateral tripod or the dynamic or lateral quadrupod pencil grasps in terms of quality of handwriting after a 10-minute copy task. These four pencil grasp patterns performed equivalently. Our findings question the practice of having students adopt the dynamic tripod pencil grasp. © 2012 The Authors Australian Occupational Therapy Journal © 2012 Occupational Therapy Australia.

  12. Performance of carbon nanofiber-cement composites subjected to accelerated decalcification

    OpenAIRE

    Arnold J.; Kosson D.; Sanchez F.; Brown L.

    2013-01-01

    The effect of decalcification on the chemo-mechanical behavior of carbon nanofiber (CNF)-cement composites was studied. Portland cement pastes with and without 0.2% CNFs were subjected to accelerated decalcification by exposure to ammonium nitrate solutions. The influence of microstructural alterations during decalcification on the physical and mechanical properties of the composites was examined. The presence of CNF agglomerates influenced the chemo-mechanical behavior of the composite durin...

  13. 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.

  14. Effect of repeated gaboxadol administration on night sleep and next-day performance in healthy elderly subjects.

    Science.gov (United States)

    Mathias, Stefan; Zihl, Josef; Steiger, Axel; Lancel, Marike

    2005-04-01

    Aging is associated with dramatic reductions in sleep continuity and sleep intensity. Since gaboxadol, a selective GABA(A) receptor agonist, has been demonstrated to improve sleep consolidation and promote deep sleep, it may be an effective hypnotic, particularly for elderly patients with insomnia. In the present study, we investigated the effects of subchronic gaboxadol administration on nocturnal sleep and its residual effects during the next days in elderly subjects. This was a randomized, double-blind, placebo-controlled, balanced crossover study in 10 healthy elderly subjects without sleep complaints. The subjects were administered either placebo or 15 mg gaboxadol hydrochloride at bedtime on three consecutive nights. Sleep was recorded during each night from 2300 to 0700 h and tests assessing attention (target detection, stroop test) and memory function (visual form recognition, immediate word recall, digit span) were applied at 0900, 1400, and 1700 h during the following days. Compared with placebo, gaboxadol significantly shortened subjective sleep onset latency and increased self-rated sleep intensity and quality. Polysomnographic recordings showed that it significantly decreased the number of awakenings, the amount of intermittent wakefulness, and stage 1, and increased slow wave sleep and stage 2. These effects were stable over the three nights. None of the subjects reported side effects. Next-day cognitive performance was not affected by gaboxadol. Gaboxadol persistently improved subjective and objective sleep quality and was devoid of residual effects. Thus, at the employed dose, it seems an effective hypnotic in elderly subjects.

  15. Subjective ratings and performance in the heat and after sleep deprivation

    NARCIS (Netherlands)

    Daanen, H.A.M.; Ling, S. van; Tan, T.K.

    2013-01-01

    Background: It has been shown that endurance performance after one night of sleep deprivation is not compromised despite the feeling of fatigue and that, in contrast, performance in the heat deteriorates even though people may feel good. However, it is essentially unknown how the estimation of

  16. Subjective Estimates of Job Performance after Job Preview: Determinants of Anticipated Learning Curves

    Science.gov (United States)

    Ackerman, Phillip L.; Shapiro, Stacey; Beier, Margaret E.

    2011-01-01

    When people choose a particular occupation, they presumably make an implicit judgment that they will perform well on a job at some point in the future, typically after extensive education and/or on-the-job experience. Research on learning and skill acquisition has pointed to a power law of practice, where large gains in performance come early in…

  17. Self-gated fetal cardiac MRI with tiny golden angle iGRASP: A feasibility study.

    Science.gov (United States)

    Haris, Kostas; Hedström, Erik; Bidhult, Sebastian; Testud, Frederik; Maglaveras, Nicos; Heiberg, Einar; Hansson, Stefan R; Arheden, Håkan; Aletras, Anthony H

    2017-07-01

    real-time images, albeit not statistically significant in this feasibility study (P > 0.99 and P = 0.12, respectively). Fetal cardiac cine MRI can be performed with iGRASP using tiny golden angles and CSG. Comparison with other fetal cardiac cine MRI methods showed that the proposed method produces high-quality fetal cardiac reconstructions. 2 Technical Efficacy: Stage 1 J. MAGN. RESON. IMAGING 2017;46:207-217. © 2017 International Society for Magnetic Resonance in Medicine.

  18. The performance of transmission lines and cables subjected to electromagnetic radiation from a nuclear explosion (NEMP)

    International Nuclear Information System (INIS)

    Aguet, M.; Ianovici, M.; Lin, C.C.; Fornerod, F.

    1980-01-01

    The use of armoured cables for telecommunication and data transmission systems is practically essential to avoid electromagnetic interference. The authors have made a mathematical study of the probable effect of a high altitude nuclear explosion. Using a simplified model, the voltages and currents induced into single and multiple-sheathed, overhead and buried cables subjected to an intense magnetic pulse (50kV/m) from high altitude, are determined by computer. It is found that, contrary to expectations the current intensity in the second case is seven times greater than for the overhead conductor. (F.N.S.)

  19. Performance of carbon nanofiber-cement composites subjected to accelerated decalcification

    Directory of Open Access Journals (Sweden)

    Arnold J.

    2013-07-01

    Full Text Available The effect of decalcification on the chemo-mechanical behavior of carbon nanofiber (CNF-cement composites was studied. Portland cement pastes with and without 0.2% CNFs were subjected to accelerated decalcification by exposure to ammonium nitrate solutions. The influence of microstructural alterations during decalcification on the physical and mechanical properties of the composites was examined. The presence of CNF agglomerates influenced the chemo-mechanical behavior of the composite during decalcification. Precipitation of secondary hydrates within the agglomerates during decalcification resulted in a decrease in local porosity, which strengthened the composite and slowed the loss of flexural strength.

  20. Objective and subjective factors of efficiency and performance of medical audit

    Directory of Open Access Journals (Sweden)

    V. S. Biryukov

    2017-01-01

    Full Text Available The work is devoted to analysis factors affecting the effective operation of quality management systems in health care institutions. It is shown important role of quality of carrying out audits, internal and external, in elimination of various kinds of risks and discrepancies in activity of medical institutions. Two main factors were revealed which influencing the quality of audit: 1. Subjective or "human" factor, consisting in sufficient motivation of the top management and internal auditors of medical institutions. 2. Objective or technological factor, consisting in sufficient training of internal auditors, adequacy selected audit methodology, etc.

  1. Soft tissue artifact compensation in knee kinematics by multi-body optimization: Performance of subject-specific knee joint models.

    Science.gov (United States)

    Clément, Julien; Dumas, Raphaël; Hagemeister, Nicola; de Guise, Jaques A

    2015-11-05

    Soft tissue artifact (STA) distort marker-based knee kinematics measures and make them difficult to use in clinical practice. None of the current methods designed to compensate for STA is suitable, but multi-body optimization (MBO) has demonstrated encouraging results and can be improved. The goal of this study was to develop and validate the performance of knee joint models, with anatomical and subject-specific kinematic constraints, used in MBO to reduce STA errors. Twenty subjects were recruited: 10 healthy and 10 osteoarthritis (OA) subjects. Subject-specific knee joint models were evaluated by comparing dynamic knee kinematics recorded by a motion capture system (KneeKG™) and optimized with MBO to quasi-static knee kinematics measured by a low-dose, upright, biplanar radiographic imaging system (EOS(®)). Errors due to STA ranged from 1.6° to 22.4° for knee rotations and from 0.8 mm to 14.9 mm for knee displacements in healthy and OA subjects. Subject-specific knee joint models were most effective in compensating for STA in terms of abduction-adduction, inter-external rotation and antero-posterior displacement. Root mean square errors with subject-specific knee joint models ranged from 2.2±1.2° to 6.0±3.9° for knee rotations and from 2.4±1.1 mm to 4.3±2.4 mm for knee displacements in healthy and OA subjects, respectively. Our study shows that MBO can be improved with subject-specific knee joint models, and that the quality of the motion capture calibration is critical. Future investigations should focus on more refined knee joint models to reproduce specific OA knee geometry and physiology. Copyright © 2015 Elsevier Ltd. All rights reserved.

  2. Effects of Sleep Hygiene Education on Subjective Sleep Quality and Academic Performance

    OpenAIRE

    Erkan Sahin

    2014-01-01

    Aim: Sleep problems are common in students with one third of university students reporting insufficient sleep. It is known that sleep quality and daytime sleepiness cause decrasing academic performans. For this reason we aimed to investigate the effects of a sleep hygiene education on sleep quality and academic performance of first year medical students. Material and Method: Self-reported sleep data and academic performance of 131 first grade medical students were collected. To all students e...

  3. Is the Control of Applied Digital Forces During Natural Five-digit Grasping Affected by Carpal Tunnel Syndrome?

    Science.gov (United States)

    Chen, Po-Tsun; Jou, I-Ming; Lin, Chien-Ju; Chieh, Hsiao-Feng; Kuo, Li-Chieh; Su, Fong-Chin

    2015-07-01

    The impaired sensory function of the hand induced by carpal tunnel syndrome (CTS) is known to disturb dexterous manipulations. However, force control during daily grasping configuration among the five digits has not been a prominent focus of study. Because grasping is so important to normal function and use of a hand, it is important to understand how sensory changes in CTS affect the digit force of natural grasp. We therefore examined the altered patterns of digit forces applied during natural five-digit grasping in patients with CTS and compared them with those seen in control subjects without CTS. We hypothesized that the patients with CTS will grasp by applying larger forces with lowered pair correlations and more force variability of the involved digits than the control subjects. Specifically, we asked: (1) Is there a difference between patients with CTS and control subjects in applied force by digits during lift-hold-lower task? (2) Is there a difference in force correlation coefficient of the digit pairs? (3) Are there force variability differences during the holding phase? We evaluated 15 female patients with CTS and 15 control subjects matched for age, gender, and hand dominance. The applied radial forces (Fr) of the five digits were recorded by respective force transducers on a cylinder simulator during the lift-hold-lower task with natural grasping. The movement phases of the task were determined by a video-based motion capture system. The applied forces of the thumb in patients with CTS (7 ± 0.8 N; 95% CI, 7.2-7.4 N) versus control subjects (5 ± 0.8 N; 95% CI, 5.1-5.3 N) and the index finger in patients with CTS (3 ± 0.3 N; 95% CI, 3.2-3.3 N) versus control subjects (2 ± 0.3 N; 95% CI, 2.2-2.3 N) observed throughout most of the task were larger in the CTS group (p ranges 0.035-0.050 for thumb and 0.016-0.050 for index finger). In addition, the applied force of the middle finger in patients with CTS (1 ± 0.1 N; 95% CI, 1.3-1.4

  4. 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.

  5. Can a multimedia tool help students' learning performance in complex biology subjects?

    Directory of Open Access Journals (Sweden)

    Pinar Koseoglu

    2015-11-01

    Full Text Available The aim of the present study was to determine the effects of multimedia-based biology teaching (Mbio and teacher-centered biology (TCbio instruction approaches on learners' biology achievements, as well as their views towards learning approaches. During the research process, an experimental design with two groups, TCbio (n = 22 and Mbio (n = 26, were used. The results of the study proved that the Mbio approach was more effective than the TCbio approach with regard to supporting meaningful learning, academic achievement, enjoyment and motivation. Moreover, the TCbio approach is ineffective in terms of time management, engaging attention, and the need for repetition of subjects. Additionally, the results were discussed in terms of teaching, learning, multimedia design as well as biology teaching/learning.

  6. Cultural performances: the zombie invasion, the death of the subject and other disorientation

    Directory of Open Access Journals (Sweden)

    Sainy C.B. Veloso

    2013-06-01

    Full Text Available The article considers how contemporary cultural performances indicial, the worldwide proliferation of fictional theme of the zombie apocalypse, through comic books, board games, movies, games, television serials, posters, rallies. Since then, reflects the theme and looks at this set of products and actions, limited the issue: the current crisis is a crisis of guidance within a world not interpretable, as demonstrates the zombie invasion? To this end, rests on concepts of cultural performances delimiters (GOFFMAN, 2011; social drama (TURNER, 1974; culture (GEERTZ, 1989; and social crisis (JAMESON, 1997; SENNETT, 1998.

  7. The effect of font size and type on reading performance with Arabic words in normally sighted and simulated cataract subjects.

    Science.gov (United States)

    Alotaibi, Abdullah Z

    2007-05-01

    Previous investigations have shown that reading is the most common functional problem reported by patients at a low vision practice. While there have been studies investigating effect of fonts in normal and low vision patients in English, no study has been carried out in Arabic. Additionally, there has been no investigation into the use of optimum print sizes or fonts that should be used in Arabic books and leaflets for low vision patients. Arabic sentences were read by 100 normally sighted volunteers with and without simulated cataract. Subjects read two font types (Times New Roman and Courier) in three different sizes (N8, N10 and N12). The subjects were asked to read the sentences aloud. The reading speed was calculated as number of words read divided by the time taken, while reading rate was calculated as the number of words read correctly divided by the time taken. There was an improvement in reading performance of normally sighted and simulated visually impaired subjects when the print size increased. There was no significant difference in reading performance between the two types of font used at small print size, however the reading rate improved as print size increased with Times New Roman. The results suggest that the use of N12 print in Times New Roman enhanced reading performance in normally sighted and simulated cataract subjects.

  8. The Effect of Interface Treatment on Ceramic Performance and Modeling Dyneema Subjected to Ballistic Impact

    Science.gov (United States)

    2018-01-23

    Mechanical Engineering Division January 26, 2018 Professor KT Ramesh JHU/HEMI Project Director Johns Hopkins University 3400 N. Charles...Sincerely, Timothy J. Holmquist Institute Engineer ...Director Record Copy B (Contracts) Engineering Dynamics Department The Effect of Interface Treatment on Ceramic Performance and

  9. Executive Functions in Older Adults With Autism Spectrum Disorder : Objective Performance and Subjective Complaints

    NARCIS (Netherlands)

    Davids, Roeliena C. D.; Groen, Yvonne; Berg, Ina J.; Tucha, Oliver M.; van Balkom, Ingrid D. C.

    Although deficits in Executive Functioning (EF) are reported frequently in young individuals with Autism Spectrum Disorders (ASD), they remain relatively unexplored later in life (> 50 years). We studied objective performance on EF measures (Tower of London, Zoo map, phonetic/semantic fluency) as

  10. Impact of 3D vision on mental workload and laparoscopic performance in inexperienced subjects.

    Science.gov (United States)

    Gómez-Gómez, E; Carrasco-Valiente, J; Valero-Rosa, J; Campos-Hernández, J P; Anglada-Curado, F J; Carazo-Carazo, J L; Font-Ugalde, P; Requena-Tapia, M J

    2015-05-01

    To assess the effect of vision in three dimensions (3D) versus two dimensions (2D) on mental workload and laparoscopic performance during simulation-based training. A prospective, randomized crossover study on inexperienced students in operative laparoscopy was conducted. Forty-six candidates executed five standardized exercises on a pelvitrainer with both vision systems (3D and 2D). Laparoscopy performance was assessed using the total time (in seconds) and the number of failed attempts. For workload assessment, the validated NASA-TLX questionnaire was administered. 3D vision improves the performance reducing the time (3D = 1006.08 ± 315.94 vs. 2D = 1309.17 ± 300.28; P NASA-TLX results, less mental workload is experienced with the use of 3D (P < .001). However, 3D vision was associated with greater visual impairment (P < .01) and headaches (P < .05). The incorporation of 3D systems in laparoscopic training programs would facilitate the acquisition of laparoscopic skills, because they reduce mental workload and improve the performance on inexperienced surgeons. However, some undesirable effects such as visual discomfort or headache are identified initially. Copyright © 2014 AEU. Publicado por Elsevier España, S.L.U. All rights reserved.

  11. Objective and subjective performance of scleral lenses and new advances in scleral lens technologies

    NARCIS (Netherlands)

    Visser, E.S.

    2015-01-01

    Scleral lenses are widely recognized for their ability to markedly improve quality of life and giving back patients their ability to perform daily activities, mainly as a result of restoring visual function and/or reduction of ocular discomfort and pain.Scleral lenses are an important front-line

  12. The effects of a supportive knee brace on leg performance in healthy subjects.

    Science.gov (United States)

    Veldhuizen, J W; Koene, F M; Oostvogel, H J; von Thiel, T P; Verstappen, F T

    1991-12-01

    Eight healthy volunteers were fitted with a supportive knee brace (Push Brace 'Heavy') to one knee for a duration of four weeks wherein they were tested before, during and after the application to establish the effect of bracing on performance. The tests consisted of isokinetic strength measurement of knee flexion and extension, 60 meter dash, vertical jump height and a progressive horizontal treadmill test until exhaustion (Vmax) with determination of oxygen uptake, heart rate and plasma lactate concentration. Wearing the brace for one day, the performance indicators showed a decline compared with the test before application (base values). Sprint time was 4% longer (p less than 0.01) and Vmax 6% slower (p less than 0.01). Peak torque of knee flexion at 60 and 240 deg.sec-1 was 6% (p less than 0.05) respectively 9% (p less than 0.05) less. Peak extension torque at 60 deg.sec-1 was 9% less (p less than 0.05). While wearing the brace for four weeks, the test performances were practically identical to their base values. After removal of the brace, all test parameters were statistically similar to the base values. Heart rate at submaximal exercise levels was even lower (p less than 0.05). In conclusion, performance in sports with test-like exercise patterns is not affected by the brace tested. Bracing does not "weaken the knee" as it is widely believed in sports practice.

  13. Selective interference of grasp and space representations with number magnitude and serial order processing.

    Science.gov (United States)

    van Dijck, Jean-Philippe; Fias, Wim; Andres, Michael

    2015-10-01

    It has been proposed that the metrics of space, time and other magnitudes relevant for action are coupled through a generalized magnitude system that also contribute to number representation. Several studies capitalized on stimulus-response compatibility effects to show that numbers map onto left-right representations and grasp representations as a function of their magnitude. However, the tasks typically used do not allow disentangling magnitude from serial order processing. Here, we devised a working memory (WM) task where participants had to remember random sequences of numbers and perform a precision/whole-hand grip (Experiment 1) or a uni-manual left/right button press (Experiment 2) in response to numbers presented during the retention interval. This task does allow differentiating the interference of number magnitude and serial order with each set of responses. Experiment 1 showed that precision grips were initiated faster than whole-hand grips in response to small numbers, irrespective of their serial position in WM. In contrast, Experiment 2 revealed an advantage of right over left button presses as serial position increased, without any influence of number magnitude. These findings demonstrate that grasping and left-right movements overlap with distinct dimensions of number processing. These findings are discussed in the light of different theories explaining the interactions between numbers, space and action.

  14. A multi-pad electrode based functional electrical stimulation system for restoration of grasp

    Directory of Open Access Journals (Sweden)

    Malešević Nebojša M

    2012-09-01

    Full Text Available Abstract Background Functional electrical stimulation (FES applied via transcutaneous electrodes is a common rehabilitation technique for assisting grasp in patients with central nervous system lesions. To improve the stimulation effectiveness of conventional FES, we introduce multi-pad electrodes and a new stimulation paradigm. Methods The new FES system comprises an electrode composed of small pads that can be activated individually. This electrode allows the targeting of motoneurons that activate synergistic muscles and produce a functional movement. The new stimulation paradigm allows asynchronous activation of motoneurons and provides controlled spatial distribution of the electrical charge that is delivered to the motoneurons. We developed an automated technique for the determination of the preferred electrode based on a cost function that considers the required movement of the fingers and the stabilization of the wrist joint. The data used within the cost function come from a sensorized garment that is easy to implement and does not require calibration. The design of the system also includes the possibility for fine-tuning and adaptation with a manually controllable interface. Results The device was tested on three stroke patients. The results show that the multi-pad electrodes provide the desired level of selectivity and can be used for generating a functional grasp. The results also show that the procedure, when performed on a specific user, results in the preferred electrode configuration characteristics for that patient. The findings from this study are of importance for the application of transcutaneous stimulation in the clinical and home environments.

  15. The combination of L-theanine and caffeine improves cognitive performance and increases subjective alertness.

    Science.gov (United States)

    Giesbrecht, T; Rycroft, J A; Rowson, M J; De Bruin, E A

    2010-12-01

    The non-proteinic amino acid L-theanine and caffeine, a methylxanthine derivative, are naturally occurring ingredients in tea. The present study investigated the effect of a combination of 97 mg L-theanine and 40 mg caffeine as compared to placebo treatment on cognitive performance, alertness, blood pressure, and heart rate in a sample of young adults (n = 44). Cognitive performance, self-reported mood, blood pressure, and heart rate were measured before L-theanine and caffeine administration (i.e. at baseline) and 20 min and 70 min thereafter. The combination of moderate levels of L-theanine and caffeine significantly improved accuracy during task switching and self-reported alertness (both P effects on other cognitive tasks, such as visual search, choice reaction times, or mental rotation. The present results suggest that 97 mg of L-theanine in combination with 40 mg of caffeine helps to focus attention during a demanding cognitive task.

  16. Performance deterioration modeling and optimal preventive maintenance strategy under scheduled servicing subject to mission time

    Directory of Open Access Journals (Sweden)

    Li Dawei

    2014-08-01

    Full Text Available Servicing is applied periodically in practice with the aim of restoring the system state and prolonging the lifetime. It is generally seen as an imperfect maintenance action which has a chief influence on the maintenance strategy. In order to model the maintenance effect of servicing, this study analyzes the deterioration characteristics of system under scheduled servicing. And then the deterioration model is established from the failure mechanism by compound Poisson process. On the basis of the system damage value and failure mechanism, the failure rate refresh factor is proposed to describe the maintenance effect of servicing. A maintenance strategy is developed which combines the benefits of scheduled servicing and preventive maintenance. Then the optimization model is given to determine the optimal servicing period and preventive maintenance time, with an objective to minimize the system expected life-cycle cost per unit time and a constraint on system survival probability for the duration of mission time. Subject to mission time, it can control the ability of accomplishing the mission at any time so as to ensure the high dependability. An example of water pump rotor relating to scheduled servicing is introduced to illustrate the failure rate refresh factor and the proposed maintenance strategy. Compared with traditional methods, the numerical results show that the failure rate refresh factor can describe the maintenance effect of servicing more intuitively and objectively. It also demonstrates that this maintenance strategy can prolong the lifetime, reduce the total lifetime maintenance cost and guarantee the dependability of system.

  17. Evaluation of performance, safety, subject acceptance, and compliance of a disposable autoinjector for subcutaneous injections in healthy volunteers

    Directory of Open Access Journals (Sweden)

    Cecile Berteau

    2010-09-01

    Full Text Available Cecile Berteau1, Florence Schwarzenbach1, Yves Donazzolo2, Mathilde Latreille2, Julie Berube3, Herve Abry1, Joël Cotten1, Celine Feger1, Philippe E Laurent11BD Medical Pharmaceutical Systems, Le-Pont-de-Claix, 2Eurofins Optimed Clinical Research, Gières, France; 3Statistics, BD Corporate, Franklin Lakes, NJ, USAObjective: A disposable autoinjector was developed for subcutaneous (SC self-injection by patients with chronic diseases. To verify its performance and evaluate its acceptance, a clinical study was conducted in healthy volunteers, comparing SC injections performed by subjects using the autoinjector with SC injections performed by nurses using a syringe.Methods: This was a randomized, single-center, crossover study comparing SC self-injection using an autoinjector with SC nurse-administered injection using a syringe. Two volumes (0.2 mL and 1 mL were injected into healthy volunteers. Study objectives included assessment of the accuracy and consistency of the volume injected by the injection systems, and skin reaction and pain associated with the injection. The fluid depot in the SC tissue layer was evaluated by ultrasound. Subject acceptance was evaluated using questionnaires on attitudes and emotions towards the injection technique, and challenged by seeking the subjects’ preferred system for a final study injection or future treatment.Results: A total of 960 injections (480 with autoinjector, 480 with syringe were performed in 40 subjects. There were no significant differences in mean fluid leakage and injected volumes between the systems. Pain associated with the injection was significantly lower with the autoinjector than with the syringe. Local skin reaction at the injection site was overall satisfactory. Injections were appropriately performed by all subjects. At study end, all 40 subjects preferred the autoinjector for a final study injection and for future treatment.Conclusion: This study indicated that the autoinjector used by

  18. Performance evaluation of a piezoactuator-based single-stage valve system subjected to high temperature

    Science.gov (United States)

    Jeon, Juncheol; Han, Chulhee; Chung, Jye Ung; Choi, Seung-Bok

    2015-01-01

    In this paper, a novel single-stage valve system activated by a piezostack actuator is proposed and experimentally evaluated at both room temperature (20 °C) and high temperature (100 °C) conditions. A hinge-lever displacement amplifier is adopted in the valve system to magnify the displacement generated from the piezostack actuator. After explaining the operating principle of the proposed piezostack-driven single-stage valve system, the geometric dimensions and mechanical properties of the valve components are discussed in details. An experimental apparatus is then manufactured to evaluate the performances of the valve system such as flow rate. The experimental apparatus consists of a heat chamber, which can regulate the temperature of the valve system and oil, pneumatic-hydraulic cylinders, a hydraulic circuit, a pneumatic circuit, electronic devices, an interface card, and a high voltage amplifier. The pneumatic-hydraulic cylinder transforms the pneumatic pressure into hydraulic pressure. The performances of the valve system regarding spool response, pressure drop, and flow rate are evaluated and presented. In addition, the performance of the valve system under high temperature condition is compared with that under room temperature condition. The experimental results are plotted in both frequency and time domains.

  19. Performance evaluation of a piezoactuator-based single-stage valve system subjected to high temperature

    International Nuclear Information System (INIS)

    Jeon, Juncheol; Han, Chulhee; Ung Chung, Jye; Choi, Seung-Bok

    2015-01-01

    In this paper, a novel single-stage valve system activated by a piezostack actuator is proposed and experimentally evaluated at both room temperature (20 °C) and high temperature (100 °C) conditions. A hinge-lever displacement amplifier is adopted in the valve system to magnify the displacement generated from the piezostack actuator. After explaining the operating principle of the proposed piezostack-driven single-stage valve system, the geometric dimensions and mechanical properties of the valve components are discussed in details. An experimental apparatus is then manufactured to evaluate the performances of the valve system such as flow rate. The experimental apparatus consists of a heat chamber, which can regulate the temperature of the valve system and oil, pneumatic-hydraulic cylinders, a hydraulic circuit, a pneumatic circuit, electronic devices, an interface card, and a high voltage amplifier. The pneumatic-hydraulic cylinder transforms the pneumatic pressure into hydraulic pressure. The performances of the valve system regarding spool response, pressure drop, and flow rate are evaluated and presented. In addition, the performance of the valve system under high temperature condition is compared with that under room temperature condition. The experimental results are plotted in both frequency and time domains. (paper)

  20. What Limits Cardiac Performance during Exercise in Normal Subjects and in Healthy Fontan Patients?

    Directory of Open Access Journals (Sweden)

    André La Gerche

    2010-01-01

    Full Text Available Exercise is an important determinant of health but is significantly reduced in the patient with a univentricular circulation. Normal exercise physiology mandates an increase in pulmonary artery pressures which places an increased work demand on the right ventricle (RV. In a biventricular circulation with pathological increases in pulmonary vascular resistance and/or reductions in RV function, exercise-induced augmentation of cardiac output is limited. Left ventricular preload reserve is dependent upon flow through the pulmonary circulation and this requires adequate RV performance. In the Fontan patient, the reasons for exercise intolerance are complex. In those patients with myocardial dysfunction or other pathologies of the circulatory components, it is likely that these abnormalities serve as a limitation to cardiac performance during exercise. However, in the healthy Fontan patient, it may be the absence of a sub-pulmonary pump which limits normal increases in pulmonary pressures, trans-pulmonary flow requirements and cardiac output. If so, performance will be exquisitely dependent on pulmonary vascular resistance. This provides a potential explanation as to why pulmonary vasodilators may improve exercise tolerance. As has recently been demonstrated, these agents may offer an important new treatment strategy which directly addresses the physiological limitations in the Fontan patient.

  1. Spontaneous in-flight accommodation of hand orientation to unseen grasp targets: A case of action blindsight.

    Science.gov (United States)

    Prentiss, Emily K; Schneider, Colleen L; Williams, Zoë R; Sahin, Bogachan; Mahon, Bradford Z

    2018-03-15

    The division of labour between the dorsal and ventral visual pathways is well established. The ventral stream supports object identification, while the dorsal stream supports online processing of visual information in the service of visually guided actions. Here, we report a case of an individual with a right inferior quadrantanopia who exhibited accurate spontaneous rotation of his wrist when grasping a target object in his blind visual field. His accurate wrist orientation was observed despite the fact that he exhibited no sensitivity to the orientation of the handle in a perceptual matching task. These findings indicate that non-geniculostriate visual pathways process basic volumetric information relevant to grasping, and reinforce the observation that phenomenal awareness is not necessary for an object's volumetric properties to influence visuomotor performance.

  2. First year medical students' learning style preferences and their correlation with performance in different subjects within the medical course.

    Science.gov (United States)

    Hernández-Torrano, Daniel; Ali, Syed; Chan, Chee-Kai

    2017-08-08

    Students commencing their medical training arrive with different educational backgrounds and a diverse range of learning experiences. Consequently, students would have developed preferred approaches to acquiring and processing information or learning style preferences. Understanding first-year students' learning style preferences is important to success in learning. However, little is understood about how learning styles impact learning and performance across different subjects within the medical curriculum. Greater understanding of the relationship between students' learning style preferences and academic performance in specific medical subjects would be valuable. This cross-sectional study examined the learning style preferences of first-year medical students and how they differ across gender. This research also analyzed the effect of learning styles on academic performance across different subjects within a medical education program in a Central Asian university. A total of 52 students (57.7% females) from two batches of first-year medical school completed the Index of Learning Styles Questionnaire, which measures four dimensions of learning styles: sensing-intuitive; visual-verbal; active-reflective; sequential-global. First-year medical students reported preferences for visual (80.8%) and sequential (60.5%) learning styles, suggesting that these students preferred to learn through demonstrations and diagrams and in a linear and sequential way. Our results indicate that male medical students have higher preference for visual learning style over verbal, while females seemed to have a higher preference for sequential learning style over global. Significant associations were found between sensing-intuitive learning styles and performance in Genetics [β = -0.46, B = -0.44, p styles and performance in Genetics [β = 0.36, B = 0.43, p learning techniques. Instructors can also benefit by modifying and adapting more appropriate teaching approaches in these

  3. An on-line BCI for control of hand grasp sequence and holding using adaptive probabilistic neural network.

    Science.gov (United States)

    Hazrati, Mehrnaz Kh; Erfanian, Abbas

    2008-01-01

    This paper presents a new EEG-based Brain-Computer Interface (BCI) for on-line controlling the sequence of hand grasping and holding in a virtual reality environment. The goal of this research is to develop an interaction technique that will allow the BCI to be effective in real-world scenarios for hand grasp control. Moreover, for consistency of man-machine interface, it is desirable the intended movement to be what the subject imagines. For this purpose, we developed an on-line BCI which was based on the classification of EEG associated with imagination of the movement of hand grasping and resting state. A classifier based on probabilistic neural network (PNN) was introduced for classifying the EEG. The PNN is a feedforward neural network that realizes the Bayes decision discriminant function by estimating probability density function using mixtures of Gaussian kernels. Two types of classification schemes were considered here for on-line hand control: adaptive and static. In contrast to static classification, the adaptive classifier was continuously updated on-line during recording. The experimental evaluation on six subjects on different days demonstrated that by using the static scheme, a classification accuracy as high as the rate obtained by the adaptive scheme can be achieved. At the best case, an average classification accuracy of 93.0% and 85.8% was obtained using adaptive and static scheme, respectively. The results obtained from more than 1500 trials on six subjects showed that interactive virtual reality environment can be used as an effective tool for subject training in BCI.

  4. Radial force distribution changes associated with tangential force production in cylindrical grasping, and the importance of anatomical registration.

    Science.gov (United States)

    Pataky, Todd C; Slota, Gregory P; Latash, Mark L; Zatsiorsky, Vladimir M

    2012-01-10

    Radial force (F(r)) distributions describe grip force coordination about a cylindrical object. Recent studies have employed only explicit F(r) tasks, and have not normalized for anatomical variance when considering F(r) distributions. The goals of the present study were (i) to explore F(r) during tangential force production tasks, and (ii) to examine the extent to which anatomical registration (i.e. spatial normalization of anatomically analogous structures) could improve signal detectability in F(r) data. Twelve subjects grasped a vertically oriented cylindrical handle (diameter=6 cm) and matched target upward tangential forces of 10, 20, and 30 N. F(r) data were measured using a flexible pressure mat with an angular resolution of 4.8°, and were registered using piecewise-linear interpolation between five manually identified points-of-interest. Results indicate that F(r) was primarily limited to three contact regions: the distal thumb, the distal fingers, and the fingers' metatacarpal heads, and that, while increases in tangential force caused significant increases in F(r) for these regions, they did not significantly affect the F(r) distribution across the hand. Registration was found to substantially reduce between-subject variability, as indicated by both accentuated F(r) trends, and amplification of the test statistic. These results imply that, while subjects focus F(r) primarily on three anatomical regions during cylindrical grasp, inter-subject anatomical differences introduce a variability that, if not corrected for via registration, may compromise one's ability to draw anatomically relevant conclusions from grasping force data. Copyright © 2011 Elsevier Ltd. All rights reserved.

  5. US Medical Student Performance on the NBME Subject Examination in Internal Medicine: Do Clerkship Sequence and Clerkship Length Matter?

    Science.gov (United States)

    Ouyang, Wenli; Cuddy, Monica M; Swanson, David B

    2015-09-01

    Prior to graduation, US medical students are required to complete clinical clerkship rotations, most commonly in the specialty areas of family medicine, internal medicine, obstetrics and gynecology (ob/gyn), pediatrics, psychiatry, and surgery. Within a school, the sequence in which students complete these clerkships varies. In addition, the length of these rotations varies, both within a school for different clerkships and between schools for the same clerkship. The present study investigated the effects of clerkship sequence and length on performance on the National Board of Medical Examiner's subject examination in internal medicine. The study sample included 16,091 students from 67 US Liaison Committee on Medical Education (LCME)-accredited medical schools who graduated in 2012 or 2013. Student-level measures included first-attempt internal medicine subject examination scores, first-attempt USMLE Step 1 scores, and five dichotomous variables capturing whether or not students completed rotations in family medicine, ob/gyn, pediatrics, psychiatry, and surgery prior to taking the internal medicine rotation. School-level measures included clerkship length and average Step 1 score. Multilevel models with students nested in schools were estimated with internal medicine subject examination scores as the dependent measure. Step 1 scores and the five dichotomous variables were treated as student-level predictors. Internal medicine clerkship length and average Step 1 score were used to predict school-to-school variation in average internal medicine subject examination scores. Completion of rotations in surgery, pediatrics and family medicine prior to taking the internal medicine examination significantly improved scores, with the largest benefit observed for surgery (coefficient = 1.58 points; p value internal medicine subject examination performance. At the school level, longer internal medicine clerkships were associated with higher scores on the internal medicine

  6. Aircraft Route Recovery Based on An Improved GRASP Method

    Directory of Open Access Journals (Sweden)

    Yang He

    2017-01-01

    Full Text Available Aircrafts maintenance, temporary airport closures are common factors that disrupt normal flight schedule. The aircraft route recovery aims to recover original schedules by some strategies, including flights swaps, and cancellations, which is a NP-hard problem. This paper proposes an improved heuristic procedure based on Greedy Random Adaptive Search Procedure (GRASP to solve this problem. The effectiveness and high global optimization capability of the heuristic is illustrated through experiments based on large-scale problems. Compared to the original one, it is shown that the improved procedure can find feasible flight recovered schedules with lower cost in a short time.

  7. Performance of large-scale helium refrigerators subjected to pulsed heat load from fusion devices

    Energy Technology Data Exchange (ETDEWEB)

    Dutta, R.; Ghosh, P.; Chowdhury, K. [Cryogenic Engineering Centre, Indian Institute of Technology, Kharagpur (India)

    2012-07-01

    The immediate effect of pulsed heat load from fusion devices in helium refrigerators is wide variation in mass flow rate of low pressure stream returning to the cold-box. In this paper, a four expander based modified Claude cycle has been analyzed in quasi steady and dynamic simulations using Aspen HYSYS to identify critical equipment that may be affected due to such flow rate fluctuations at the return stream and their transient performance. Additional constraints on process parameters over steady state design have been identified. Suitable techniques for mitigation of fluctuation of return stream have also been explored. (author)

  8. Performance of large-scale helium refrigerators subjected to pulsed heat load from fusion devices

    International Nuclear Information System (INIS)

    Dutta, R.; Ghosh, P.; Chowdhury, K.

    2012-01-01

    The immediate effect of pulsed heat load from fusion devices in helium refrigerators is wide variation in mass flow rate of low pressure stream returning to the cold-box. In this paper, a four expander based modified Claude cycle has been analyzed in quasi steady and dynamic simulations using Aspen HYSYS to identify critical equipment that may be affected due to such flow rate fluctuations at the return stream and their transient performance. Additional constraints on process parameters over steady state design have been identified. Suitable techniques for mitigation of fluctuation of return stream have also been explored. (author)

  9. Modulating Memory Performance in Healthy Subjects with Transcranial Direct Current Stimulation Over the Right Dorsolateral Prefrontal Cortex.

    Science.gov (United States)

    Smirni, Daniela; Turriziani, Patrizia; Mangano, Giuseppa Renata; Cipolotti, Lisa; Oliveri, Massimiliano

    2015-01-01

    The role of the Dorsolateral Prefrontal Cortex (DLPFC) in recognition memory has been well documented in lesion, neuroimaging and repetitive Transcranial Magnetic Stimulation (rTMS) studies. The aim of the present study was to investigate the effects of transcranial Direct Current Stimulation (tDCS) over the left and the right DLPFC during the delay interval of a non-verbal recognition memory task. 36 right-handed young healthy subjects participated in the study. The experimental task was an Italian version of Recognition Memory Test for unknown faces. Study included two experiments: in a first experiment, each subject underwent one session of sham tDCS and one session of left or right cathodal tDCS; in a second experiment each subject underwent one session of sham tDCS and one session of left or right anodal tDCS. Cathodal tDCS over the right DLPFC significantly improved non verbal recognition memory performance, while cathodal tDCS over the left DLPFC had no effect. Anodal tDCS of both the left and right DLPFC did not modify non verbal recognition memory performance. Complementing the majority of previous studies, reporting long term memory facilitations following left prefrontal anodal tDCS, the present findings show that cathodal tDCS of the right DLPFC can also improve recognition memory in healthy subjects.

  10. [Evaluation of the effect of hospital clown's performance about anxiety in children subjected to surgical intervention].

    Science.gov (United States)

    Cantó, M A Gutiérrez; Quiles, J M Ortigosa; Vallejo, O Girón; Pruneda, R Ruiz; Morote, J Sánchez; Piñera, M J Guirao; Carmona, G Zambudio; Fuentes, M J Astillero; Collado, I Castaño; Barón, Cárceles

    2008-10-01

    To be hospitalized is a highly distressing event for children. At present, a resort used in Spain and other countries to reduce children's anxiety in the health context are hospital's clown. We studied the effect of the hospital's clowns about the anxiety in children that going to be operated. We recruited 60 children aged 6 to 10 years scheduled to undergo elective surgery. 30 children would have clowns before the surgery (case group) and 30 would not have them (control group). In the case group, two clowns performed for children. We measured the anxiety with several scales (STAIC, CCPH, faces scale), after the performance and until 7 days after the surgery. The outcomes show both groups a tendency to increase anxiety but the children of the case group showed less increase at the anxiety's score. In the control group is showed that the children are more alterated at seven days from the discharge. Children that receive the clown's care, have tendency to be less distressing and with less fear that another ones, measurement by STAIC and faces scale, and these results are maintained seven days after the discharge.

  11. Concept mapping improves academic performance in problem solving questions in biochemistry subject.

    Science.gov (United States)

    Baig, Mukhtiar; Tariq, Saba; Rehman, Rehana; Ali, Sobia; Gazzaz, Zohair J

    2016-01-01

    To assess the effectiveness of concept mapping (CM) on the academic performance of medical students' in problem-solving as well as in declarative knowledge questions and their perception regarding CM. The present analytical and questionnaire-based study was carried out at Bahria University Medical and Dental College (BUMDC), Karachi, Pakistan. In this analytical study, students were assessed with problem-solving questions (A-type MCQs), and declarative knowledge questions (short essay questions), and 50% of the questions were from the topics learned by CM. Students also filled a 10-item, 3-point Likert scale questionnaire about their perception regarding the effectiveness of the CM approach, and two open-ended questions were also asked. There was a significant difference in the marks obtained in those problem-solving questions, which were learned by CM as compared to those topics which were taught by the traditional lectures (pacademic performance in problem solving but not in declarative knowledge questions. Students' perception about the effectiveness of CM was overwhelmingly positive.

  12. Artificial gait in complete spinal cord injured subjects: how to assess clinical performance

    Directory of Open Access Journals (Sweden)

    Karla Rocha Pithon

    2015-02-01

    Full Text Available Objective Adapt the 6 minutes walking test (6MWT to artificial gait in complete spinal cord injured (SCI patients aided by neuromuscular electrical stimulation. Method Nine male individuals with paraplegia (AIS A participated in this study. Lesion levels varied between T4 and T12 and time post injured from 4 to 13 years. Patients performed 6MWT 1 and 6MWT 2. They used neuromuscular electrical stimulation, and were aided by a walker. The differences between two 6MWT were assessed by using a paired t test. Multiple r-squared was also calculated. Results The 6MWT 1 and 6MWT 2 were not statistically different for heart rate, distance, mean speed and blood pressure. Multiple r-squared (r2 = 0.96 explained 96% of the variation in the distance walked. Conclusion The use of 6MWT in artificial gait towards assessing exercise walking capacity is reproducible and easy to apply. It can be used to assess SCI artificial gait clinical performance.

  13. “How many sums can I do”? : Performative strategies and diffractive thinking as methodological tools for rethinking mathematical subjectivity

    OpenAIRE

    Palmer, Anna

    2011-01-01

    The aim of this article is to illustrate how the understanding of mathematical subjectivity changes when transiting theoretically and methodologically from a discursive and performative thinking, as suggested by Judith Butler (1990, 1993, 1997), to an agential realist and diffractive thinking, inspired by Karen Barad’s theories (2007, 2008). To show this I have examined narrative memory stories about mathematics written by students participating in Teacher Education maths courses. I pro...

  14. RADIATION PERFORMANCE OF GAN AND INAS/GAAS QUANTUM DOT BASED DEVICES SUBJECTED TO NEUTRON RADIATION

    Directory of Open Access Journals (Sweden)

    Dhiyauddin Ahmad Fauzi

    2017-05-01

    Full Text Available In addition to their useful optoelectronics functions, gallium nitride (GaN and quantum dots (QDs based structures are also known for their radiation hardness properties. With demands on such semiconductor material structures, it is important to investigate the differences in reliability and radiation hardness properties of these two devices. For this purpose, three sets of GaN light-emitting diode (LED and InAs/GaAs dot-in-a well (DWELL samples were irradiated with thermal neutron of fluence ranging from 3×1013 to 6×1014 neutron/cm2 in PUSPATI TRIGA research reactor. The radiation performances for each device were evaluated based on the current-voltage (I-V and capacitance-voltage (C-V electrical characterisation method. Results suggested that the GaN based sample is less susceptible to electrical changes due to the thermal neutron radiation effects compared to the QD based sample.

  15. Performance of asphaltic concrete incorporating styrene butadiene rubber subjected to varying aging condition

    Science.gov (United States)

    Salah, Faisal Mohammed; Jaya, Ramadhansyah Putra; Mohamed, Azman; Hassan, Norhidayah Abdul; Rosni, Nurul Najihah Mad; Mohamed, Abdullahi Ali; Agussabti

    2017-12-01

    The influence of styrene butadiene rubber (SBR) on asphaltic concrete properties at different aging conditions was presented in this study. These aging conditions were named as un-aged, short-term, and long-term aging. The conventional asphalt binder of penetration grade 60/70 was used in this work. Four different levels of SBR addition were employed (i.e., 0 %, 1 %, 3 %, and 5 % by binder weight). Asphalt concrete mixes were prepared at selected optimum asphalt content (5 %). The performance was evaluated based on Marshall Stability, resilient modulus, and dynamic creep tests. Results indicated the improving stability and permanent deformation characteristics that the mixes modified with SBR polymer have under aging conditions. The result also showed that the stability, resilient modulus, and dynamic creep tests have the highest rates compared to the short-term aging and un-aged samples. Thus, the use of 5 % SBR can produce more durable asphalt concrete mixtures with better serviceability.

  16. Analytical predictions for the performance of a reinforced concrete containment model subject to overpressurization

    International Nuclear Information System (INIS)

    Weatherby, J.R.; Clauss, D.B.

    1987-01-01

    Under the sponsorship of the US Nuclear Regulatory Commission, Sandia National Laboratories is investigating methods for predicting the structural performance of nuclear reactor containment buildings under hypothesized severe accident conditions. As part of this program, a 1/6th-scale reinforced concrete containment model will be pressurized to failure in early 1987. Data generated by the test will be compared to analytical predictions of the structural response in order to assess the accuracy and reliability of the analytical techniques. As part of the pretest analysis effort, Sandia has conducted a number of analyses of the containment structure using the ABAQUS general purpose finite element code. This paper describes results from a nonlinear axisymmetric shell analysis as well as the material models and failure criteria used in conjunction with the analysis

  17. School Achievement and Performance in Chilean High Schools: The Mediating Role of Subjective Wellbeing in School-Related Evaluations

    Science.gov (United States)

    López, Verónica; Oyanedel, Juan C.; Bilbao, Marian; Torres, Javier; Oyarzún, Denise; Morales, Macarena; Ascorra, Paula; Carrasco, Claudia

    2017-01-01

    School achievement gaps and school failure are problematic issues in Latin America, and are mainly explained by the socio-economic status (SES) of the students. What schools can do to improve school achievement and reduce school failure is a critical issue, both for school management and teacher training. In this study, we present the association of individual and school-related socio-emotional variables with school achievement and performance, controlling for the effects of SES. A probabilistic sample of 4,964 students, drawn from 191 schools enrolled in year 10 in urban areas of Chile, answered questionnaires assessing subjective wellbeing, social wellbeing in school, school climate, school social wellbeing and students’ perceptions of teachers’ wellbeing. Using structural equation modeling, and controlling for SES, we modeled subjective wellbeing as a mediator of the relationship between school-related variables, such as school climate and perception of teacher’s wellbeing, and (a) school achievement, and (b) school performance. School achievement was computed as a product of (a) the probability of passing the school year, and (b) the percentage of yearly attendance at school. Data on school achievement was drawn from administrative registries from the Chilean Ministry of Education. School performance was computed as the estimated grade point average (GPA) at the end of the school year, based on the students’ previous 5-year GPAs, and was also obtained through administrative data of the last 5 years. Findings reveal the mediating role of subjective wellbeing in the relationship between school-related evaluations (students’ social wellbeing at school, their perception of teachers’ wellbeing and school climate) and school achievement. For school achievement, two variables were mediated (students’ social wellbeing at school and school climate). However, for school performance, no significant mediations were found. We conclude that, on the one hand

  18. School Achievement and Performance in Chilean High Schools: The Mediating Role of Subjective Wellbeing in School-Related Evaluations.

    Science.gov (United States)

    López, Verónica; Oyanedel, Juan C; Bilbao, Marian; Torres, Javier; Oyarzún, Denise; Morales, Macarena; Ascorra, Paula; Carrasco, Claudia

    2017-01-01

    School achievement gaps and school failure are problematic issues in Latin America, and are mainly explained by the socio-economic status (SES) of the students. What schools can do to improve school achievement and reduce school failure is a critical issue, both for school management and teacher training. In this study, we present the association of individual and school-related socio-emotional variables with school achievement and performance, controlling for the effects of SES. A probabilistic sample of 4,964 students, drawn from 191 schools enrolled in year 10 in urban areas of Chile, answered questionnaires assessing subjective wellbeing, social wellbeing in school, school climate, school social wellbeing and students' perceptions of teachers' wellbeing. Using structural equation modeling, and controlling for SES, we modeled subjective wellbeing as a mediator of the relationship between school-related variables, such as school climate and perception of teacher's wellbeing, and (a) school achievement, and (b) school performance. School achievement was computed as a product of (a) the probability of passing the school year, and (b) the percentage of yearly attendance at school. Data on school achievement was drawn from administrative registries from the Chilean Ministry of Education. School performance was computed as the estimated grade point average (GPA) at the end of the school year, based on the students' previous 5-year GPAs, and was also obtained through administrative data of the last 5 years. Findings reveal the mediating role of subjective wellbeing in the relationship between school-related evaluations (students' social wellbeing at school, their perception of teachers' wellbeing and school climate) and school achievement. For school achievement, two variables were mediated (students' social wellbeing at school and school climate). However, for school performance, no significant mediations were found. We conclude that, on the one hand, after

  19. School Achievement and Performance in Chilean High Schools: The Mediating Role of Subjective Wellbeing in School-Related Evaluations

    Directory of Open Access Journals (Sweden)

    Verónica López

    2017-07-01

    Full Text Available School achievement gaps and school failure are problematic issues in Latin America, and are mainly explained by the socio-economic status (SES of the students. What schools can do to improve school achievement and reduce school failure is a critical issue, both for school management and teacher training. In this study, we present the association of individual and school-related socio-emotional variables with school achievement and performance, controlling for the effects of SES. A probabilistic sample of 4,964 students, drawn from 191 schools enrolled in year 10 in urban areas of Chile, answered questionnaires assessing subjective wellbeing, social wellbeing in school, school climate, school social wellbeing and students’ perceptions of teachers’ wellbeing. Using structural equation modeling, and controlling for SES, we modeled subjective wellbeing as a mediator of the relationship between school-related variables, such as school climate and perception of teacher’s wellbeing, and (a school achievement, and (b school performance. School achievement was computed as a product of (a the probability of passing the school year, and (b the percentage of yearly attendance at school. Data on school achievement was drawn from administrative registries from the Chilean Ministry of Education. School performance was computed as the estimated grade point average (GPA at the end of the school year, based on the students’ previous 5-year GPAs, and was also obtained through administrative data of the last 5 years. Findings reveal the mediating role of subjective wellbeing in the relationship between school-related evaluations (students’ social wellbeing at school, their perception of teachers’ wellbeing and school climate and school achievement. For school achievement, two variables were mediated (students’ social wellbeing at school and school climate. However, for school performance, no significant mediations were found. We conclude that, on the

  20. Cardiopulmonary performance testing using a robotics-assisted tilt table: feasibility assessment in able-bodied subjects.

    Science.gov (United States)

    Saengsuwan, J; Laubacher, M; Nef, T; Hunt, K J

    2014-01-01

    Robotics-assisted tilt table technology was introduced for early rehabilitation of neurological patients. It provides cyclical stepping movement and physiological loading of the legs. The aim of the present study was to assess the feasibility of this type of device for peak cardiopulmonary performance testing using able-bodied subjects. A robotics-assisted tilt table was augmented with force sensors in the thigh cuffs and a work rate estimation algorithm. A custom visual feedback system was employed to guide the subjects' work rate and to provide real time feedback of actual work rate. Feasibility assessment focused on: (i) implementation (technical feasibility), and (ii) responsiveness (was there a measurable, high-level cardiopulmonary reaction?). For responsiveness testing, each subject carried out an incremental exercise test to the limit of functional capacity with a work rate increment of 5 W/min in female subjects and 8 W/min in males. 11 able-bodied subjects were included (9 male, 2 female; age 29.6 ± 7.1 years: mean ± SD). Resting oxygen uptake (O_{2}) was 4.6 ± 0.7 mL/min/kg and O_{2}peak was 32.4 ± 5.1 mL/min/kg; this mean O_{2}peak was 81.1% of the predicted peak value for cycle ergometry. Peak heart rate (HRpeak) was 177.5 ± 9.7 beats/min; all subjects reached at least 85% of their predicted HRpeak value. Respiratory exchange ratio (RER) at O_{2}peak was 1.02 ± 0.07. Peak work rate) was 61.3 ± 15.1 W. All subjects reported a Borg CR10 value for exertion and leg fatigue of 7 or more. The robotics-assisted tilt table is deemed feasible for peak cardiopulmonary performance testing: the approach was found to be technically implementable and substantial cardiopulmonary responses were observed. Further testing in neurologically-impaired subjects is warranted.

  1. 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.

  2. Brain iron overload, insulin resistance, and cognitive performance in obese subjects: a preliminary MRI case-control study.

    Science.gov (United States)

    Blasco, Gerard; Puig, Josep; Daunis-I-Estadella, Josep; Molina, Xavier; Xifra, Gemma; Fernández-Aranda, Fernando; Pedraza, Salvador; Ricart, Wifredo; Portero-Otín, Manuel; Fernández-Real, José Manuel

    2014-11-01

    The linkage among the tissue iron stores, insulin resistance (IR), and cognition remains unclear in the obese population. We aimed to identify the factors that contribute to increased hepatic iron concentration (HIC) and brain iron overload (BIO), as evaluated by MRI, and to evaluate their impact on cognitive performance in obese and nonobese subjects. We prospectively recruited 23 middle-aged obese subjects without diabetes (13 women; age 50.4 ± 7.7 years; BMI 43.7 ± 4.48 kg/m2) and 20 healthy nonobese volunteers (10 women; age 48.8 ± 9.5 years; BMI 24.3 ± 3.54 kg/m2) in whom iron load was assessed in white and gray matter and the liver by MRI. IR was measured from HOMA-IR and an oral glucose tolerance test. A battery of neuropsychological tests was used to evaluate the cognitive performance. Multivariate regression analysis was used to identify the independent associations of BIO and cognitive performance. A significant increase in iron load was detected at the caudate nucleus (P cognitive performance. Obesity and IR may contribute to increased HIC and BIO being associated with worse cognitive performance. BIO could be a potentially useful MRI biomarker for IR and obesity-associated cognitive dysfunction. © 2014 by the American Diabetes Association. Readers may use this article as long as the work is properly cited, the use is educational and not for profit, and the work is not altered.

  3. Interaction between physiological and subjective states predicts the effect of a judging panel on the postures of cellists in performance

    Directory of Open Access Journals (Sweden)

    Satoshi eEndo

    2014-08-01

    Full Text Available This study investigated the effect of a panel of judges on the movements and postures of cellists in performance. 24 expert cellists played a short piece of music, to a metronome beat, in the presence and absence of the panel. Kinematic analyses showed that in the presence of the panel the temporal execution of left arm shifting movements became less variable and closer to the metronome beat. In contrast, the panel's presence had no reliable effect on their spatial accuracy. A detailed postural analysis indicated that left elbow angle during execution of a given high note was correlated with level of heart rate, though the nature of this correlation was systematically affected by the relevant participant's subjective state: if anxious, a higher heart rate correlated with a more flexed elbow, if not anxious then with a more extended elbow. Our results suggest a change in physiological state alone does not reliably predict a change in behaviour in performing cellists, which instead depends on the interaction between physiological state and subjective experience of anxiety. This highlights a need to distinguish performance anxiety from physiological arousal, to which end we advocate currency for the specific term performance arousal to describe heightened physiological activity in a performer.

  4. Plasma capric acid concentrations in healthy subjects determined by high-performance liquid chromatography.

    Science.gov (United States)

    Shrestha, Rojeet; Hui, Shu-Ping; Imai, Hiromitsu; Hashimoto, Satoru; Uemura, Naoto; Takeda, Seiji; Fuda, Hirotoshi; Suzuki, Akira; Yamaguchi, Satoshi; Hirano, Ken-Ichi; Chiba, Hitoshi

    2015-09-01

    Capric acid (FA10:0, decanoic acid) is a medium-chain fatty acid abundant in tropical oils such as coconut oil, whereas small amounts are present in milk of goat, cow, and human. Orally ingested FA10:0 is transported to the liver and quickly burnt within it. Only few reports are available for FA10:0 concentrations in human plasma. Fasting (n = 5, male/female = 3/2, age 31 ± 9.3 years old) and non-fasting (n = 106, male/female = 44/62, age 21.9 ± 3.2 years old) blood samples were collected from apparently healthy Japanese volunteers. The total FA10:0 in the plasma were measured by high-performance liquid chromatography after derivatization with 2-nitrophenylhydrazine followed by UV detection. Inter and intra-assay coefficient of variation of FA10:0 assay at three different concentrations ranged in 1.7-3.9 and 1.3-5.4%, respectively, with an analytical recovery of 95.2-104.0%. FA10:0 concentration was below detection limit (0.1 µmol/L) in each fasting human plasma. FA10:0 was not detected in 50 (47.2%) of 106 non-fasting blood samples, while 29 (27.4%) plasma samples contained FA10:0 less than or equal to 0.5 µmol/L (0.4 ± 0.1), and 27 (25.5%) contained it at more than 0.5 µmol/L (0.9 ± 0.3). A half of the non-fasting plasma samples contained detectable FA10:0. This simple, precise, and accurate high-performance liquid chromatography method might be useful for monitoring plasma FA10:0 during medium-chain triglycerides therapy. © The Author(s) 2015.

  5. 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).

  6. Assessment of Mechanical Properties and Damage of High Performance Concrete Subjected to Magnesium Sulfate Environment

    Directory of Open Access Journals (Sweden)

    Sheng Cang

    2017-01-01

    Full Text Available Sulfate attack is one of the most important problems affecting concrete structures, especially magnesium sulfate attack. This paper presents an investigation on the mechanical properties and damage evolution of high performance concrete (HPC with different contents of fly ash exposure to magnesium sulfate environment. The microstructure, porosity, mass loss, dimensional variation, compressive strength, and splitting tensile strength of HPC were investigated at various erosion times up to 392 days. The ultrasonic pulse velocity (UPV propagation in HPC at different erosion time was determined by using ultrasonic testing technique. A relationship between damage and UPV of HPC was derived according to damage mechanics, and a correlation between the damage of HPC and erosion time was obtained eventually. The results indicated that (1 the average increasing amplitude of porosity for HPCs was 34.01% before and after exposure to magnesium sulfate solution; (2 the damage evolution of HPCs under sulfate attack could be described by an exponential fitting; (3 HPC containing 20% fly ash had the strongest resistance to magnesium sulfate attack.

  7. Performance on a probabilistic inference task in healthy subjects receiving ketamine compared with patients with schizophrenia

    Science.gov (United States)

    Almahdi, Basil; Sultan, Pervez; Sohanpal, Imrat; Brandner, Brigitta; Collier, Tracey; Shergill, Sukhi S; Cregg, Roman; Averbeck, Bruno B

    2012-01-01

    Evidence suggests that some aspects of schizophrenia can be induced in healthy volunteers through acute administration of the non-competitive NMDA-receptor antagonist, ketamine. In probabilistic inference tasks, patients with schizophrenia have been shown to ‘jump to conclusions’ (JTC) when asked to make a decision. We aimed to test whether healthy participants receiving ketamine would adopt a JTC response pattern resembling that of patients. The paradigmatic task used to investigate JTC has been the ‘urn’ task, where participants are shown a sequence of beads drawn from one of two ‘urns’, each containing coloured beads in different proportions. Participants make a decision when they think they know the urn from which beads are being drawn. We compared performance on the urn task between controls receiving acute ketamine or placebo with that of patients with schizophrenia and another group of controls matched to the patient group. Patients were shown to exhibit a JTC response pattern relative to their matched controls, whereas JTC was not evident in controls receiving ketamine relative to placebo. Ketamine does not appear to promote JTC in healthy controls, suggesting that ketamine does not affect probabilistic inferences. PMID:22389244

  8. PERFORMANCE-RELIABILITY – THE MAIN SUBJECT OF THE BANKING ANALYSIS OF THE CREDITED SOCIETIES

    Directory of Open Access Journals (Sweden)

    AVRAM (BOITOŞ CAMELIA

    2013-12-01

    Full Text Available Since the crediting activity occupies the primary role in any banking institution, the necessity of study and its analysis is required by following some steps both at a microeconomic level and at a macroeconomic one. Going over the theme, which aims at the importance of a thorough study of the clients' reliability for highlighting the existing risks in the banking activity in general, and particularly in the crediting activity, becomes as more interesting as their approach at the level of the member states of the European Union tends towards a common theme. Starting from these premises, we have considered as being extremely important the selection of a research theme which aims at the risks in the crediting activity, emphasizing the analysis of the clients' reliability both in the decision of crediting in order to assume the risk of credit and in determining the financial and banking performances. Being given the complexity of the existing risks in the banking activity in general and particularly of the credit risk, the clients' reliability represents an extremely important field, of research and application, bearing in mind both the actual stage of developing the Romanian banking system and the attempts of its alignment to the requirements imposed by the European Union.

  9. Productive and Economic Performance of Broiler Chickens Subjected to Different Nutritional Plans

    Directory of Open Access Journals (Sweden)

    JMS Martins

    Full Text Available ABSTRACT The objective of the study was to evaluate the effect of nutritional plans on the productive and economic performance of Hubbard Flex broiler chickens. A completely randomized experimental design was applied, consisting of five treatments. Treatments consisted of five different nutritional plans: a basal diet containing the nutrient and energy levels recommended by literature and designated reference diet; two diets containing 1.5% and 3% lower levels than the reference diet; and two diets containing 1.5% and 3% higher levels than the reference diet (-3%, -1.5%, reference plan, +1.5% and +3%. Feed intake (FI, body weight (BW, feed conversion rate (FCR, livability (L and productive efficient index (PEI were determined when broilers were 42 days old. Broilers were processed, and carcass and parts (breast fillet, leg, and wings yields were determined. The economic viablility of the nutitional plans was evaluated as a function of feed cost/kg live and carcass weights, economic efficiency index (EEI, and cost index (CI. Feed intake and the feed conversion rate decreased as dietary nutrient and energy levels increased. Feed cost/kg live weight, economic efficiency index, and cost index cost increased as dietary nutrient and energy levels increased. Feed intake, feed conversion ratio, production efficiency index, and breast yield improved with increasing nutritional and energy levels. However, worse economic results were obtained with higher nutritional and energy levels.

  10. The effect of subjective awareness measures on performance in artificial grammar learning task.

    Science.gov (United States)

    Ivanchei, Ivan I; Moroshkina, Nadezhda V

    2018-01-01

    Systematic research into implicit learning requires well-developed awareness-measurement techniques. Recently, trial-by-trial measures have been widely used. However, they can increase complexity of a study because they are an additional experimental variable. We tested the effects of these measures on performance in artificial grammar learning study. Four groups of participants were assigned to different awareness measures conditions: confidence ratings, post-decision wagering, decision strategy attribution or none. Decision-strategy-attribution participants demonstrated better grammar learning and longer response times compared to controls. They also exhibited a conservative bias. Grammaticality by itself was a stronger predictor of strings endorsement in decision-strategy-attribution group compared to other groups. Confidence ratings and post-decision wagering only affected the response times. These results were supported by an additional experiment that used a balanced chunk strength design. We conclude that a decision-strategy-attribution procedure may force participants to adopt an analytical decision-making strategy and rely mostly on conscious knowledge of artificial grammar. Copyright © 2017 Elsevier Inc. All rights reserved.

  11. Performance Evaluation of Submerged Floating Tunnel Subjected to Hydrodynamic and Seismic Excitations

    Directory of Open Access Journals (Sweden)

    Naik Muhammad

    2017-10-01

    Full Text Available Submerged floating tunnels (SFTs are innovative structural solutions to waterway crossings, such as sea-straits, fjords and lakes. As the width and depth of straits increase, the conventional structures such as cable-supported bridges, underground tunnels or immersed tunnels become uneconomical alternatives. For the realization of SFT, the structural response under extreme environmental conditions needs to be evaluated properly. This study evaluates the displacements and internal forces of SFT under hydrodynamic and three-dimensional seismic excitations to check the global performance of an SFT in order to conclude on the optimum design. The formulations incorporate modeling of ocean waves, currents and mooring cables. The SFT responses were evaluated using three different mooring cable arrangements to determine the stability of the mooring configuration, and the most promising configuration was then used for further investigations. A comparison of static, hydrodynamic and seismic response envelope curves of the SFT is provided to determine the dominant structural response. The study produces useful conclusions regarding the structural behavior of the SFT using a three-dimensional numerical model.

  12. Performance assessment of topologically diverse power systems subjected to hurricane events

    International Nuclear Information System (INIS)

    Winkler, James; Duenas-Osorio, Leonardo; Stein, Robert; Subramanian, Devika

    2010-01-01

    Large tropical cyclones cause severe damage to major cities along the United States Gulf Coast annually. A diverse collection of engineering and statistical models are currently used to estimate the geographical distribution of power outage probabilities stemming from these hurricanes to aid in storm preparedness and recovery efforts. Graph theoretic studies of power networks have separately attempted to link abstract network topology to transmission and distribution system reliability. However, few works have employed both techniques to unravel the intimate connection between network damage arising from storms, topology, and system reliability. This investigation presents a new methodology combining hurricane damage predictions and topological assessment to characterize the impact of hurricanes upon power system reliability. Component fragility models are applied to predict failure probability for individual transmission and distribution power network elements simultaneously. The damage model is calibrated using power network component failure data for Harris County, TX, USA caused by Hurricane Ike in September of 2008, resulting in a mean outage prediction error of 15.59% and low standard deviation. Simulated hurricane events are then applied to measure the hurricane reliability of three topologically distinct transmission networks. The rate of system performance decline is shown to depend on their topological structure. Reliability is found to correlate directly with topological features, such as network meshedness, centrality, and clustering, and the compact irregular ring mesh topology is identified as particularly favorable, which can influence regional lifeline policy for retrofit and hardening activities to withstand hurricane events.

  13. Locomotion and Grasping impairment in preschoolers with autism spectrum disorder

    Directory of Open Access Journals (Sweden)

    Francesca Fulceri

    2015-08-01

    Full Text Available Objective: To investigate expressiveness of motor impairment in autism spectrum disorder (ASD and its correlation with developmental and clinical features of ASD. Method: Thirty-five male preschoolers with ASD completed the Peabody Developmental Motor Scales-2 (PDMS-2; Folio and Fewell, 2000 and underwent a multidisciplinary assessment including medical examination, standardized assessment of cognitive abilities, administration of Autism_Diagnostic_Observation_Schedule (ADOS and a parent interview about adaptive skills. Results: Results revealed a substantial impairment in locomotion and grasping skills. Both fine and gross motor skills were significantly correlated with non verbal IQ and adaptive behaviours (p<0.01 but not with chronological age or ADOS scores. Children with weaker motor skills have greater cognitive and adaptive behaviours deficits. Conclusions: Motor development in ASD can be detected at preschool age and locomotion and grasping skills are substantially the most impaired area. These findings support the need to assess motor skills in preschoolers with ASD in addition to other developmental skill areas. Along with the increasingly acknowledged importance of motor skills for subsequent social, cognitive, and communicative development our findings support the need to consider motor intervention as a key area in therapeutic program to improve outcome in preschoolers with ASD.

  14. Heuristic methods using grasp, path relinking and variable neighborhood search for the clustered traveling salesman problem

    Directory of Open Access Journals (Sweden)

    Mário Mestria

    2013-08-01

    Full Text Available The Clustered Traveling Salesman Problem (CTSP is a generalization of the Traveling Salesman Problem (TSP in which the set of vertices is partitioned into disjoint clusters and objective is to find a minimum cost Hamiltonian cycle such that the vertices of each cluster are visited contiguously. The CTSP is NP-hard and, in this context, we are proposed heuristic methods for the CTSP using GRASP, Path Relinking and Variable Neighborhood Descent (VND. The heuristic methods were tested using Euclidean instances with up to 2000 vertices and clusters varying between 4 to 150 vertices. The computational tests were performed to compare the performance of the heuristic methods with an exact algorithm using the Parallel CPLEX software. The computational results showed that the hybrid heuristic method using VND outperforms other heuristic methods.

  15. Markov counting and reward processes for analysing the performance of a complex system subject to random inspections

    International Nuclear Information System (INIS)

    Ruiz-Castro, Juan Eloy

    2016-01-01

    In this paper, a discrete complex reliability system subject to internal failures and external shocks, is modelled algorithmically. Two types of internal failure are considered: repairable and non-repairable. When a repairable failure occurs, the unit goes to corrective repair. In addition, the unit is subject to external shocks that may produce an aggravation of the internal degradation level, cumulative damage or extreme failure. When a damage threshold is reached, the unit must be removed. When a non-repairable failure occurs, the device is replaced by a new, identical one. The internal performance and the external damage are partitioned in performance levels. Random inspections are carried out. When an inspection takes place, the internal performance of the system and the damage caused by external shocks are observed and if necessary the unit is sent to preventive maintenance. If the inspection observes minor state for the internal performance and/or external damage, then these states remain in memory when the unit goes to corrective or preventive maintenance. Transient and stationary analyses are performed. Markov counting and reward processes are developed in computational form to analyse the performance and profitability of the system with and without preventive maintenance. These aspects are implemented computationally with Matlab. - Highlights: • A multi-state device is modelled in an algorithmic and computational form. • The performance is partitioned in multi-states and degradation levels. • Several types of failures with repair times according to degradation levels. • Preventive maintenance as response to random inspection is introduced. • The performance-profitable is analysed through Markov counting and reward processes.

  16. Menstrual Cycle, Vocal Performance, and Laryngeal Vascular Appearance: An Observational Study on 17 Subjects.

    Science.gov (United States)

    Shoffel-Havakuk, Hagit; Carmel-Neiderman, Narin N; Halperin, Doron; Shapira Galitz, Yael; Levin, Dan; Haimovich, Yaara; Cohen, Oded; Abitbol, Jean; Lahav, Yonatan

    2018-03-01

    To assess the anatomical and functional features of the vocal folds during different phases of the female menstrual cycle. An observational study of 17 healthy fertile female volunteers not using hormonal contraception was carried out. Each volunteer underwent two examinations: first, during the early days of the menstrual cycle when progesterone levels are low (p-depletion), and second, during premenstruation when progesterone levels are high (p-peak). The workup included blood hormone levels, Voice Handicap Index, acoustic analysis, rigid telescopy, stroboscopy, and narrow band imaging. The videos were evaluated by blinded observers. The participants' mean age was 31.7 ± 5.6 (range 23-43). Progesterone levels were 13- to 45-fold higher in p-peak relative to p-depletion. No significant differences were detected in Voice Handicap Index scores, stroboscopic reports, or acoustic analysis between p-peak and p-depletion examinations. Analyzing the rigid telescopy and narrow band imaging videos, the observers tended to estimate the different laryngeal subsites more vascularized during the p-peak examination. Moreover, this tendency was significantly correlated with blood progesterone levels during the p-depletion examinations; the lower the blood progesterone levels were during p-depletion, the higher the probability for the observers to estimate the p-peak examinations more vascularized (P value = 0.024). Alterations in laryngeal vascular characteristics are evident throughout the menstrual cycle and may suggest increased congestion during premenstrual days. Variations in progesterone levels during the menstrual cycle correlate with laryngeal vascular changes. Hormone-related alterations in vocal folds' vascularity may have a role in the variability of vocal performance in certain women. Copyright © 2018 The Voice Foundation. Published by Elsevier Inc. All rights reserved.

  17. Development and Performance of Alternative Electricity Sector Pathways Subject to Multiple Climate and Water Projections

    Science.gov (United States)

    Newmark, R. L.; Vorosmarty, C. J.; Miara, A.; Cohen, S.; Macknick, J.; Sun, Y.; Corsi, F.; Fekete, B. M.; Tidwell, V. C.

    2017-12-01

    Climate change impacts on air temperatures and water availability have the potential to alter future electricity sector investment decisions as well as the reliability and performance of the power sector. Different electricity sector configurations are more or less vulnerable to climate-induced changes. For example, once-through cooled thermal facilities are the most cost-effective and efficient technologies under cooler and wetter conditions, but can be substantially affected by and vulnerable to warmer and drier conditions. Non-thermal renewable technologies, such as PV and wind, are essentially "drought-proof" but have other integration and reliability challenges. Prior efforts have explored the impacts of climate change on electric sector development for a limited set of climate and electricity scenarios. Here, we provide a comprehensive suite of scenarios that evaluate how different electricity sector pathways could be affected by a range of climate and water resource conditions. We use four representative concentration pathway (RCP) scenarios under five global circulation models (GCM) as climate drivers to a Water Balance Model (WBM), to provide twenty separate future climate-water conditions. These climate-water conditions influence electricity sector development from present day to 2050 as determined using the Regional Energy Deployment Systems (ReEDS) model. Four unique electricity sector pathways will be considered, including business-as-usual, carbon cap, high renewable energy technology costs, and coal reliance scenarios. The combination of climate-water and electricity sector pathway scenarios leads to 80 potential future cases resulting in different national and regional electricity infrastructure configurations. The vulnerability of these configurations in relation to climate change (including in-stream thermal pollution impacts and environmental regulations) is evaluated using the Thermoelectric Power and Thermal Pollution (TP2M) model, providing

  18. Quantification of intestinal bacteria, operating cost and performance of fingerlings Nile tilapia subjected to probiotics

    Directory of Open Access Journals (Sweden)

    Nilton Garcia-Marengoni

    2015-05-01

    Full Text Available The use of microorganisms of the genus Bacillus in aquaculture is a nutritional management practice that is rapidly expanding in regions with intensive fish farming. This study aimed to quantify the total bacteria and total coliforms from the intestinal microbiota and estimate the partial operating costs and growth performance of Nile tilapia (Oreochromis niloticus of the GIFT strain. A total of 1,200 post-larvae (24.7 ± 0.50 mg were distributed into 24 aquaria (0.03-m³ capacity within a completely randomized design in 2 x 3 factorial (phase x bacteria, with four replications. Each aquarium, containing 50 post-larvae (sex reversal phase or 30 fish (fingerlings phase, it was considered to be an experimental unit, consisting of three treatments (diet+Bacillus subtilis C-3102, diet+Bacillus cereus var. toyoi and diet without probiotic addition. The quantification of the total bacteria and total coliforms of the intestinal microbiota of tilapia were influenced (P 0.05 by adding probiotics in the diets and no effect of the interaction between phase and bacteria was observed. The weight gain, average daily weight gain, specific growth rate and apparent feed conversion were not affected (P > 0.05 by inclusion of probiotics as part of the diets. The inclusion of B. subtilis and B. cereus as part of diets for Nile tilapia promotes intestinal colonization and improves the survival rate without negatively influencing the feed intake, total biomass, gross revenue and partial operating costs and net revenue. Therefore it recommends the use of these probiotics to growth of tilapia fingerlings Nile, GIFT strain.

  19. Effects of team-based learning on perceived teamwork and academic performance in a health assessment subject.

    Science.gov (United States)

    Park, Hyung-Ran; Kim, Chun-Ja; Park, Jee-Won; Park, Eunyoung

    2015-01-01

    The purpose of this study was to examine the effectiveness of team-based learning (a well-recognized learning and teaching strategy), applied in a health assessment subject, on nursing students' perceived teamwork (team-efficacy and team skills) and academic performance (individual and team readiness assurance tests, and examination scores). A prospective, one-group, pre- and post-test design enrolled a convenience sample of 74 second-year nursing students at a university in Suwon, Korea. Team-based learning was applied in a 2-credit health assessment subject over a 16-week semester. All students received written material one week before each class for readiness preparation. After administering individual- and team-readiness assurance tests consecutively, the subject instructor gave immediate feedback and delivered a mini-lecture to the students. Finally, students carried out skill based application exercises. The findings showed significant improvements in the mean scores of students' perceived teamwork after the introduction of team-based learning. In addition, team-efficacy was associated with team-adaptability skills and team-interpersonal skills. Regarding academic performance, team readiness assurance tests were significantly higher than individual readiness assurance tests over time. Individual readiness assurance tests were significantly related with examination scores, while team readiness assurance tests were correlated with team-efficacy and team-interpersonal skills. The application of team-based learning in a health assessment subject can enhance students' perceived teamwork and academic performance. This finding suggests that team-based learning may be an effective learning and teaching strategy for improving team-work of nursing students, who need to collaborate and effectively communicate with health care providers to improve patients' health.

  20. Spectral analyses of systolic blood pressure and heart rate variability and their association with cognitive performance in elderly hypertensive subjects.

    Science.gov (United States)

    Santos, W B; Matoso, J M D; Maltez, M; Gonçalves, T; Casanova, M; Moreira, I F H; Lourenço, R A; Monteiro, W D; Farinatti, P T V; Soares, P P; Oigman, W; Neves, M F T; Correia, M L G

    2015-08-01

    Systolic hypertension is associated with cognitive decline in the elderly. Altered blood pressure (BP) variability is a possible mechanism of reduced cognitive performance in elderly hypertensives. We hypothesized that altered beat-to-beat systolic BP variability is associated with reduced global cognitive performance in elderly hypertensive subjects. In exploratory analyses, we also studied the correlation between diverse discrete cognitive domains and indices of systolic BP and heart rate variability. Disproving our initial hypothesis, we have shown that hypertension and low education, but not indices of systolic BP and heart rate variability, were independent predictors of lower global cognitive performance. However, exploratory analyses showed that the systolic BP variability in semi-upright position was an independent predictor of matrix reasoning (B = 0.08 ± .03, P-value = 0.005), whereas heart rate variability in semi-upright position was an independent predictor of the executive function score (B = -6.36 ± 2.55, P-value = 0.02). We conclude that myogenic vascular and sympathetic modulation of systolic BP do not contribute to reduced global cognitive performance in treated hypertensive subjects. Nevertheless, our results suggest that both systolic BP and heart rate variability might be associated with modulation of frontal lobe cognitive domains, such as executive function and matrix reasoning.

  1. Quantitative performance of E-Scribe warehouse in detecting quality issues with digital annotated ECG data from healthy subjects.

    Science.gov (United States)

    Sarapa, Nenad; Mortara, Justin L; Brown, Barry D; Isola, Lamberto; Badilini, Fabio

    2008-05-01

    The US Food and Drug Administration recommends submission of digital electrocardiograms in the standard HL7 XML format into the electrocardiogram warehouse to support preapproval review of new drug applications. The Food and Drug Administration scrutinizes electrocardiogram quality by viewing the annotated waveforms and scoring electrocardiogram quality by the warehouse algorithms. Part of the Food and Drug Administration warehouse is commercially available to sponsors as the E-Scribe Warehouse. The authors tested the performance of E-Scribe Warehouse algorithms by quantifying electrocardiogram acquisition quality, adherence to QT annotation protocol, and T-wave signal strength in 2 data sets: "reference" (104 digital electrocardiograms from a phase I study with sotalol in 26 healthy subjects with QT annotations by computer-assisted manual adjustment) and "test" (the same electrocardiograms with an intentionally introduced predefined number of quality issues). The E-Scribe Warehouse correctly detected differences between the 2 sets expected from the number and pattern of errors in the "test" set (except for 1 subject with QT misannotated in different leads of serial electrocardiograms) and confirmed the absence of differences where none was expected. E-Scribe Warehouse scores below the threshold value identified individual electrocardiograms with questionable T-wave signal strength. The E-Scribe Warehouse showed satisfactory performance in detecting electrocardiogram quality issues that may impair reliability of QTc assessment in clinical trials in healthy subjects.

  2. GRASP/Ada 95: Reverse Engineering Tools for Ada

    Science.gov (United States)

    Cross, James H., II

    1996-01-01

    The GRASP/Ada project (Graphical Representations of Algorithms, Structures, and Processes for Ada) has successfully created and prototyped an algorithmic level graphical representation for Ada software, the Control Structure Diagram (CSD), and a new visualization for a fine-grained complexity metric called the Complexity Profile Graph (CPG). By synchronizing the CSD and the CPG, the CSD view of control structure, nesting, and source code is directly linked to the corresponding visualization of statement level complexity in the CPG. GRASP has been integrated with GNAT, the GNU Ada 95 Translator to provide a comprehensive graphical user interface and development environment for Ada 95. The user may view, edit, print, and compile source code as a CSD with no discernible addition to storage or computational overhead. 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 95 source code to support reverse engineering and maintenance. The CSD has the potential to replace traditional prettyprinted Ada source code. The current update has focused on the design and implementation of a new Motif compliant user interface, and a new CSD generator consisting of a tagger and renderer. The Complexity Profile Graph (CPG) is based on a set of functions that describes the context, content, and the scaling for complexity on a statement by statement basis. When combined graphicafly, the result is a composite profile of complexity for the program unit. Ongoing research includes the development and refinement of the associated functions, and the development of the CPG generator prototype. The current Version 5.0 prototype provides the capability for the user to generate CSDs and CPGs from Ada 95 source code in a reverse engineering as well as forward engineering mode with a level of flexibility suitable for

  3. Update of GRASP/Ada reverse engineering tools for Ada

    Science.gov (United States)

    Cross, James H., II

    1993-01-01

    The GRASP/Ada project (Graphical Representations of Algorithms, Structures, and Processes for Ada) 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 was 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 pretty printed Ada source code. In Phase 1 of the GRASP/Ada project, the CSD graphical constructs were created and applied manually to several small Ada programs. A prototype CSD generator (Version 1) was designed and implemented using FLEX and BISON running under VMS on a VAX 11-780. In Phase 2, the prototype was improved and ported to the Sun 4 platform under UNIX. A user interface was designed and partially implemented using the HP widget toolkit and the X Windows System. In Phase 3, the user interface was extensively reworked using the Athena widget toolkit and X Windows. The prototype was applied successfully to numerous Ada programs ranging in size from several hundred to several thousand lines of source code. Following Phase 3,e two update phases were completed. Update'92 focused on the initial analysis of evaluation data collected from software engineering students at Auburn University and the addition of significant enhancements to the user interface. Update'93 (the current update) focused on the statistical analysis of the data collected in the previous update and preparation of Version 3.4 of the prototype for limited distribution to facilitate further evaluation. The current prototype provides the capability for the user to generate CSD's from Ada PDL or source code in a reverse engineering as well as forward engineering mode with a level of flexibility suitable for practical

  4. Family-centered rounds and medical student performance on the NBME pediatrics subject (shelf) examination: a retrospective cohort study.

    Science.gov (United States)

    Kimbrough, Tiffany N; Heh, Victor; Wijesooriya, N Romesh; Ryan, Michael S

    2016-01-01

    To determine the association between family-centered rounds (FCR) and medical student knowledge acquisition as assessed by the National Board of Medical Examiners (NBME) pediatric subject (shelf) exam. A retrospective cohort study was conducted of third-year medical students who graduated from Virginia Commonwealth University School of Medicine between 2009 and 2014. This timeframe represented the transition from 'traditional' rounds to FCR on the pediatric inpatient unit. Data collected included demographics, United States Medical Licensing Examination (USMLE) Step 1 and 2 scores, and NBME subject examinations in pediatrics (PSE), medicine (MSE), and surgery (SSE). Eight hundred and sixteen participants were included in the analysis. Student performance on the PSE could not be statistically differentiated from performance on the MSE for any year except 2011 (z-score=-0.17, p=0.02). Average scores on PSE for years 2009, 2010, 2013, and 2014 were significantly higher than for SSE, but not significantly different for all other years. The PSE was highly correlated with USMLE Step 1 and Step 2 examinations (correlation range 0.56-0.77) for all years. Our results showed no difference in PSE performance during a time in which our institution transitioned to FCR. These findings should be reassuring for students, attending physicians, and medical educators.

  5. CORRELATIONS BETWEEN MUSCLE MASS, MUSCLE STRENGTH, PHYSICAL PERFORMANCE, AND MUSCLE FATIGUE RESISTANCE IN COMMUNITY-DWELLING ELDERLY SUBJECTS

    Directory of Open Access Journals (Sweden)

    Elizabeth

    2016-03-01

    Full Text Available Objective: To determine the correlations between muscle mass, muscle strength, physical performance, and muscle fatigue resistance in community-dwelling elderly people in order to elucidate factors which contribute to elderly’s performance of daily activities. Methods: A cross-sectional study was conducted on community-dwelling elderly in Bandung from September to December 2014. One hundred and thirty elderly, 60 years old or above, were evaluated using bioelectrical impedance analysis to measure muscle mass; grip strength to measure muscle strength and muscle fatigue resistance; habitual gait speed to measure physical performance; and Global Physical Activity Questionnaire (GPAQ to assess physical activity. Results: There were significant positive correlations between muscle mass (r=0,27, p=0,0019, muscle strength (r=0,26, p=0,0024, and physical performance (r=0,32, p=0,0002 with muscle fatigue resistance. Physical performance has the highest correlation based on multiple regression test (p=0,0025. In association with muscle mass, the physical activity showed a significant positive correlation (r=0,42, p=0,0000. Sarcopenia was identified in 19 (14.61% of 130 subjects. Conclusions: It is suggested that muscle mass, muscle strength, and physical performance influence muscle fatigue resistance.

  6. A Comparison of Robotic Simulation Performance on Basic Virtual Reality Skills: Simulator Subjective Versus Objective Assessment Tools.

    Science.gov (United States)

    Dubin, Ariel K; Smith, Roger; Julian, Danielle; Tanaka, Alyssa; Mattingly, Patricia

    To answer the question of whether there is a difference between robotic virtual reality simulator performance assessment and validated human reviewers. Current surgical education relies heavily on simulation. Several assessment tools are available to the trainee, including the actual robotic simulator assessment metrics and the Global Evaluative Assessment of Robotic Skills (GEARS) metrics, both of which have been independently validated. GEARS is a rating scale through which human evaluators can score trainees' performances on 6 domains: depth perception, bimanual dexterity, efficiency, force sensitivity, autonomy, and robotic control. Each domain is scored on a 5-point Likert scale with anchors. We used 2 common robotic simulators, the dV-Trainer (dVT; Mimic Technologies Inc., Seattle, WA) and the da Vinci Skills Simulator (dVSS; Intuitive Surgical, Sunnyvale, CA), to compare the performance metrics of robotic surgical simulators with the GEARS for a basic robotic task on each simulator. A prospective single-blinded randomized study. A surgical education and training center. Surgeons and surgeons in training. Demographic information was collected including sex, age, level of training, specialty, and previous surgical and simulator experience. Subjects performed 2 trials of ring and rail 1 (RR1) on each of the 2 simulators (dVSS and dVT) after undergoing randomization and warm-up exercises. The second RR1 trial simulator performance was recorded, and the deidentified videos were sent to human reviewers using GEARS. Eight different simulator assessment metrics were identified and paired with a similar performance metric in the GEARS tool. The GEARS evaluation scores and simulator assessment scores were paired and a Spearman rho calculated for their level of correlation. Seventy-four subjects were enrolled in this randomized study with 9 subjects excluded for missing or incomplete data. There was a strong correlation between the GEARS score and the simulator metric

  7. Development of Reaching and Grasping Skills in Infants with Down Syndrome

    Science.gov (United States)

    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…

  8. 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...

  9. 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

  10. 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.

  11. 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

  12. A GRASP algorithm for the container stowage slot planning problem

    DEFF Research Database (Denmark)

    Parreno, Francisco; Pacino, Dario; Alvarez-Valdes, Ramon

    2016-01-01

    in clusters along the vessel. For each of those clusters a specific position for each container must be found. Compared to previous studies, we have introduced two new features: the explicit handling of rolled out containers and the inclusion of separations rules for dangerous cargo. We present a novel......This work presents a generalization of the Slot Planning Problem which raises when the liner shipping industry needs to plan the placement of containers within a vessel (stowage planning). State-of-the-art stowage planning relies on a heuristic decomposition where containers are first distributed...... integer programming formulation and a Greedy Randomized Adaptive Search Procedure (GRASP) to solve the problem. The approach is able to find high-quality solution within 1 s. We also provide comparison with the state-of-the-art on an existing and a new set of benchmark instances. (C) 2016 Elsevier Ltd...

  13. Grasp Assist Device with Shared Tendon Actuator Assembly

    Science.gov (United States)

    Ihrke, Chris A. (Inventor); Bergelin, Bryan J. (Inventor); Bridgwater, Lyndon (Inventor)

    2015-01-01

    A grasp assist device includes a glove with first and second tendon-driven fingers, a tendon, and a sleeve with a shared tendon actuator assembly. Tendon ends are connected to the respective first and second fingers. The actuator assembly includes a drive assembly having a drive axis and a tendon hook. The tendon hook, which defines an arcuate surface slot, is linearly translatable along the drive axis via the drive assembly, e.g., a servo motor thereof. The flexible tendon is routed through the surface slot such that the surface slot divides the flexible tendon into two portions each terminating in a respective one of the first and second ends. The drive assembly may include a ball screw and nut. An end cap of the actuator assembly may define two channels through which the respective tendon portions pass. The servo motor may be positioned off-axis with respect to the drive axis.

  14. 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...

  15. Slow angled-descent forepaw grasping (SLAG): an innate behavioral task for identification of individual experimental mice possessing functional vision.

    Science.gov (United States)

    Gil-Pagés, Macarena; Stiles, Robert J; Parks, Christopher A; Neier, Steven C; Radulovic, Maja; Oliveros, Alfredo; Ferrer, Alejandro; Reed, Brendan K; Wilton, Katelynn M; Schrum, Adam G

    2013-08-23

    There is significant interest in the generation of improved assays to clearly identify experimental mice possessing functional vision, a property that could qualify mice for inclusion in behavioral and neuroscience studies. Widely employed current methods rely on mouse responses to visual cues in assays of reflexes, depth perception, or cognitive memory. However, commonly assessed mouse reflexes can sometimes be ambiguous in their expression, while depth perception assays are sometimes confounded by variation in anxiety responses and exploratory conduct. Furthermore, in situations where experimental groups vary in their cognitive memory capacity, memory assays may not be ideal for assessing differences in vision. We have optimized a non-invasive behavioral assay that relies on an untrained, innate response to identify individual experimental mice possessing functional vision: slow angled-descent forepaw grasping (SLAG). First, we verified that SLAG performance depends on vision and not olfaction. Next, all members of an age-ranged cohort of 158 C57BL/6 mice (57 wild-type, 101 knockout, age range 44-241 days) were assessed for functional vision using the SLAG test without training or conditioning. Subjecting the population to a second innate behavioral test, Dark Chamber preference, corroborated that the functional vision assessment of SLAG was valid. We propose that the SLAG assay is immediately useful to quickly and clearly identify experimental mice possessing functional vision. SLAG is based on a behavioral readout with a significant innate component with no requirement for training. This will facilitate the selection of mice of known sighted status in vision-dependent experiments that focus on other types of behavior, neuroscience, and/or cognitive memory.

  16. 'It's quite hard to grasp the enormity of it': perceived needs of people upon diagnosis of rheumatoid arthritis.

    Science.gov (United States)

    Radford, S; Carr, M; Hehir, M; Davis, B; Robertson, L; Cockshott, Z; Tipler, S; Hewlett, S

    2008-09-01

    The diagnosis of rheumatoid arthritis (RA) brings rapid pharmacological and multidisciplinary team interventions to address inflammatory processes and symptom management. However, people may also need support on the journey to self-management. The aim of this study was to explore what professional support patients feel they receive upon diagnosis, and what support they feel would be most helpful. Two focus groups comprised patients with at least five years'; disease duration (n = 7), and patients more recently diagnosed (5-18 months, n = 5). The latter had attended at least two appointments in a rheumatology nurse specialist clinic during the previous year, aimed at providing support upon diagnosis. Transcripts were subjected to thematic analysis to identify common issues regarding support needs, which were then grouped into themes. Interviewing and analysis was performed by researchers not involved in clinical care. Four overarching themes emerged. 'Information' was needed about the symptoms of RA, its management and personal outcome, while 'Support' related to emotional needs ('It's quite hard to grasp the enormity of it'). Information and Support overlapped, in that patients wanted someone to talk to, and to be listened to. These two themes were underpinned by issues of service delivery: 'Choice' (patient or professional to talk to, groups, one-to-one) and 'Involvement' (holistic care, partnership), which overlapped in terms of the opportunity to decide when and which interventions to access. People with RA report not only informational, but also emotional support needs at diagnosis. The potential for delivering emotional support to patients around the time of diagnosis warrants further exploration. (c) 2008 John Wiley & Sons, Ltd.

  17. Hybrid Feature Selection Approach Based on GRASP for Cancer Microarray Data

    Directory of Open Access Journals (Sweden)

    Arpita Nagpal

    2017-01-01

    Full Text Available Microarray data usually contain a large number of genes, but a small number of samples. Feature subset selection for microarray data aims at reducing the number of genes so that useful information can be extracted from the samples. Reducing the dimension of data sets further helps in improving the computational efficiency of the learning model. In this paper, we propose a modified algorithm based on the tabu search as local search procedures to a Greedy Randomized Adaptive Search Procedure (GRASP for high dimensional microarray data sets. The proposed Tabu based Greedy Randomized Adaptive Search Procedure algorithm is named as TGRASP. In TGRASP, a new parameter has been introduced named as Tabu Tenure and the existing parameters, NumIter and size have been modified. We observed that different parameter settings affect the quality of the optimum. The second proposed algorithm known as FFGRASP (Firefly Greedy Randomized Adaptive Search Procedure uses a firefly optimization algorithm in the local search optimzation phase of the greedy randomized adaptive search procedure (GRASP. Firefly algorithm is one of the powerful algorithms for optimization of multimodal applications. Experimental results show that the proposed TGRASP and FFGRASP algorithms are much better than existing algorithm with respect to three performance parameters viz. accuracy, run time, number of a selected subset of features. We have also compared both the approaches with a unified metric (Extended Adjusted Ratio of Ratios which has shown that TGRASP approach outperforms existing approach for six out of nine cancer microarray datasets and FFGRASP performs better on seven out of nine datasets.

  18. Grasping and Placing Operation for Labware Transportation in Life Science Laboratories using Mobile Robots

    Directory of Open Access Journals (Sweden)

    Mohammed Myasar Ali

    2017-07-01

    Full Text Available In automated working environments, mobile robots can be used for different purposes such as material handling, domestic services, and objects transportation. This work presents a grasping and placing operation for multiple labware and tube racks in life science laboratories using the H20 mobile robots. The H20 robot has dual arms where each arm consists of 6 revolute joints with 6-DOF and 2-DOF grippers. The labware, which have to be manipulated and transported, contain chemical and biological components. Therefore, an accurate approach for object recognition and position estimation is required. The recognition and pose estimation of the desired objects are very essential to guide the robotic arm in the manipulation tasks. In this work, the problem statement of H20 transportation system with the proposed methodology are presented. Different strategies (visual and non-visual of labware manipulation using mobile robots are described. The H20 robot is equipped with a Kinect V2 sensor to identify and estimate the position of the target. The local features recognition based on SURF algorithm (Speeded-Up Robust Features is used. The recognition process is performed for the required labware and holder to perform the grasping and placing operation. A strategy is proposed to find the required holder and to check its emptiness for the placing tasks. Different styles of grippers and labware containers are used to manipulate different weights of labware and to realize a safe transportation. The parts of mobile robot transportation system are communicated with each other using Asynchronous socket Channels.

  19. Classification of Anticipatory Signals for Grasp and Release from Surface Electromyography

    Science.gov (United States)

    Siu, Ho Chit; Shah, Julie A.; Stirling, Leia A.

    2016-01-01

    Surface electromyography (sEMG) is a technique for recording natural muscle activation signals, which can serve as control inputs for exoskeletons and prosthetic devices. Previous experiments have incorporated these signals using both classical and pattern-recognition control methods in order to actuate such devices. We used the results of an experiment incorporating grasp and release actions with object contact to develop an intent-recognition system based on Gaussian mixture models (GMM) and continuous-emission hidden Markov models (HMM) of sEMG data. We tested this system with data collected from 16 individuals using a forearm band with distributed sEMG sensors. The data contain trials with shifted band alignments to assess robustness to sensor placement. This study evaluated and found that pattern-recognition-based methods could classify transient anticipatory sEMG signals in the presence of shifted sensor placement and object contact. With the best-performing classifier, the effect of label lengths in the training data was also examined. A mean classification accuracy of 75.96% was achieved through a unigram HMM method with five mixture components. Classification accuracy on different sub-movements was found to be limited by the length of the shortest sub-movement, which means that shorter sub-movements within dynamic sequences require larger training sets to be classified correctly. This classification of user intent is a potential control mechanism for a dynamic grasping task involving user contact with external objects and noise. Further work is required to test its performance as part of an exoskeleton controller, which involves contact with actuated external surfaces. PMID:27792155

  20. When does stress help or harm? The effects of stress controllability and subjective stress response on stroop performance.

    Science.gov (United States)

    Henderson, Roselinde K; Snyder, Hannah R; Gupta, Tina; Banich, Marie T

    2012-01-01

    The ability to engage in goal-directed behavior despite exposure to stress is critical to resilience. Questions of how stress can impair or improve behavioral functioning are important in diverse settings, from athletic competitions to academic testing. Previous research suggests that controllability is a key factor in the impact of stress on behavior: learning how to control stressors buffers people from the negative effects of stress on subsequent cognitively demanding tasks. In addition, research suggests that the impact of stress on cognitive functioning depends on an individual's response to stressors: moderate responses to stress can lead to improved performance while extreme (high or low) responses can lead to impaired performance. The present studies tested the hypothesis that (1) learning to behaviorally control stressors leads to improved performance on a test of general executive functioning, the color-word Stroop, and that (2) this improvement emerges specifically for people who report moderate (subjective) responses to stress. Experiment 1: Stroop performance, measured before and after a stress manipulation, was compared across groups of undergraduate participants (n = 109). People who learned to control a noise stressor and received accurate performance feedback demonstrated reduced Stroop interference compared with people exposed to uncontrollable noise stress and feedback indicating an exaggerated rate of failure. In the group who learned behavioral control, those who reported moderate levels of stress showed the greatest reduction in Stroop interference. In contrast, in the group exposed to uncontrollable events, self-reported stress failed to predict performance. Experiment 2: In a second sample (n = 90), we specifically investigated the role of controllability by keeping the rate of failure feedback constant across groups. In the group who learned behavioral control, those who reported moderate levels of stress showed the greatest Stroop

  1. 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.

  2. 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.

  3. Do aging and dual-tasking impair the capacity to store and retrieve visuospatial information needed to guide perturbation-evoked reach-to-grasp reactions?

    Directory of Open Access Journals (Sweden)

    Kenneth C Cheng

    Full Text Available A recent study involving young adults showed that rapid perturbation-evoked reach-to-grasp balance-recovery reactions can be guided successfully with visuospatial-information (VSI retained in memory despite: 1 a reduction in endpoint accuracy due to recall-delay (time between visual occlusion and perturbation-onset, PO and 2 slowing of the reaction when performing a concurrent cognitive task during the recall-delay interval. The present study aimed to determine whether this capacity is compromised by effects of aging. Ten healthy older adults were tested with the previous protocol and compared with the previously-tested young adults. Reactions to recover balance by grasping a small handhold were evoked by unpredictable antero-posterior platform-translation (barriers deterred stepping reactions, while using liquid-crystal goggles to occlude vision post-PO and for varying recall-delay times (0-10 s prior to PO (the handhold was moved unpredictably to one of four locations 2 s prior to vision-occlusion. Subjects also performed a spatial- or non-spatial-memory cognitive task during the delay-time in a subset of trials. Results showed that older adults had slower reactions than the young across all experimental conditions. Both age groups showed similar reduction in medio-lateral end-point accuracy when recall-delay was longest (10 s, but differed in the effect of recall delay on vertical hand elevation. For both age groups, engaging in either the non-spatial or spatial-memory task had similar (slowing effects on the arm reactions; however, the older adults also showed a dual-task interference effect (poorer cognitive-task performance that was specific to the spatial-memory task. This provides new evidence that spatial working memory plays a role in the control of perturbation-evoked balance-recovery reactions. The delays in completing the reaction that occurred when performing either cognitive task suggest that such dual-task situations in daily

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

    Science.gov (United States)

    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.

  5. Subjective cognitive concerns are associated with objective memory performance in Caucasian but not African-American persons.

    Science.gov (United States)

    Jackson, Jonathan D; Rentz, Dorene M; Aghjayan, Sarah L; Buckley, Rachel F; Meneide, Tamy-Fee; Sperling, Reisa A; Amariglio, Rebecca E

    2017-11-01

    subjective cognitive concerns (SCC) have been proposed as a means of identifying individuals at risk for Alzheimer's disease (AD). However, the utility of SCCs has not been well-explored for African-Americans, who are twice as likely to develop AD dementia as Caucasians. We investigated whether race affects the association between SCCs and objective memory performance. we used a composite of three SCC questionnaires, and three challenging episodic memory tests. We studied 289 (61% female; African-American n = 47) clinically normal older individuals. Two hierarchical linear regressions assessed the modifying role of race on the association between SCC and objective memory performance. The first regression was conducted on the full sample, while the second matched the racial groups on age, estimated verbal IQ and socioeconomic status. in the full sample, both groups reported similar levels of SCCs, P = 0.10, although African-Americans performed worse on the memory tasks, P memory among Caucasians, r = -0.401, the correlation was not found among African-Americans, r = -0.052. results suggest that the dissociation between SCCs and memory performance in African-Americans may indicate qualitative differences in how diverse groups endorse cognitive concerns, even after considering socioeconomic and educational factors. © The Author 2017. Published by Oxford University Press on behalf of the British Geriatrics Society.All rights reserved. For permissions, please email: journals.permissions@oup.com

  6. Antisaccade performance in schizophrenia patients, their first-degree biological relatives, and community comparison subjects: data from the COGS study.

    Science.gov (United States)

    Radant, Allen D; Dobie, Dorcas J; Calkins, Monica E; Olincy, Ann; Braff, David L; Cadenhead, Kristin S; Freedman, Robert; Green, Michael F; Greenwood, Tiffany A; Gur, Raquel E; Gur, Ruben C; Light, Gregory A; Meichle, Sean P; Millard, Steve P; Mintz, Jim; Nuechterlein, Keith H; Schork, Nicholas J; Seidman, Larry J; Siever, Larry J; Silverman, Jeremy M; Stone, William S; Swerdlow, Neal R; Tsuang, Ming T; Turetsky, Bruce I; Tsuang, Debby W

    2010-09-01

    The antisaccade task is a widely used technique to measure failure of inhibition, an important cause of cognitive and clinical abnormalities found in schizophrenia. Although antisaccade performance, which reflects the ability to inhibit prepotent responses, is a putative schizophrenia endophenotype, researchers have not consistently reported the expected differences between first-degree relatives and comparison groups. Schizophrenia participants (n=219) from the large Consortium on the Genetics of Schizophrenia (COGS) sample (n=1078) demonstrated significant deficits on an overlap version of the antisaccade task compared to their first-degree relatives (n=443) and community comparison subjects (CCS; n=416). Although mean antisaccade performance of first-degree relatives was intermediate between schizophrenia participants and CCS, a linear mixed-effects model adjusting for group, site, age, and gender found no significant performance differences between the first-degree relatives and CCS. However, admixture analyses showed that two components best explained the distributions in all three groups, suggesting two distinct doses of an etiological factor. Given the significant heritability of antisaccade performance, the effects of a genetic polymorphism is one possible explanation of our results.

  7. Effect of body composition, aerobic performance and physical activity on exercise-induced oxidative stress in healthy subjects.

    Science.gov (United States)

    Więcek, Magdalena; Maciejczyk, Marcin; Szymura, Jadwiga; Wiecha, Szczepan; Kantorowicz, Malgorzata; Szygula, Zbigniew

    2017-01-01

    Oxidative stress could be the result of an increase in ATP resynthesis during exercise. The aim of the study was to compare prooxidant-antioxidant balance (PAB) disturbances induced by exercise at maximal intensity in young men with differing body compositions. Thirty-nine subjects were selected from 1549 volunteers aged 18-30, based on lean body mass (LBM) and body fat percentage (%BF), and then assigned into one of the following groups: control group (CON), including subjects with average LBM (59.0-64.3 kg) and average %BF (14.0-18.5%); high body fat (HBF) group, including subjects with high %BF (>21.5%) and average LBM; and high lean body mass (HLBM) group, including subjects with high LBM (>66.3 kg) and average %BF. Participants' physical activity was determined. A running test with a gradually increased load was used. Before and 3 minutes after exercise, total oxidative status (TOS) and total antioxidant capacity (TAC) were determined in the plasma, and the Oxidative Stress Index (OSI = TOS/TAC) was calculated. Maximal oxygen uptake (VO2max) was comparable in the HBF and HLBM groups (53.12±1.51 mL/kg and 50.25±1.27 mL/kg, respectively) and significantly lower compared to the CON group (58.23±1.62 mL/kg). The CON, HBF and HLBM groups showed similar significant (P0.05). There was significant negative correlation between OSI, measured before and after exercise, and participants' physical activity. There was no correlation between OSI and VO2max, BM, LBM, %BF and BMI. Exercise at maximal intensity causes a similar increase in TOS and in TAC in subjects with increased %BF and elevated content of LBM and regardless of body composition, the ratios of TOS/TAC concentrations before and after maximal-intensity exercise, have lower values in people with higher physical activity levels and are not dependent on aerobic performance (VO2max).

  8. When does stress help or harm? The effects of stress controllability and subjective stress response on Stroop performance.

    Directory of Open Access Journals (Sweden)

    Roselinde Kaiser Henderson

    2012-06-01

    Full Text Available The ability to engage in goal-directed behavior despite exposure to stress is critical to resilience. Questions of how stress can impair or improve behavioral functioning are important in diverse settings, from athletic competitions to academic testing to clinical therapy. Previous research suggests that controllability is a key factor in the impact of stress on behavior: learning how to control stressors buffers people from the negative effects of stress on subsequent cognitively demanding tasks. In addition, research suggests that the impact of stress on cognitive functioning depends on an individual’s response to stressors: moderate responses to stress can lead to improved performance while extreme (high or low responses can lead to impaired performance. The present studies tested the hypothesis that 1 learning to behaviorally control stressors leads to improved performance on a test of general executive functioning, the color-word Stroop, and that 2 this improvement emerges specifically for people who report moderate (subjective responses to stress. Experiment 1: Stroop performance, measured before and after a stress manipulation, was compared across groups of undergraduate participants (n=109. People who learned to control a noise stressor and received accurate performance feedback demonstrated reduced Stroop interference compared with people exposed to uncontrollable noise stress and feedback indicating an exaggerated rate of failure. In the group who learned behavioral control, those who reported moderate levels of stress showed the greatest reduction in Stroop interference. In contrast, in the group exposed to uncontrollable events, self-reported stress failed to predict performance. Experiment 2: In a second sample (n=90, we specifically investigated the role of controllability by keeping the rate of failure feedback constant across groups. In the group who learned behavioral control, those who reported moderate levels of stress

  9. Space Geodetic Technique Co-location in Space: Simulation Results for the GRASP Mission

    Science.gov (United States)

    Kuzmicz-Cieslak, M.; Pavlis, E. C.

    2011-12-01

    The Global Geodetic Observing System-GGOS, places very stringent requirements in the accuracy and stability of future realizations of the International Terrestrial Reference Frame (ITRF): an origin definition at 1 mm or better at epoch and a temporal stability on the order of 0.1 mm/y, with similar numbers for the scale (0.1 ppb) and orientation components. These goals were derived from the requirements of Earth science problems that are currently the international community's highest priority. None of the geodetic positioning techniques can achieve this goal alone. This is due in part to the non-observability of certain attributes from a single technique. Another limitation is imposed from the extent and uniformity of the tracking network and the schedule of observational availability and number of suitable targets. The final limitation derives from the difficulty to "tie" the reference points of each technique at the same site, to an accuracy that will support the GGOS goals. The future GGOS network will address decisively the ground segment and to certain extent the space segment requirements. The JPL-proposed multi-technique mission GRASP (Geodetic Reference Antenna in Space) attempts to resolve the accurate tie between techniques, using their co-location in space, onboard a well-designed spacecraft equipped with GNSS receivers, a SLR retroreflector array, a VLBI beacon and a DORIS system. Using the anticipated system performance for all four techniques at the time the GGOS network is completed (ca 2020), we generated a number of simulated data sets for the development of a TRF. Our simulation studies examine the degree to which GRASP can improve the inter-technique "tie" issue compared to the classical approach, and the likely modus operandi for such a mission. The success of the examined scenarios is judged by the quality of the origin and scale definition of the resulting TRF.

  10. Reach and grasp by people with tetraplegia using a neurally controlled robotic arm

    Science.gov (United States)

    Hochberg, Leigh R.; Bacher, Daniel; Jarosiewicz, Beata; Masse, Nicolas Y.; Simeral, John D.; Vogel, Joern; Haddadin, Sami; Liu, Jie; Cash, Sydney S.; van der Smagt, Patrick; Donoghue, John P.

    2012-01-01

    Paralysis following spinal cord injury (SCI), brainstem stroke, amyotrophic lateral sclerosis (ALS) and other disorders can disconnect the brain from the body, eliminating the ability to carry out volitional movements. A neural interface system (NIS)1–5 could restore mobility and independence for people with paralysis by translating neuronal activity directly into control signals for assistive devices. We have previously shown that people with longstanding tetraplegia can use an NIS to move and click a computer cursor and to control physical devices6–8. Able-bodied monkeys have used an NIS to control a robotic arm9, but it is unknown whether people with profound upper extremity paralysis or limb loss could use cortical neuronal ensemble signals to direct useful arm actions. Here, we demonstrate the ability of two people with long-standing tetraplegia to use NIS-based control of a robotic arm to perform three-dimensional reach and grasp movements. Participants controlled the arm over a broad space without explicit training, using signals decoded from a small, local population of motor cortex (MI) neurons recorded from a 96-channel microelectrode array. One of the study participants, implanted with the sensor five years earlier, also used a robotic arm to drink coffee from a bottle. While robotic reach and grasp actions were not as fast or accurate as those of an able-bodied person, our results demonstrate the feasibility for people with tetraplegia, years after CNS injury, to recreate useful multidimensional control of complex devices directly from a small sample of neural signals. PMID:22596161

  11. Subjectivation and Performative Politics--Butler Thinking Althusser and Foucault: Intelligibility, Agency and the Raced-Nationed-Religioned Subjects of Education

    Science.gov (United States)

    Youdell, Deborah

    2006-01-01

    Judith Butler is perhaps best known for her take-up of the debate between Derrida and Austin over the function of the performative and her subsequent suggestion that the subject be understood as performatively constituted. Another important but less often noted move within Butler's consideration of the processes through which the subject is…

  12. Towards a standardized grasping and refuelling on-orbit servicing for geo spacecraft

    Science.gov (United States)

    Medina, Alberto; Tomassini, Angelo; Suatoni, Matteo; Avilés, Marcos; Solway, Nick; Coxhill, Ian; Paraskevas, Iosif S.; Rekleitis, Georgios; Papadopoulos, Evangelos; Krenn, Rainer; Brito, André; Sabbatinelli, Beatrice; Wollenhaupt, Birk; Vidal, Christian; Aziz, Sarmad; Visentin, Gianfranco

    2017-05-01

    Exploitation of space must benefit from the latest advances in robotics. On-orbit servicing is a clear candidate for the application of autonomous rendezvous and docking mechanisms. However, during the last three decades most of the trials took place combining extravehicular activities (EVAs) with telemanipulated robotic arms. The European Space Agency (ESA) considers that grasping and refuelling are promising near-mid-term capabilities that could be performed by servicing spacecraft. Minimal add-ons on spacecraft to enhance their serviceability may protect them for a changing future in which satellite servicing may become mainstream. ESA aims to conceive and promote standard refuelling provisions that can be installed in present and future European commercial geostationary orbit (GEO) satellite platforms and scientific spacecraft. For this purpose ESA has started the ASSIST activity addressing the analysis, design and validation of internal provisions (such as modifications to fuel, gas, electrical and data architecture to allow servicing) and external provisions (such as integrated berthing fixtures with peripheral electrical, gas, liquid connectors, leak check systems and corresponding optical and radio markers for cooperative rendezvous and docking). This refuelling approach is being agreed with European industry (OHB, Thales Alenia Space) and expected to be consolidated with European commercial operators as a first step to become an international standard; this approach is also being considered for on-orbit servicing spacecraft, such as the SpaceTug, by Airbus DS. This paper describes in detail the operational means, structure, geometry and accommodation of the system. Internal and external provisions will be designed with the minimum possible impact on the current architecture of GEO satellites without introducing additional risks in the development and commissioning of the satellite. End-effector and berthing fixtures are being designed in the range of few

  13. Muscle activation patterns in acceleration-based phases during reach-to-grasp movement.

    Science.gov (United States)

    Tokuda, Keisuke; Lee, Bumsuk; Shiihara, Yasufumi; Takahashi, Kazuhiro; Wada, Naoki; Shirakura, Kenji; Watanabe, Hideomi

    2016-11-01

    [Purpose] An earlier study divided reaching activity into characteristic phases based on hand velocity profiles. By synchronizing muscle activities and the acceleration profile, a phasing approach for reaching movement, based on hand acceleration profiles, was attempted in order to elucidate the roles of individual muscle activities in the different phases of the acceleration profile in reaching movements. [Subjects and Methods] Ten healthy volunteer subjects participated in this study. The aim was to electromyographically evaluate muscles around the shoulder, the upper trapezius, the anterior deltoid, the biceps brachii, and the triceps brachii, most of which have been used to evaluate arm motion, as well as the acceleration of the upper limb during simple reaching movement in the reach-to-grasp task. [Results] Analysis showed the kinematic trajectories of the acceleration during a simple biphasic profile of the reaching movement could be divided into four phases: increasing acceleration (IA), decreasing acceleration (DA), increasing deceleration (ID), and decreasing deceleration (DD). Muscles around the shoulder showed different activity patterns, which were closely associated with these acceleration phases. [Conclusion] These results suggest the important role of the four phases, derived from the acceleration trajectory, in the elucidation of the muscular mechanisms which regulate and coordinate the muscles around the shoulder in reaching movements.

  14. Subjective Perception of Sports Performance, Training, Sleep and Dietary Patterns of Malaysian Junior Muslim Athletes during Ramadan Intermittent Fasting.

    Science.gov (United States)

    Singh, Rabindarjeet; Hwa, Ooi Cheong; Roy, Jolly; Jin, Chai Wen; Ismail, Siti Musyrifah; Lan, Mohamad Faizal; Hiong, Loo Lean; Aziz, Abdul-Rashid

    2011-09-01

    To examine the subjective perception of daily acute fasting on sports performance, training, sleep and dietary patterns of Muslim athletes during the Ramadan month. Seven hundred and thirty-four (411 male and 323 female) Malaysian Junior-level Muslim athletes (mean age 16.3 ± 2.6 y) participated in the survey which was designed to establish the personal perception of their sport performance, sleep pattern, food and fluid intake during Ramadan fasting. The survey was conducted during and immediately after the month of Ramadan in 2009. Twenty-four percent of the athletes perceived that there was an adverse effect of the Ramadan fast on their sporting performance and 29.3% reported that quality of training during Ramadan was also negatively influenced. Majority (48.2%) of the athletes stated that Ramadan fasting did not affect their normal sleep pattern but 66.6% of them complained of sleepiness during the daytime. Half of the athletes (41.4%) maintained the caloric intake during Ramadan as they normally would with the majority of them (76.2%) reporting that they consumed more fluids during Ramadan. Overall, Malaysian Junior-level Muslim athletes showed diverse views in their perception of changes in their training, sleep and dietary patterns during Ramadan fast. These individual differences probably indicate differences in the athletes' adaptability and coping strategies during fasting and training in Ramadan.

  15. Subjective Perception of Sports Performance, Training, Sleep and Dietary Patterns of Malaysian Junior Muslim Athletes during Ramadan Intermittent Fasting

    Science.gov (United States)

    Singh, Rabindarjeet; Hwa, Ooi Cheong; Roy, Jolly; Jin, Chai Wen; Ismail, Siti Musyrifah; Lan, Mohamad Faizal; Hiong, Loo Lean; Aziz, Abdul-Rashid

    2011-01-01

    Purpose To examine the subjective perception of daily acute fasting on sports performance, training, sleep and dietary patterns of Muslim athletes during the Ramadan month. Methods Seven hundred and thirty-four (411 male and 323 female) Malaysian Junior-level Muslim athletes (mean age 16.3 ± 2.6 y) participated in the survey which was designed to establish the personal perception of their sport performance, sleep pattern, food and fluid intake during Ramadan fasting. The survey was conducted during and immediately after the month of Ramadan in 2009. Results Twenty-four percent of the athletes perceived that there was an adverse effect of the Ramadan fast on their sporting performance and 29.3% reported that quality of training during Ramadan was also negatively influenced. Majority (48.2%) of the athletes stated that Ramadan fasting did not affect their normal sleep pattern but 66.6% of them complained of sleepiness during the daytime. Half of the athletes (41.4%) maintained the caloric intake during Ramadan as they normally would with the majority of them (76.2%) reporting that they consumed more fluids during Ramadan. Conclusions Overall, Malaysian Junior-level Muslim athletes showed diverse views in their perception of changes in their training, sleep and dietary patterns during Ramadan fast. These individual differences probably indicate differences in the athletes’ adaptability and coping strategies during fasting and training in Ramadan. PMID:22375236

  16. Performance Evaluation of Waterproofing Membrane Systems Subject to the Concrete Joint Load Behavior of Below-Grade Concrete Structures

    Directory of Open Access Journals (Sweden)

    Jaeyoung Song

    2017-11-01

    Full Text Available Below-grade structures such as parking lots, underground subway tunnels, and basements are growing in scale and reaching deeper below-ground levels. In this type of environment, they become subject to higher water pressure. The concrete material of the structures is exposed to wet conditions for longer periods of time, which makes the proper adhesion of waterproofing membranes difficult. Joint movements from increased structural settlement, thermal expansion/shrinkage, and physical loads from external sources (e.g., vehicles make securing durable waterproofing challenging. While ASTM Guides, Korean Codes, and BS Practice Codes on below-grade waterproofing stress the importance of manufacturer specification for quality control, ensuring high quality waterproofing for the ever-changing scale of construction remains a challenge. This study proposes a new evaluation method and criteria which allow for the selection of waterproofing membranes based on specific performance attributes and workmanship. It subjects six different waterproofing membrane systems (installed on dry and wet surface conditioned mortar slab specimens with an artificial joint to different cyclic movement widths to 300 cycles in water to demonstrate that inadequate material properties and workmanship are key causes for leakages.

  17. Sensorimotor memory of object weight distribution during multidigit grasp.

    Science.gov (United States)

    Albert, Frederic; Santello, Marco; Gordon, Andrew M

    2009-10-09

    We studied the ability to transfer three-digit force sharing patterns learned through consecutive lifts of an object with an asymmetric center of mass (CM). After several object lifts, we asked subjects to rotate and translate the object to the contralateral hand and perform one additional lift. This task was performed under two weight conditions (550 and 950 g) to determine the extent to which subjects would be able to transfer weight and CM information. Learning transfer was quantified by measuring the extent to which force sharing patterns and peak object roll on the first post-translation trial resembled those measured on the pre-translation trial with the same CM. We found that the overall gain of fingertip forces was transferred following object rotation, but that the scaling of individual digit forces was specific to the learned digit-object configuration, and thus was not transferred following rotation. As a result, on the first post-translation trial there was a significantly larger object roll following object lift-off than on the pre-translation trial. This suggests that sensorimotor memories for weight, requiring scaling of fingertip force gain, may differ from memories for mass distribution.

  18. 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

  19. The performance test of a modified miniature rotary compressor in upright and inverted modes subjected to microgravity

    International Nuclear Information System (INIS)

    Ma, Rui; Wu, Yu-ting; Du, Chun-xu; Chen, Xia; Zhang, De-lou; Ma, Chong-fang

    2016-01-01

    Highlights: • A miniature rotary compressor by ASPEN company was modified. • The modified compressor can be employed in microgravity. • Performance of upright compressor is superior to inverted mode in most cases. • Performance curves of system with inverted compressor are obtained. • Experimental results of compressor inverted and upright are compared. - Abstract: Vapor compression heat pump is a new concept of thermal control system and refrigerator for future space use. Compressor is a key component in the vapor compression heat pump. Development of compressor capable of operating in both microgravity (10 E-6 g) and lunar (1/6 g) environments is urgently needed for space thermal control systems based on heat pump technique. In this paper, a miniature rotary compressor by ASPEN company was modified to realize acceptable compressor lubrication and oil circulation in microgravity environments. An experimental system was built up to check the performance of the modified compressor subjected to microgravity. A performances comparison of inverted compressor with upright one was made. The influences of operating parameters such as refrigerant charge, cooling water temperature as well as compressor speed on the performances of vapor compression heat pump were investigated. The results show that the modified miniature rotary compressor in inverted mode can operate stably in a long period, which indicates that the modified compressor can be employed in microgravity environments. Compressor discharge temperature increased or decreased while COP changed more obviously with cooling water temperature and speed in microgravity. In most cases, performance of the upright compressor is superior to that of the inverted one. But when the compressor speed is from 1500 rpm to 2500 rpm or the coolant temperature is between 20 and 25 degrees, the performance of inverted compressor is better. The highest discharge temperature of the inverted compressor can be as high

  20. 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...

  1. 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...

  2. Effects of zeolite supplementation on parameters of intestinal barrier integrity, inflammation, redoxbiology and performance in aerobically trained subjects.

    Science.gov (United States)

    Lamprecht, Manfred; Bogner, Simon; Steinbauer, Kurt; Schuetz, Burkhard; Greilberger, Joachim F; Leber, Bettina; Wagner, Bernhard; Zinser, Erwin; Petek, Thomas; Wallner-Liebmann, Sandra; Oberwinkler, Tanja; Bachl, Norbert; Schippinger, Gert

    2015-01-01

    Zeolites are crystalline compounds with microporous structures of Si-tetrahedrons. In the gut, these silicates could act as adsorbents, ion-exchangers, catalysts, detergents or anti-diarrheic agents. This study evaluated whether zeolite supplementation affects biomarkers of intestinal wall permeability and parameters of oxidation and inflammation in aerobically trained individuals, and whether it could improve their performance. In a randomized, double-blinded, placebo controlled trial, 52 endurance trained men and women, similar in body fat, non-smokers, 20-50 years, received 1.85 g of zeolite per day for 12 weeks. Stool samples for determination of intestinal wall integrity biomarkers were collected. From blood, markers of redox biology, inflammation, and DNA damage were determined at the beginning and the end of the study. In addition, VO2max and maximum performance were evaluated at baseline and after 12 weeks of treatment. For statistical analyses a 2-factor ANOVA was used. At baseline both groups showed slightly increased stool zonulin concentrations above normal. After 12 weeks with zeolite zonulin was significantly (p zeolite group. There were no significant changes observed in the other measured parameters. Twelve weeks of zeolite supplementation exerted beneficial effects on intestinal wall integrity as indicated via decreased concentrations of the tight junction modulator zonulin. This was accompanied by mild anti-inflammatory effects in this cohort of aerobically trained subjects. Further research is needed to explore mechanistic explanations for the observations in this study.

  3. How academic career and habits related to the school environment influence on academic performance in the physical education subject

    Directory of Open Access Journals (Sweden)

    Vizuete Carrizosa, Manuel

    2012-01-01

    Full Text Available The main objective of this study was to analyze the degree of influence of some school habits and scholar trayectory on academic achievement in physical education (PE students in secondary education (ESO in the city of Badajoz. A total sample of 1197 students in compulsory secondary education 49.9% men, and 50.1% women, participated in the study. They spent a questionnaire filled out by the river questions about major school habits, of which eight variables were analyzed also included the final course in the subject of EF as a variable for analysis of academic performance. Through statistical analysis with ANOVA, Mann-Whitney U, and Kruskal Wallis H, there are significant differences in PE scores in all variables analyzed (p d».001, among which being repetitive, being truant, the time to read and study daily. In the variable environment perceived in class, there is a degree of significance (p d».05. Pupils who were repeaters, missing more classes or were delayed more times than read and studied less and earned a worse environment in their classes, are those who obtained poorer performance on EF.

  4. Evaluation of reach and grasp robot-assisted therapy suggests similar functional recovery patterns on proximal and distal arm segments in sub-acute hemiplegia.

    Science.gov (United States)

    Loureiro, Rui C V; Harwin, William S; Lamperd, Robert; Collin, Christine

    2014-05-01

    This paper provides some additional evidence in support of the hypothesis that robot therapies are clinically beneficial in neurorehabilitation. Although only four subjects were included in the study, the design of the intervention and the measures were done so as to minimize bias. The results are presented as single case studies, and can only be interpreted as such due to the study size. The intensity of intervention was 16 h and the therapy philosophy (based on Carr and Shepherd) was that coordinated movements are preferable to joint based therapies, and that coordinating distal movements (in this case grasps) helps not only to recover function in these areas, but has greater value since the results are immediately transferable to daily skills such as reach and grasp movements.

  5. Grasping the World: Object-Affordance Effect in Schizophrenia

    Directory of Open Access Journals (Sweden)

    Jessica Sevos

    2013-01-01

    Full Text Available For schizophrenic patients, the world can appear as deprived of practical meaning, which normally emerges from sensory-motor experiences. However, no research has yet studied the integration between perception and action in this population. In this study, we hypothesize that patients, after having controlled the integrity of their visuospatial integration, would nevertheless present deficit in sensory-motor simulation. In this view, we compare patients to control subjects using two stimulus-response compatibility (SRC tasks. Experiment 1 is performed to ensure that visuo-spatial integration is not impaired (Simon Effect. Experiment 2 replicates a study from Tucker and Ellis (1998 to explore the existence of sensory-motor compatibility between stimulus and response (Object Affordance. In control subjects, the SRC effect appears in both experiments. In schizophrenic patients, it appears only when stimuli and responses share the same spatial localization. This loss of automatic sensory-motor simulation could emerge from a lack of relation between the object and the subject’s environment.

  6. Cooperation of electrically stimulated muscle and pneumatic muscle to realize RUPERT bi-directional motion for grasping.

    Science.gov (United States)

    Xikai Tu; Jiping He; Yue Wen; Jian Huang; Xinhan Huang; Hailong Huang; Meng Guo; Yong Yuan

    2014-01-01

    Robot-assisted rehabilitation is an active area of research to meet the demand of repetitive therapy in stroke rehabilitation. Robotic upper-extremity repetitive trainer (RUPERT) with its unidirectional pneumatic muscle actuation (PMA) can be used by most stroke patients that have difficulty moving in one direction because of a weak agonist or hyperactive antagonist. In this research, to broaden the usage of RUPERT, we not only add grasping functionality to the rehabilitation robot with the help of surface Functional Electrical Stimulation (FES) but also realize the robot joint bi-directional motion by using a PMA in cooperation with surface FES evoked paralyzed muscle force. This integrative rehabilitation strategy is explored for training patients to practice coordinated reaching and grasping functions. The effectiveness of this FES electrically evoked bio-actuator way is verified through a method that separates the mixed electromyogram (MEMG) into the electrically evoked electromyogram (EEMG) and voluntary electromyogram (VEMG). This is a promising approach to alleviate the size and mechanical complexity of the robot, thereby the cost of the joint bi-directional actuator rehabilitation robot by means of their own characteristics of stroke subjects.

  7. A Synergy-Based Optimally Designed Sensing Glove for Functional Grasp Recognition.

    Science.gov (United States)

    Ciotti, Simone; Battaglia, Edoardo; Carbonaro, Nicola; Bicchi, Antonio; Tognetti, Alessandro; Bianchi, Matteo

    2016-06-02

    Achieving accurate and reliable kinematic hand pose reconstructions represents a challenging task. The main reason for this is the complexity of hand biomechanics, where several degrees of freedom are distributed along a continuous deformable structure. Wearable sensing can represent a viable solution to tackle this issue, since it enables a more natural kinematic monitoring. However, the intrinsic accuracy (as well as the number of sensing elements) of wearable hand pose reconstruction (HPR) systems can be severely limited by ergonomics and cost considerations. In this paper, we combined the theoretical foundations of the optimal design of HPR devices based on hand synergy information, i.e., the inter-joint covariation patterns, with textile goniometers based on knitted piezoresistive fabrics (KPF) technology, to develop, for the first time, an optimally-designed under-sensed glove for measuring hand kinematics. We used only five sensors optimally placed on the hand and completed hand pose reconstruction (described according to a kinematic model with 19 degrees of freedom) leveraging upon synergistic information. The reconstructions we obtained from five different subjects were used to implement an unsupervised method for the recognition of eight functional grasps, showing a high degree of accuracy and robustness.

  8. A Synergy-Based Optimally Designed Sensing Glove for Functional Grasp Recognition

    Directory of Open Access Journals (Sweden)

    Simone Ciotti

    2016-06-01

    Full Text Available Achieving accurate and reliable kinematic hand pose reconstructions represents a challenging task. The main reason for this is the complexity of hand biomechanics, where several degrees of freedom are distributed along a continuous deformable structure. Wearable sensing can represent a viable solution to tackle this issue, since it enables a more natural kinematic monitoring. However, the intrinsic accuracy (as well as the number of sensing elements of wearable hand pose reconstruction (HPR systems can be severely limited by ergonomics and cost considerations. In this paper, we combined the theoretical foundations of the optimal design of HPR devices based on hand synergy information, i.e., the inter-joint covariation patterns, with textile goniometers based on knitted piezoresistive fabrics (KPF technology, to develop, for the first time, an optimally-designed under-sensed glove for measuring hand kinematics. We used only five sensors optimally placed on the hand and completed hand pose reconstruction (described according to a kinematic model with 19 degrees of freedom leveraging upon synergistic information. The reconstructions we obtained from five different subjects were used to implement an unsupervised method for the recognition of eight functional grasps, showing a high degree of accuracy and robustness.

  9. Tribological performance evaluation of coated steels with TiNbCN subjected to tribo-chemical wear in Ringers solution

    International Nuclear Information System (INIS)

    Caballero G, J.; Aperador, W.; Caicedo, J. C.

    2016-01-01

    With the aim of generating solutions against the deterioration of the joint prostheses, it was studied the tribo-corrosive behavior of titanium niobium carbonitride (TiNbCN) deposited on stainless steel AISI 316 LVM using the technique of magnetron sputtering physical vapor deposition. The tests were performed in a balanced saline solution (Ringers solution) which represents the characteristics of the body fluids, using an equipment where the micro-abrasive wear is generated by the contact of micro particles in the system; the micro-abrasion-corrosion mechanism is described by means of the incorporation of an electrochemical cell consisting of three electrodes. Both the substrate and the coating, were subjected to micro-abrasive wear simultaneously with the electrochemical tests of Tafel polarization curves and electrochemical impedance spectroscopy (EIS); subsequently of the tests, the specimens were analyzed by optical microscopy and scanning electron microscopy characterizing the surface morphology. It was observed that the coating presents an increase in its corrosion and wear resistance with the presence of a simulated biological fluid. The samples were characterized via X-ray diffraction. (Author)

  10. Tribological performance evaluation of coated steels with TiNbCN subjected to tribo-chemical wear in Ringers solution

    Energy Technology Data Exchange (ETDEWEB)

    Caballero G, J.; Aperador, W. [Universidad Militar Nueva Granada, Volta Research Group, 101-80 Bogota (Colombia); Caicedo, J. C., E-mail: g.ing.materiales@gmail.com [Universidad del Valle, Tribology Polymers, Powder Metallurgy and Processing of Solid Recycled Research Group, Cali (Colombia)

    2016-11-01

    With the aim of generating solutions against the deterioration of the joint prostheses, it was studied the tribo-corrosive behavior of titanium niobium carbonitride (TiNbCN) deposited on stainless steel AISI 316 LVM using the technique of magnetron sputtering physical vapor deposition. The tests were performed in a balanced saline solution (Ringers solution) which represents the characteristics of the body fluids, using an equipment where the micro-abrasive wear is generated by the contact of micro particles in the system; the micro-abrasion-corrosion mechanism is described by means of the incorporation of an electrochemical cell consisting of three electrodes. Both the substrate and the coating, were subjected to micro-abrasive wear simultaneously with the electrochemical tests of Tafel polarization curves and electrochemical impedance spectroscopy (EIS); subsequently of the tests, the specimens were analyzed by optical microscopy and scanning electron microscopy characterizing the surface morphology. It was observed that the coating presents an increase in its corrosion and wear resistance with the presence of a simulated biological fluid. The samples were characterized via X-ray diffraction. (Author)

  11. 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.

  12. 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.

  13. Closed-Loop Task Difficulty Adaptation during Virtual Reality Reach-to-Grasp Training Assisted with an Exoskeleton for Stroke Rehabilitation.

    Science.gov (United States)

    Grimm, Florian; Naros, Georgios; Gharabaghi, Alireza

    2016-01-01

    Stroke patients with severe motor deficits of the upper extremity may practice rehabilitation exercises with the assistance of a multi-joint exoskeleton. Although this technology enables intensive task-oriented training, it may also lead to slacking when the assistance is too supportive. Preserving the engagement of the patients while providing "assistance-as-needed" during the exercises, therefore remains an ongoing challenge. We applied a commercially available seven degree-of-freedom arm exoskeleton to provide passive gravity compensation during task-oriented training in a virtual environment. During this 4-week pilot study, five severely affected chronic stroke patients performed reach-to-grasp exercises resembling activities of daily living. The subjects received virtual reality feedback from their three-dimensional movements. The level of difficulty for the exercise was adjusted by a performance-dependent real-time adaptation algorithm. The goal of this algorithm was the automated improvement of the range of motion. In the course of 20 training and feedback sessions, this unsupervised adaptive training concept led to a progressive increase of the virtual training space ( p learning curve was paralleled by a concurrent improvement of real world kinematic parameters, i.e., range of motion ( p = 0.008), accuracy of movement ( p = 0.01), and movement velocity ( p virtual reality provides customized rehabilitation environments for severely affected stroke patients. This approach may facilitate motor learning by progressively challenging the subject in accordance with the individual capacity for functional restoration. It might be necessary to apply concurrent restorative interventions to translate these improvements into relevant functional gains of severely motor impaired patients in activities of daily living.

  14. Proposta e avaliação de heurísticas grasp para o problema da diversidade máxima

    Directory of Open Access Journals (Sweden)

    Geiza Cristina da Silva

    2006-08-01

    Full Text Available O Problema da Diversidade Máxima (PDM consiste em, dado um conjunto N composto de n elementos, selecionar um subconjunto M Ì N de forma tal que os elementos de M possuam a maior diversidade possível entre eles. O PDM pertence à classe de problemas NP-Difícil limitando, com isso, o uso exclusivo de métodos exatos e tornando atrativo o desenvolvimento de novos métodos heurísticos na solução aproximada deste problema. Neste trabalho são propostos métodos heurísticos de construção e busca local que, combinados, são usados como base em diferentes versões do algoritmo GRASP (Greedy Randomized Adaptive Search Procedure. Incluímos como objetivos analisar o impacto destas heurísticas no desempenho da metaheurística GRASP. Resultados computacionais mostram que os algoritmos propostos sempre alcançam uma solução ótima quando esta é conhecida e, para instâncias maiores, apresentam um desempenho médio superior quando comparados com as melhores heurísticas GRASP da literatura.The Maximum Diversity Problem (MDP consists of, given a set N with n elements, selecting a subset M Ì N such that the elements of M have the most possible diversity among them. The MDP belongs to the class of NP-Hard problems limiting the exclusive use of exact methods and turning attractive the development of heuristics to solve the problem. In this work we propose constructive and local search heuristics which are used in different versions of GRASP (Greedy Randomized Adaptive Search Procedure. We also analyze the impact of this heuristics in the GRASP performance. Computational results show that the proposed algorithms always find an optimal solution when this one is known and, for larger instances, produce an average performance better than well known versions of GRASP from the literature.

  15. Testing of Performance of Optical Fibers Under Irradiation in Intense Radiation Fields, When Subjected to Very High Temperatures

    Energy Technology Data Exchange (ETDEWEB)

    Blue, Thomas [The Ohio State Univ., Columbus, OH (United States); Windl, Wolfgang [The Ohio State Univ., Columbus, OH (United States); Dickerson, Bryan [Luna Innovations, Inc. (United States)

    2013-01-03

    The primary objective of this project is to measure and model the performance of optical fibers in intense radiation fields when subjected to very high temperatures. This research will pave the way for fiber optic and optically based sensors under conditions expected in future high-temperature gas-cooled reactors. Sensor life and signal-to-noise ratios are susceptible to attenuation of the light signal due to scattering and absorbance in the fibers. This project will provide an experimental and theoretical study of the darkening of optical fibers in high-radiation and high-temperature environments. Although optical fibers have been studied for moderate radiation fluence and flux levels, the results of irradiation at very high temperatures have not been published for extended in-core exposures. Several previous multi-scale modeling efforts have studied irradiation effects on the mechanical properties of materials. However, model-based prediction of irradiation-induced changes in silica's optical transport properties has only recently started to receive attention due to possible applications as optical transmission components in fusion reactors. Nearly all damage-modeling studies have been performed in the molecular-dynamics domain, limited to very short times and small systems. Extended-time modeling, however, is crucial to predicting the long-term effects of irradiation at high temperatures, since the experimental testing may not encompass the displacement rate that the fibers will encounter if they are deployed in the VHTR. The project team will pursue such extended-time modeling, including the effects of the ambient and recrystallization. The process will be based on kinetic MC modeling using the concept of amorphous material consisting of building blocks of defect-pairs or clusters, which has been successfully applied to kinetic modeling in amorphized and recrystallized silicon. Using this procedure, the team will model compensation for rate effects, and

  16. Testing of Performance of Optical Fibers Under Irradiation in Intense Radiation Fields, When Subjected to High Temperature

    International Nuclear Information System (INIS)

    Blue, Thomas; Windl, Wolfgang; Dickerson, Bryan

    2013-01-01

    The primary objective of this project is to measure and model the performance of optical fibers in intense radiation fields when subjected to very high temperatures. This research will pave the way for fiber optic and optically based sensors under conditions expected in future high-temperature gas-cooled reactors. Sensor life and signal-to-noise ratios are susceptible to attenuation of the light signal due to scattering and absorbance in the fibers. This project will provide an experimental and theoretical study of the darkening of optical fibers in high-radiation and high-temperature environments. Although optical fibers have been studied for moderate radiation fluence and flux levels, the results of irradiation at very high temperatures have not been published for extended in-core exposures. Several previous multi-scale modeling efforts have studied irradiation effects on the mechanical properties of materials. However, model-based prediction of irradiation-induced changes in silica'@@s optical transport properties has only recently started to receive attention due to possible applications as optical transmission components in fusion reactors. Nearly all damage-modeling studies have been performed in the molecular-dynamics domain, limited to very short times and small systems. Extended-time modeling, however, is crucial to predicting the long-term effects of irradiation at high temperatures, since the experimental testing may not encompass the displacement rate that the fibers will encounter if they are deployed in the VHTR. The project team will pursue such extended-time modeling, including the effects of the ambient and recrystallization. The process will be based on kinetic MC modeling using the concept of amorphous material consisting of building blocks of defect-pairs or clusters, which has been successfully applied to kinetic modeling in amorphized and recrystallized silicon. Using this procedure, the team will model compensation for rate effects, and

  17. Closed-Loop Neuroprosthesis for Reach-to-Grasp Assistance: Combining Adaptive Multi-channel Neuromuscular Stimulation with a Multi-joint Arm Exoskeleton.

    Science.gov (United States)

    Grimm, Florian; Gharabaghi, Alireza

    2016-01-01

    Stroke patients with severe motor deficits cannot execute task-oriented rehabilitation exercises with their affected upper extremity. Advanced rehabilitation technology may support them in performing such reach-to-grasp movements. The challenge is, however, to provide assistance as needed, while maintaining the participants' commitment during the exercises. In this feasibility study, we introduced a closed-loop neuroprosthesis for reach-to-grasp assistance which combines adaptive multi-channel neuromuscular stimulation with a multi-joint arm exoskeleton. Eighteen severely affected chronic stroke patients were assisted by a gravity-compensating, seven-degree-of-freedom exoskeleton which was attached to the paretic arm for performing reach-to-grasp exercises resembling activities of daily living in a virtual environment. During the exercises, adaptive electrical stimulation was applied to seven different muscles of the upper extremity in a performance-dependent way to enhance the task-oriented movement trajectory. The stimulation intensity was individualized for each targeted muscle and remained subthreshold, i.e., induced no overt support. Closed-loop neuromuscular stimulation could be well integrated into the exoskeleton-based training, and increased the task-related range of motion (p = 0.0004) and movement velocity (p = 0.015), while preserving accuracy. The highest relative stimulation intensity was required to facilitate the grasping function. The facilitated range of motion correlated with the upper extremity Fugl-Meyer Assessment score of the patients (p = 0.028). Combining adaptive multi-channel neuromuscular stimulation with antigravity assistance amplifies the residual motor capabilities of severely affected stroke patients during rehabilitation exercises and may thus provide a customized training environment for patient-tailored support while preserving the participants' engagement.

  18. Closed-Loop Neuroprosthesis for Reach-to-Grasp Assistance: Combining Adaptive Multi-channel Neuromuscular Stimulation with a Multi-joint Arm Exoskeleton

    Science.gov (United States)

    Grimm, Florian; Gharabaghi, Alireza

    2016-01-01

    Stroke patients with severe motor deficits cannot execute task-oriented rehabilitation exercises with their affected upper extremity. Advanced rehabilitation technology may support them in performing such reach-to-grasp movements. The challenge is, however, to provide assistance as needed, while maintaining the participants' commitment during the exercises. In this feasibility study, we introduced a closed-loop neuroprosthesis for reach-to-grasp assistance which combines adaptive multi-channel neuromuscular stimulation with a multi-joint arm exoskeleton. Eighteen severely affected chronic stroke patients were assisted by a gravity-compensating, seven-degree-of-freedom exoskeleton which was attached to the paretic arm for performing reach-to-grasp exercises resembling activities of daily living in a virtual environment. During the exercises, adaptive electrical stimulation was applied to seven different muscles of the upper extremity in a performance-dependent way to enhance the task-oriented movement trajectory. The stimulation intensity was individualized for each targeted muscle and remained subthreshold, i.e., induced no overt support. Closed-loop neuromuscular stimulation could be well integrated into the exoskeleton-based training, and increased the task-related range of motion (p = 0.0004) and movement velocity (p = 0.015), while preserving accuracy. The highest relative stimulation intensity was required to facilitate the grasping function. The facilitated range of motion correlated with the upper extremity Fugl-Meyer Assessment score of the patients (p = 0.028). Combining adaptive multi-channel neuromuscular stimulation with antigravity assistance amplifies the residual motor capabilities of severely affected stroke patients during rehabilitation exercises and may thus provide a customized training environment for patient-tailored support while preserving the participants' engagement. PMID:27445658

  19. Concatenation of observed grasp phases with observer's distal movements: a behavioural and TMS study.

    Directory of Open Access Journals (Sweden)

    Elisa De Stefani

    Full Text Available The present study aimed at determining how actions executed by two conspecifics can be coordinated with each other, or more specifically, how the observation of different phases of a reaching-grasping action is temporary related to the execution of a movement of the observer. Participants observed postures of initial finger opening, maximal finger aperture, and final finger closing of grasp after observation of an initial hand posture. Then, they opened or closed their right thumb and index finger (experiments 1, 2 and 3. Response times decreased, whereas acceleration and velocity of actual finger movements increased when observing the two late phases of grasp. In addition, the results ruled out the possibility that this effect was due to salience of the visual stimulus when the hand was close to the target and confirmed an effect of even hand postures in addition to hand apparent motion due to the succession of initial hand posture and grasp phase. In experiments 4 and 5, the observation of grasp phases modulated even foot movements and pronunciation of syllables. Finally, in experiment 6, transcranial magnetic stimulation applied to primary motor cortex 300 ms post-stimulus induced an increase in hand motor evoked potentials of opponens pollicis muscle when observing the two late phases of grasp. These data suggest that the observation of grasp phases induced simulation which was stronger during observation of finger closing. This produced shorter response times, greater acceleration and velocity of the successive movement. In general, our data suggest best concatenation between two movements (one observed and the other executed when the observed (and simulated movement was to be accomplished. The mechanism joining the observation of a conspecific's action with our own movement may be precursor of social functions. It may be at the basis for interactions between conspecifics, and related to communication between individuals.

  20. Concatenation of observed grasp phases with observer's distal movements: a behavioural and TMS study.

    Science.gov (United States)

    De Stefani, Elisa; Innocenti, Alessandro; De Marco, Doriana; Gentilucci, Maurizio

    2013-01-01

    The present study aimed at determining how actions executed by two conspecifics can be coordinated with each other, or more specifically, how the observation of different phases of a reaching-grasping action is temporary related to the execution of a movement of the observer. Participants observed postures of initial finger opening, maximal finger aperture, and final finger closing of grasp after observation of an initial hand posture. Then, they opened or closed their right thumb and index finger (experiments 1, 2 and 3). Response times decreased, whereas acceleration and velocity of actual finger movements increased when observing the two late phases of grasp. In addition, the results ruled out the possibility that this effect was due to salience of the visual stimulus when the hand was close to the target and confirmed an effect of even hand postures in addition to hand apparent motion due to the succession of initial hand posture and grasp phase. In experiments 4 and 5, the observation of grasp phases modulated even foot movements and pronunciation of syllables. Finally, in experiment 6, transcranial magnetic stimulation applied to primary motor cortex 300 ms post-stimulus induced an increase in hand motor evoked potentials of opponens pollicis muscle when observing the two late phases of grasp. These data suggest that the observation of grasp phases induced simulation which was stronger during observation of finger closing. This produced shorter response times, greater acceleration and velocity of the successive movement. In general, our data suggest best concatenation between two movements (one observed and the other executed) when the observed (and simulated) movement was to be accomplished. The mechanism joining the observation of a conspecific's action with our own movement may be precursor of social functions. It may be at the basis for interactions between conspecifics, and related to communication between individuals.

  1. Concatenation of Observed Grasp Phases with Observer’s Distal Movements: A Behavioural and TMS Study

    Science.gov (United States)

    De Stefani, Elisa; Innocenti, Alessandro; De Marco, Doriana; Gentilucci, Maurizio

    2013-01-01

    The present study aimed at determining how actions executed by two conspecifics can be coordinated with each other, or more specifically, how the observation of different phases of a reaching-grasping action is temporary related to the execution of a movement of the observer. Participants observed postures of initial finger opening, maximal finger aperture, and final finger closing of grasp after observation of an initial hand posture. Then, they opened or closed their right thumb and index finger (experiments 1, 2 and 3). Response times decreased, whereas acceleration and velocity of actual finger movements increased when observing the two late phases of grasp. In addition, the results ruled out the possibility that this effect was due to salience of the visual stimulus when the hand was close to the target and confirmed an effect of even hand postures in addition to hand apparent motion due to the succession of initial hand posture and grasp phase. In experiments 4 and 5, the observation of grasp phases modulated even foot movements and pronunciation of syllables. Finally, in experiment 6, transcranial magnetic stimulation applied to primary motor cortex 300 ms post-stimulus induced an increase in hand motor evoked potentials of opponens pollicis muscle when observing the two late phases of grasp. These data suggest that the observation of grasp phases induced simulation which was stronger during observation of finger closing. This produced shorter response times, greater acceleration and velocity of the successive movement. In general, our data suggest best concatenation between two movements (one observed and the other executed) when the observed (and simulated) movement was to be accomplished. The mechanism joining the observation of a conspecific’s action with our own movement may be precursor of social functions. It may be at the basis for interactions between conspecifics, and related to communication between individuals. PMID:24278395

  2. 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.

  3. Comparison of soft tissue artifact and its effects on knee kinematics between non-obese and obese subjects performing a squatting activity recorded using an exoskeleton.

    Science.gov (United States)

    Clément, Julien; de Guise, Jaques A; Fuentes, Alexandre; Hagemeister, Nicola

    2018-03-01

    Rigid attachment systems are one of the methods used to compensate for soft tissue artifact (STA) inherent in joint motion analyses. The goal of this study was to quantify STA of an exoskeleton design to reduce STA at the knee, and to assess the accuracy of 3D knee kinematics recorded with the exoskeleton in non-obese and obese subjects during quasi-static weight-bearing squatting activity using biplane radiography. Nine non-obese and eight obese subjects were recruited. The exoskeleton was calibrated on each subject before they performed a quasistatic squatting activity in the EOS ® imaging system. 3D models of exoskeleton markers and knee bones were reconstructed from EOS ® radiographs; they served to quantify STA and to evaluate differences between the markers and bones knee kinematics during the squatting activity. The results showed that STA observed at the femur was larger in non-obese subjects than in obese subjects in frontal rotation (p = 0.004), axial rotation (p = 0.000), medio-lateral displacement (p = 0.000) and antero-posterior displacement (p = 0.019), while STA observed at the tibia was lower in non-obese subjects than in obese subjects for the three rotations (p exoskeleton were greater among non-obese subjects than obese subjects, which is encouraging for future biomechanical studies on pathologies such as osteoarthritis. Copyright © 2018 Elsevier B.V. All rights reserved.

  4. Actual driving performance and psychomotor function in healthy subjects after acute and subchronic treatment with escitalopram, mirtazapine, and placebo: a crossover trial.

    Science.gov (United States)

    Wingen, Marleen; Bothmer, John; Langer, Stefan; Ramaekers, Johannes G

    2005-04-01

    The effects of escitalopram 10 to 20 mg/day and mirtazapine 30 to 45 mg/day on actual driving and psychomotor performance of 18 healthy subjects were determined in a randomized, double-blind, placebo-controlled, multiple-dose, 3-way crossover trial. Each treatment period lasted for 15 days and was separated from the next period by a washout period of at least 13 days. Subjects received an evening dose of escitalopram 10 mg, mirtazapine 30 mg, or placebo from days 1 to 7 and an evening dose of escitalopram 20 mg, mirtazapine 45 mg, or placebo from days 8 to 15. On days 2, 9, and 16, reflecting acute period, dose increase, and steady state, respectively, the Road Tracking Test was performed. The main parameter was standard deviation of lateral position. Psychomotor performance was also assessed on days 2, 9, and 16 by laboratory computer tasks. Subjective sleep quality was measured with the Groninger Sleep Quality Scale, and mood was measured by visual analogue scales. Treatment differences were apparent during the acute treatment period, in which subjects treated with mirtazapine 30 mg performed less well on the driving test as compared to placebo. The Divided Attention Task results also revealed a significant increase in tracking error after a single dose of mirtazapine 30 mg as compared to placebo. Mirtazapine decreased feelings of alertness and contentedness. Mirtazapine did not affect performance on days 9 and 16 of treatment. Escitalopram did not affect driving, psychomotor performance, or subjective mood throughout treatment. Driving performance, as well as psychomotor functioning, was not affected by escitalopram treatment in healthy subjects. Driving performance was significantly impaired after ingestion of mirtazapine 30 mg during the acute treatment period.

  5. Earlier and greater hand pre-shaping in the elderly: a study based on kinematic analysis of reaching movements to grasp objects.

    Science.gov (United States)

    Tamaru, Yoshiki; Naito, Yasuo; Nishikawa, Takashi

    2017-11-01

    Elderly people are less able to manipulate objects skilfully than young adults. Although previous studies have examined age-related deterioration of hand movements with a focus on the phase after grasping objects, the changes in the reaching phase have not been studied thus far. We aimed to examine whether changes in hand shape patterns during the reaching phase of grasping movements differ between young adults and the elderly. Ten healthy elderly adults and 10 healthy young adults were examined using the Simple Test for Evaluating Hand Functions and kinetic analysis of hand pre-shaping reach-to-grasp tasks. The results were then compared between the two groups. For kinetic analysis, we measured the time of peak tangential velocity of the wrist and the inter-fingertip distance (the distance between the tips of the thumb and index finger) at different time points. The results showed that the elderly group's performance on the Simple Test for Evaluating Hand Functions was significantly lower than that of the young adult group, irrespective of whether the dominant or non-dominant hand was used, indicating deterioration of hand movement in the elderly. The peak tangential velocity of the wrist in either hand appeared significantly earlier in the elderly group than in the young adult group. The elderly group also showed larger inter-fingertip distances with arch-like fingertip trajectories compared to the young adult group for all object sizes. To perform accurate prehension, elderly people have an earlier peak tangential velocity point than young adults. This allows for a longer adjustment time for reaching and grasping movements and for reducing errors in object prehension by opening the hand and fingers wider. Elderly individuals gradually modify their strategy based on previous successes and failures during daily living to compensate for their decline in dexterity and operational capabilities. © 2017 Japanese Psychogeriatric Society.

  6. The impact of hypopituitarism on function and performance in subjects with recent history of traumatic brain injury and aneurysmal subarachnoid haemorrhage.

    Science.gov (United States)

    Srinivasan, Lakshmi; Roberts, Brian; Bushnik, Tamara; Englander, Jeffrey; Spain, David A; Steinberg, Gary K; Ren, Li; Sandel, M Elizabeth; Al-Lawati, Zahraa; Teraoka, Jeffrey; Hoffman, Andrew R; Katznelson, Laurence

    2009-07-01

    To correlate deficient pituitary function with life satisfaction and functional performance in subjects with a recent history of traumatic brain injury (TBI) and subarachnoid haemorrhage (SAH). Cross-sectional study. Eighteen subjects with TBI and 16 subjects with SAH underwent pituitary hormonal and functional assessments 5-12 months following the event. Adrenal reserve was assessed with a 1 mcg cosyntropin stimulation test and growth hormone deficiency (GHD) was diagnosed by insufficient GH response to GHRH-Arginine stimulation. Assessments of life satisfaction and performance-function included the Satisfaction with Life Scale (SWLS), Craig Handicap Assessment and Reporting Technique (CHART) and the Mayo Portland Adaptability Inventory-4 (MPAI-4). Hypopituitarism was present in 20 (58.8%) subjects, including 50% with adrenal insufficiency. Hypothyroidism correlated with worse performance on SWLS and CHART measures. GHD was associated with poorer performance on CHART and MPAI-4 scale. In this series of subjects with history of TBI and SAH, hypothyroidism and GHD were associated with diminished life satisfaction and performance-function on multiple assessments. Further studies are necessary to determine the appropriate testing of adrenal reserve in this population and to determine the benefit of pituitary hormone replacement therapy on function following brain injury.

  7. Underground verification of the large deflection performance of fibre reinforced shotcrete subjected to high stresses and convergence and to dynamic loading.

    CSIR Research Space (South Africa)

    Joughin, WC

    2002-04-01

    Full Text Available and polypropylene fibre reinforced shotcrete compared to mesh reinforced shotcrete in tunnels subject to high stresses and convergence and possibly, to dynamic loading. In particular: • A direct comparison of the in situ performance of mesh reinforced shotcrete... with that of steel and polypropylene fibre reinforced shotcrete; • Confirmation that the performance of fibre reinforced shotcrete matches the performance of mesh reinforced shotcrete under large deformation; • A comparative basis for theoretical analysis...

  8. 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.

  9. High performance multi-scale and multi-physics computation of nuclear power plant subjected to strong earthquake. An Overview

    International Nuclear Information System (INIS)

    Yoshimura, Shinobu; Kawai, Hiroshi; Sugimoto, Shin'ichiro; Hori, Muneo; Nakajima, Norihiro; Kobayashi, Kei

    2010-01-01

    Recently importance of nuclear energy has been recognized again due to serious concerns of global warming and energy security. In parallel, it is one of critical issues to verify safety capability of ageing nuclear power plants (NPPs) subjected to strong earthquake. Since 2007, we have been developing the multi-scale and multi-physics based numerical simulator for quantitatively predicting actual quake-proof capability of ageing NPPs under operation or just after plant trip subjected to strong earthquake. In this paper, we describe an overview of the simulator with some preliminary results. (author)

  10. Increased motor cortex excitability during motor imagery in brain-computer interface trained subjects

    Science.gov (United States)

    Mokienko, Olesya A.; Chervyakov, Alexander V.; Kulikova, Sofia N.; Bobrov, Pavel D.; Chernikova, Liudmila A.; Frolov, Alexander A.; Piradov, Mikhail A.

    2013-01-01

    Background: Motor imagery (MI) is the mental performance of movement without muscle activity. It is generally accepted that MI and motor performance have similar physiological mechanisms. Purpose: To investigate the activity and excitability of cortical motor areas during MI in subjects who were previously trained with an MI-based brain-computer interface (BCI). Subjects and Methods: Eleven healthy volunteers without neurological impairments (mean age, 36 years; range: 24–68 years) were either trained with an MI-based BCI (BCI-trained, n = 5) or received no BCI training (n = 6, controls). Subjects imagined grasping in a blocked paradigm task with alternating rest and task periods. For evaluating the activity and excitability of cortical motor areas we used functional MRI and navigated transcranial magnetic stimulation (nTMS). Results: fMRI revealed activation in Brodmann areas 3 and 6, the cerebellum, and the thalamus during MI in all subjects. The primary motor cortex was activated only in BCI-trained subjects. The associative zones of activation were larger in non-trained subjects. During MI, motor evoked potentials recorded from two of the three targeted muscles were significantly higher only in BCI-trained subjects. The motor threshold decreased (median = 17%) during MI, which was also observed only in BCI-trained subjects. Conclusion: Previous BCI training increased motor cortex excitability during MI. These data may help to improve BCI applications, including rehabilitation of patients with cerebral palsy. PMID:24319425

  11. Increased motor cortex excitability during motor imagery in brain-computer interface trained subjects

    Directory of Open Access Journals (Sweden)

    Olesya eMokienko

    2013-11-01

    Full Text Available Background: Motor imagery (MI is the mental performance of movement without muscle activity. It is generally accepted that MI and motor performance have similar physiological mechanisms.Purpose: To investigate the activity and excitability of cortical motor areas during MI in subjects who were previously trained with an MI-based brain-computer interface (BCI.Subjects and methods: Eleven healthy volunteers without neurological impairments (mean age, 36 years; range: 24–68 years were either trained with an MI-based BCI (BCI-trained, n = 5 or received no BCI training (n = 6, controls. Subjects imagined grasping in a blocked paradigm task with alternating rest and task periods. For evaluating the activity and excitability of cortical motor areas we used functional MRI and navigated transcranial magnetic stimulation (nTMS.Results: fMRI revealed activation in Brodmann areas 3 and 6, the cerebellum, and the thalamus during MI in all subjects. The primary motor cortex was activated only in BCI-trained subjects. The associative zones of activation were larger in non-trained subjects. During MI, motor evoked potentials recorded from two of the three targeted muscles were significantly higher only in BCI-trained subjects. The motor threshold decreased (median = 17% during MI, which was also observed only in BCI-trained subjects.Conclusion: Previous BCI training increased motor cortex excitability during MI. These data may help to improve BCI applications, including rehabilitation of patients with cerebral palsy.

  12. Measuring Cognitive Load during Simulation-Based Psychomotor Skills Training: Sensitivity of Secondary-Task Performance and Subjective Ratings

    Science.gov (United States)

    Haji, Faizal A.; Khan, Rabia; Regehr, Glenn; Drake, James; de Ribaupierre, Sandrine; Dubrowski, Adam

    2015-01-01

    As interest in applying cognitive load theory (CLT) to the study and design of pedagogic and technological approaches in healthcare simulation grows, suitable measures of cognitive load (CL) are needed. Here, we report a two-phased study investigating the sensitivity of subjective ratings of mental effort (SRME) and secondary-task performance…

  13. High-intensity intermittent "5-10-15" running reduces body fat, and increases lean body mass, bone mineral density, and performance in untrained subjects

    DEFF Research Database (Denmark)

    Ravnholt, Tanja Højegaard; Tybirk, Jonas; Jørgensen, Niklas Rye

    2018-01-01

    treadmill running (P running at 85% of maximal aerobic speed was lower (P beneficial changes and better performance......The present study examined the effect of intense intermittent running with 5 s sprints on body composition, fitness level, and performance in untrained subjects aged 36-53 years. For 7 weeks, the subjects carried out 3 days a week 5-10-15 training consisting of 3-9 blocks of 4 repetitions of 15, 10......, and 5 s low-, moderate-, and high-speed running, respectively. Body fat mass was 4.3% lower (P 

  14. Silicon Carbide (SiC) Device and Module Reliability, Performance of a Loop Heat Pipe Subjected to a Phase-Coupled Heat Input to an Acceleration Field

    Science.gov (United States)

    2016-05-01

    AFRL-RQ-WP-TR-2016-0108 SILICON CARBIDE (SiC) DEVICE AND MODULE RELIABILITY Performance of a Loop Heat Pipe Subjected to a Phase-Coupled...CARBIDE (SiC) DEVICE AND MODULE RELIABILITY Performance of a Loop Heat Pipe Subjected to a Phase-Coupled Heat Input to an Acceleration Field 5a...Shukla, K., “Thermo-fluid dynamics of Loop Heat Pipe Operation,” International Communications in Heat and Mass Transfer , Vol. 35, No. 8, 2008, pp

  15. A General Contact Force Analysis of an Under-Actuated Finger in Robot Hand Grasping

    Directory of Open Access Journals (Sweden)

    Xuan Vinh Ha

    2016-02-01

    Full Text Available This paper develops a mathematical analysis of contact forces for the under-actuated finger in a general under-actuated robotic hand during grasping. The concept of under-actuation in robotic grasping with fewer actuators than degrees of freedom (DOF, through the use of springs and mechanical limits, allows the hand to adjust itself to an irregularly shaped object without complex control strategies and sensors. Here the main concern is the contact forces, which are important elements in grasping tasks, based on the proposed mathematical analysis of their distributions of the n-DOF under-actuated finger. The simulation results, along with the 3-DOF finger from the ADAMS model, show the effectiveness of the mathematical analysis method, while comparing them with the measured results. The system can find magnitudes of the contact forces at the contact positions between the phalanges and the object.

  16. Grasping and manipulation of deformable objects based on internal force requirements

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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).

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

    Directory of Open Access Journals (Sweden)

    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.

  19. Neurons in Primary Motor Cortex Encode Hand Orientation in a Reach-to-Grasp Task.

    Science.gov (United States)

    Ma, Chaolin; Ma, Xuan; Fan, Jing; He, Jiping

    2017-08-01

    It is disputed whether those neurons in the primary motor cortex (M1) that encode hand orientation constitute an independent channel for orientation control in reach-to-grasp behaviors. Here, we trained two monkeys to reach forward and grasp objects positioned in the frontal plane at different orientation angles, and simultaneously recorded the activity of M1 neurons. Among the 2235 neurons recorded in M1, we found that 18.7% had a high correlation exclusively with hand orientation, 15.9% with movement direction, and 29.5% with both movement direction and hand orientation. The distributions of neurons encoding hand orientation and those encoding movement direction were not uniform but coexisted in the same region. The trajectory of hand rotation was reproduced by the firing patterns of the orientation-related neurons independent of the hand reaching direction. These results suggest that hand orientation is an independent component for the control of reaching and grasping activity.

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

    Directory of Open Access Journals (Sweden)

    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.

  1. 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)

  2. An object-identity probability cueing paradigm during grasping observation: the facilitating effect is present only when the observed kinematics is suitable for the cued object.

    Science.gov (United States)

    Craighero, Laila; Mele, Sonia; Zorzi, Valentina

    2015-01-01

    Electrophysiological and psychophysical data indicate that grasping observation automatically orients attention toward the incoming interactions between the actor's hand and the object. The aim of the present study was to clarify if this effect facilitates the detection of a graspable object with the observed action as compared to an ungraspable one. We submitted participants to an object-identity probability cueing experiment in which the two possible targets were of the same dimensions but one of them presented sharp tips at one extreme while the other presented flat faces. At the beginning of each trial the most probable target was briefly shown. After a variable interval, at the same position, the same (75%) or a different target (25%) was presented. Participants had to press a key in response to target appearance. Superimposed to the video showing cue and target, an agent performing the reaching and grasping of the target was presented. The kinematics of the action was or was not suitable for grasping the cued target, according to the absence or presence of the sharp tips. Results showed that response was modulated by the probability of target identity but only when the observed kinematics was suitable to grasp the attended target. A further experiment clarified that response modulation was never present when the superimposed video always showed the agent at a rest position. These findings are discussed at the light of neurophysiological and psychophysical literature, considering the relationship between the motor system and the perception of objects and of others' actions. We conclude that the prediction of the mechanical events that arise from the interactions between the hand and the attended object is at the basis of the capability to select a graspable object in space.

  3. Neurocognitive performance, subjective well-being, and psychosocial functioning after benzodiazepine withdrawal in patients with schizophrenia or bipolar disorder

    DEFF Research Database (Denmark)

    Baandrup, Lone; Fagerlund, Birgitte; Glenthoj, Birte

    2017-01-01

    -tapering compared with normative data. Neither benzodiazepine withdrawal nor treatment group affected subjective well-being or psychosocial functioning. In conclusion, add-on melatonin does not seem to affect cognition, well-being, or psychosocial functioning in patients with severe mental illness. The observed......Chronic benzodiazepine use is common in patients with mental illness and is associated with cognitive impairment. It is unclear whether benzodiazepine-induced cognitive impairment is reversible. Amelioration of cognitive dysfunction may be facilitated during benzodiazepine tapering by add......-on melatonin due to its anti-inflammatory and neuroprotective properties. We examined how melatonin and benzodiazepine withdrawal affect cognition, subjective well-being, and psychosocial functioning. Eighty patients with schizophrenia or bipolar disorder were randomized to add-on treatment once daily...

  4. The teaching professional performance on the subjects of Labor Education and Informatics on the Secondary School level

    Directory of Open Access Journals (Sweden)

    Maritza Zayas Molina

    2015-03-01

    Full Text Available Different transformation s are assume d i n the Secondary School that require the teacher ́s professional performa nce in two different subjects , Labor Education and Informatics , to be able to solve social and environment problems of the school context, taking into account the technological development achieved. This Issue is of great importance for the fulfilment of b asic and comprehensive training of students in that level.

  5. Performance in normal subjects on a novel battery of driving-related sensory-motor and cognitive tests.

    Science.gov (United States)

    Innes, Carrie R H; Jones, Richard D; Anderson, Tim J; Hollobon, Susan G; Dalrymple-Alford, John C

    2009-05-01

    Currently, there is no international standard for the assessment of fitness to drive for cognitively or physically impaired persons. A computerized battery of driving-related sensory-motor and cognitive tests (SMCTests) has been developed, comprising tests of visuoperception, visuomotor ability, complex attention, visual search, decision making, impulse control, planning, and divided attention. Construct validity analysis was conducted in 60 normal, healthy subjects and showed that, overall, the novel cognitive tests assessed cognitive functions similar to a set of standard neuropsychological tests. The novel tests were found to have greater perceived face validity for predicting on-road driving ability than was found in the equivalent standard tests. Test-retest stability and reliability of SMCTests measures, as well as correlations between SMCTests and on-road driving, were determined in a subset of 12 subjects. The majority of test measures were stable and reliable across two sessions, and significant correlations were found between on-road driving scores and measures from ballistic movement, footbrake reaction, hand-control reaction, and complex attention. The substantial face validity, construct validity, stability, and reliability of SMCTests, together with the battery's level of correlation with on-road driving in normal subjects, strengthen our confidence in the ability of SMCTests to detect and identify sensory-motor and cognitive deficits related to unsafe driving and increased risk of accidents.

  6. 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.

  7. Attitudes, subjective norms, and intention to perform routine oral examination for oropharyngeal candidiasis as perceived by primary health-care providers in Nairobi Province

    NARCIS (Netherlands)

    Koyio, L.N.; Kikwilu, E.N.; Mulder, J.; Frencken, J.E.F.M.

    2013-01-01

    Objectives: To assess attitudes, subjective norms, and intentions of primary health-care (PHC) providers in performing routine oral examination for oropharyngeal candidiasis (OPC) during outpatient consultations. Methods: A 47-item Theory of Planned Behaviour-based questionnaire was developed and

  8. Examining the Effects of Perceived Relevance and Work-Related Subjective Well-Being on Individual Performance for Co-Op Students

    Science.gov (United States)

    Drewery, Dave; Pretti, T. Judene; Barclay, Sage

    2016-01-01

    The purpose of this study was to examine the relationships between co-op students' perceived relevance of their work term, work-related subjective well-being (SWB), and individual performance at work. Data were collected using a survey of co-op students (n = 1,989) upon completion of a work term. Results of regression analyses testing a…

  9. Perceptions, Attitudes and Institutional Factors That Influence Academic Performance of Visual Arts Students in Ghana's Senior High School Core Curriculum Subjects

    Science.gov (United States)

    Opoku-Asare, Nana Afia; Tachie-Menson, Akosua; Essel, Harry Barton

    2015-01-01

    Senior High School (SHS) students in Ghana are required to pass all core and elective curricula subjects in the West Africa Senior School Certificate Examination (WASSCE) to qualify for higher education. Unfortunately, many Visual Arts students perform poorly or fail in English, Mathematics, Integrated Science and Social Studies, which constitute…

  10. Relationships between postural orientation and self reported function, hop performance and muscle power in subjects with anterior cruciate ligament injury

    DEFF Research Database (Denmark)

    Trulsson, Anna; Roos, Ewa M; Ageberg, Eva

    2010-01-01

    study was to characterise correlations between this novel test set, called the Test for Substitution Patterns (TSP) and commonly used tests of knee function. METHODS: In a blinded set-up, 53 subjects (mean age 30 years, range 20-39, with 2-5 years since ACL injury) were assessed using the TSP, the Knee...... Injury and Osteoarthritis Outcome Score subscale sport/recreation (KOOS sport/rec), 3 hop tests and 3 muscle power tests. Correlations between the scores of the TSP and the other tests were determined. RESULTS: Moderate correlations were found between TSP scores and KOOS sport/rec (rs = -0.43; p = 0...

  11. Driving monotonous routes in a train simulator: the effect of task demand on driving performance and subjective experience.

    Science.gov (United States)

    Dunn, Naomi; Williamson, Ann

    2012-01-01

    Although monotony is widely recognised as being detrimental to performance, its occurrence and effects are not yet well understood. This is despite the fact that task-related characteristics, such as monotony and low task demand, have been shown to contribute to performance decrements over time. Participants completed one of two simulated train-driving scenarios. Both were highly monotonous and differed only in terms of the level of cognitive demand required (i.e. low demand or high demand). These results highlight the seriously detrimental effects of the combination of monotony and low task demands and clearly show that even a relatively minor increase in cognitive demand can mitigate adverse monotony-related effects on performance for extended periods of time. Monotony is an inherent characteristic of transport industries, including rail, aviation and road transport, which can have adverse impact on safety, reliability and efficiency. This study highlights possible strategies for mitigating these adverse effects. Practitioner Summary: This study provides evidence for the importan