scholarly journals Transfer and generalization of learned manipulation between unimanual and bimanual tasks

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Trevor Lee-Miller ◽  
Marco Santello ◽  
Andrew M. Gordon
Keyword(s):  
Learning Transfer ◽  
Center Of Pressure ◽  
Center Of Mass ◽  
Pressure Point ◽  
Torque Generation ◽  
Before And After ◽  
Object Center ◽  
High Level ◽  
Bimanual Grasping ◽  
Partial Learning

AbstractSuccessful object manipulation, such as preventing object roll, relies on the modulation of forces and centers of pressure (point of application of digits on each grasp surface) prior to lift onset to generate a compensatory torque. Whether or not generalization of learned manipulation can occur after adding or removing effectors is not known. We examined this by recruiting participants to perform lifts in unimanual and bimanual grasps and analyzed results before and after transfer. Our results show partial generalization of learned manipulation occurred when switching from a (1) unimanual to bimanual grasp regardless of object center of mass, and (2) bimanual to unimanual grasp when the center of mass was on the thumb side. Partial generalization was driven by the modulation of effectors’ center of pressure, in the appropriate direction but of insufficient magnitude, while load forces did not contribute to torque generation after transfer. In addition, we show that the combination of effector forces and centers of pressure in the generation of compensatory torque differ between unimanual and bimanual grasping. These findings highlight that (1) high-level representations of learned manipulation enable only partial learning transfer when adding or removing effectors, and (2) such partial generalization is mainly driven by modulation of effectors’ center of pressure.

Robust Bipedal Locomotion Based on a Hierarchical Control Structure

Robotica ◽  
2019 ◽  
Vol 37 (10) ◽  
pp. 1750-1767 ◽  
Author(s):  
Jianwen Luo ◽  
Yao Su ◽  
Lecheng Ruan ◽  
Ye Zhao ◽  
Donghyun Kim ◽  
...  
Keyword(s):  
Center Of Pressure ◽  
Center Of Mass ◽  
Hierarchical Control ◽  
Middle Level ◽  
Smooth Transition ◽  
Whole Body ◽  
Joint Torques ◽  
Low Level ◽  
Hybrid Controller ◽  
High Level

SummaryTo improve biped locomotion’s robustness to internal and external disturbances, this study proposes a hierarchical structure with three control levels. At the high level, a foothold sequence is generated so that the Center of Mass (CoM) trajectory tracks a planned path. The planning procedure is simplified by selecting the midpoint between two consecutive Center of Pressure (CoP) points as the feature point. At the middle level, a novel robust hybrid controller is devised to drive perturbed system states back to the nominal trajectory within finite cycles without chattering. The novelty lies in that the hybrid controller is not subject to linear CoM dynamic constraints. The hybrid controller consists of two sub-controllers: an oscillation controller and a smoothing controller. For the oscillation controller, the desired CoM height is specified as a sine-shaped function, avoiding a new attractive limit cycle. However, this controller results in the inevitable chattering because of discontinuities. A smoothing controller provides continuous properties and thus can inhibit the chattering problem, but has a smaller region of attraction compared with the oscillation controller. A hybrid controller merges the two controllers for a smooth transition. At the low level, the desired CoM motion is defined as tasks and embedded in a whole body operational space (WBOS) controller to compute the joint torques analytically. The novelty of the low-level controller lies in that within the WBOS framework, CoM motion is not subject to fixed CoM dynamics and thus can be generalized.

scholarly journals Benefit of a pharmacist-led intervention for medication management of renal transplant patients: a controlled before-and-after study

2021 ◽  
Vol 12 ◽  
pp. 204062232110052
Author(s):  
Jeremy Chambord ◽  
Lionel Couzi ◽  
Pierre Merville ◽  
Karine Moreau ◽  
Fabien Xuereb ◽  
...  
Keyword(s):  
Medication Adherence ◽  
Immunosuppressive Therapy ◽  
Medication Management ◽  
Intervention Group ◽  
Knowledge Score ◽  
Control Group ◽  
Patient Knowledge ◽  
Transplant Patients ◽  
Before And After ◽  
High Level

Aims: To assess the effect of a pharmacist-led intervention, using Barrows cards method, during the first year after renal transplantation, on patient knowledge about their treatment, medication adherence and exposure to treatment in a French cohort. Methods: We conducted a before-and-after comparative study between two groups of patients: those who benefited from a complementary pharmacist-led intervention [intervention group (IG), n = 44] versus those who did not [control group (CG), n = 48]. The pharmacist-led intervention consisted of a behavioral and educational interview at the first visit (visit 1). The intervention was assessed 4 months later at the second visit (visit 2), using the following endpoints: treatment knowledge, medication adherence [proportion of days covered (PDC) by immunosuppressive therapy] and tacrolimus exposure. Results: At visit 2, IG patients achieved a significantly higher knowledge score than CG patients (83.3% versus 72.2%, p = 0.001). We did not find any differences in treatment exposure or medication adherence; however, the intervention tended to reduce the proportion of non-adherent patients with low knowledge scores. Using the PDC by immunosuppressive therapy, we identified 10 non-adherent patients (10.9%) at visit 1 and six at visit 2. Conclusions: Our intervention showed a positive effect on patient knowledge about their treatment. However, our results did not show any improvement in overall medication adherence, which was likely to be because of the initially high level of adherence in our study population. Nevertheless, the intervention appears to have improved adherence in non-adherent patients with low knowledge scores.

scholarly journals Gender Differences in Neuromuscular, Haematological and Urinary Responses during Padel Matches

2021 ◽  
Vol 18 (11) ◽  
pp. 5864
Author(s):  
Francisco Pradas ◽  
Alejandro García-Giménez ◽  
Víctor Toro-Román ◽  
Nicolae Ochiana ◽  
Carlos Castellar
Keyword(s):  
Gender Differences ◽  
Red Blood Cells ◽  
Grip Strength ◽  
Blood Cells ◽  
Temporal Structure ◽  
Hand Grip Strength ◽  
Squat Jump ◽  
Hand Grip ◽  
Before And After ◽  
High Level

Research on the acute physiological response to a padel match is limited. The present study aimed to: (a) evaluate neuromuscular, urinary, and hematological responses after simulated padel competition (SC) and (b) analyze possible gender differences. In this study, 28 high-level padel players participated (men = 13, age = 26.83 ± 6.57 years; women = 15, age = 30.07 ± 4.36 years). The following parameters were analyzed before and after SC: neuromuscular (hand grip strength, squat jump (SJ), countermovement jump (CMJ), and Abalakov jump (ABK)), hematological (red blood cells, hemoglobin, and hematocrit), and urinary (pH, specific gravity, microalbuminuria, and red blood cells). Significant gender differences were found in neuromuscular and hematological responses, with men obtaining higher values (p < 0.05). For the SC influence, changes were noted in ABK and microalbuminuria (p < 0.05). The percentages of change in hand grip strength, SJ (height and watts), CMJ (height), and ABK (height) were higher for men than women (p < 0.05). SC negatively influenced the neuromuscular parameters to a greater extent in women. Our results could be related to gender differences in game actions, the temporal structure, and anthropometric and physiological characteristics. Game dynamics and a different organic response between male and female padel playing were confirmed.

scholarly journals Real-Time High-Level Acute Pain Detection Using a Smartphone and a Wrist-Worn Electrodermal Activity Sensor

Sensors ◽  
2021 ◽  
Vol 21 (12) ◽  
pp. 3956
Author(s):  
Youngsun Kong ◽  
Hugo F. Posada-Quintero ◽  
Ki H. Chon
Keyword(s):  
Real Time ◽  
Electrodermal Activity ◽  
Smartphone Application ◽  
Real Time Processing ◽  
Pain Stimulation ◽  
Significant Difference ◽  
Before And After ◽  
Electrical Pulses ◽  
Pain Detection ◽  
High Level

The subjectiveness of pain can lead to inaccurate prescribing of pain medication, which can exacerbate drug addiction and overdose. Given that pain is often experienced in patients’ homes, there is an urgent need for ambulatory devices that can quantify pain in real-time. We implemented three time- and frequency-domain electrodermal activity (EDA) indices in our smartphone application that collects EDA signals using a wrist-worn device. We then evaluated our computational algorithms using thermal grill data from ten subjects. The thermal grill delivered a level of pain that was calibrated for each subject to be 8 out of 10 on a visual analog scale (VAS). Furthermore, we simulated the real-time processing of the smartphone application using a dataset pre-collected from another group of fifteen subjects who underwent pain stimulation using electrical pulses, which elicited a VAS pain score level 7 out of 10. All EDA features showed significant difference between painless and pain segments, termed for the 5-s segments before and after each pain stimulus. Random forest showed the highest accuracy in detecting pain, 81.5%, with 78.9% sensitivity and 84.2% specificity with leave-one-subject-out cross-validation approach. Our results show the potential of a smartphone application to provide near real-time objective pain detection.

Detection of Vehicle Tripped and Untripped Rollovers by a Novel Index With Mass-Center-Position Estimations

2017 ◽  
Author(s):  
Fengchen Wang ◽  
Yan Chen
Keyword(s):  
Load Transfer ◽  
Center Of Mass ◽  
Roll Motion ◽  
Mass Center ◽  
Motion Models ◽  
Center Position ◽  
Before And After ◽  
Vehicle Rollover ◽  
Lift Off ◽  
Rollover Index

This paper presents a novel mass-center-position (MCP) metric for vehicle rollover propensity detection. MCP is first determined by estimating the positions of the center of mass of one sprung mass and two unsprung masses with two switchable roll motion models, before and after tire lift-off. The roll motion information without saturation can then be provided through MCP continuously. Moreover, to detect completed rollover statues for both tripped and untripped rollovers, the criteria are derived from d’Alembert principle and moment balance conditions based on MCP. In addition to tire lift-off, three new rollover statues, rollover threshold, rollover occurrence, and vehicle jumping into air can be all identified by the proposed criteria. Compared with an existing rollover index, lateral load transfer ratio, the fishhook maneuver simulation results in CarSim® for an E-class SUV show that MCP metric can successfully predict the vehicle impending rollover without saturation for untripped rollovers. Tripped rollovers caused by a triangle road bump are also successfully detected in the simulation. Thus, MCP metric can be successfully applied for rollover propensity prediction.

Letter to the editor regarding “The assessment of center of mass and center of pressure during quiet stance: Current applications and future directions”

2021 ◽  
Vol 128 ◽  
pp. 110729
Author(s):  
Peter Federolf ◽  
Rosa M Angulo-Barroso ◽  
Albert Busquets ◽  
Blai Ferrer-Uris ◽  
Øyvind Gløersen ◽  
...  
Keyword(s):  
Center Of Pressure ◽  
Center Of Mass ◽  
Quiet Stance ◽  
Future Directions ◽  
Letter To The Editor

scholarly journals Analysis of the resistance mediated by several R-factors to Tetracycline and Minocycline

1972 ◽  
Vol 20 (2) ◽  
pp. 239-252 ◽  
Author(s):  
J. M. Robertson ◽  
E. C. R. Reeve
Keyword(s):  
Tetracycline Resistance ◽  
Klebsiella Aerogenes ◽  
R Factor ◽  
Before And After ◽  
Challenge Tests ◽  
Simple Growth ◽  
High Level ◽  
K 12 ◽  
R Factors ◽  
Level Group

SUMMARYThe resistance levels conferred by the T-determinants in four R-factors to Tetracycline and Minocycline in cells ofEscherichia coliK 12, before and after induction of maximum resistance by treatment with sub-inhibitory concentrations of the drugs, are measured by simple growth-and-challenge tests. The effect of a plasmid TKwhich confers tetracycline resistance on its hostKlebsiella aerogenesis tested in the same way. The five T-determinants fall into a high-level and a low-level group for resistance, the former giving 3- to 4-fold higher resistance in both induced and uninduced cells than the latter. The T-determinants all confer much lower resistance to Minocycline (a tetracycline molecule modified at the C-6 and C-7 positions) than to Tetracycline. The main cause of this difference is that cells carrying a T-determinant exclude Minocycline much less efficiently than Tetracycline, but in addition Minocycline is less effective than Tetracycline in inducing increased resistance. These results are discussed in the light of a model put forward to explain the inducible nature of R-factor resistance to the tetracyclines.

scholarly journals Can Muscle Stiffness Alone Stabilize Upright Standing?

1999 ◽  
Vol 82 (3) ◽  
pp. 1622-1626 ◽  
Author(s):  
Pietro G. Morasso ◽  
Marco Schieppati
Keyword(s):  
Center Of Pressure ◽  
Center Of Mass ◽  
Muscle Stiffness ◽  
The Body ◽  
Ankle Muscles ◽  
Upright Standing ◽  
Stiffness Control ◽  
Control Patterns ◽  
Physiological Values

A stiffness control model for the stabilization of sway has been proposed recently. This paper discusses two inadequacies of the model: modeling and empiric consistency. First, we show that the in-phase relation between the trajectories of the center of pressure and the center of mass is determined by physics, not by control patterns. Second, we show that physiological values of stiffness of the ankle muscles are insufficient to stabilize the body “inverted pendulum.” The evidence of active mechanisms of sway stabilization is reviewed, pointing out the potentially crucial role of foot skin and muscle receptors.

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