scholarly journals Dynamics and Reproducibility of a Moderately Complex Sensory-Motor Response in the Medicinal Leech

2004 ◽  
Vol 92 (3) ◽  
pp. 1783-1795 ◽  
Author(s):  
Elizabeth Garcia-Perez ◽  
Davide Zoccolan ◽  
Giulietta Pinato ◽  
Vincent Torre
Keyword(s):  
Initial Phase ◽  
Degrees Of Freedom ◽  
Motor Response ◽  
Muscle Activation ◽  
The Body ◽  
Entire Body ◽  
Relaxation Dynamics ◽  
Body Segment ◽  
Large Populations ◽  
Escape Reflex

Local bending, a motor response caused by mechanical stimulation of the leech skin, has been shown to be remarkably reproducible, in its initial phase, despite the highly variable firing of motoneurons sustaining it. In this work, the reproducibility of local bending was further analyzed by monitoring it over a longer period of time and by using more intact preparations, in which muscle activation in an entire body segment was studied. Our experiments showed that local bending is a moderately complex motor response, composed of a sequence of four different phases, which were consistently identified in all leeches. During each phase, longitudinal and circular muscles in specific areas of the body segment acted synergistically, being co-activated or co-inhibited depending on their position relative to the stimulation site. Onset and duration of the first phase were reproducible across different trials and different animals as a result of the massive co-activation of excitatory motoneurons sustaining it. The other phases were produced by the inhibition of excitatory and activation of inhibitory motoneurons, and also by the intrinsic relaxation dynamics of leech muscles. As a consequence, their duration and relative timing was variable across different preparations, whereas their order of appearance was conserved. These results suggest that, during local bending, the leech neuromuscular system 1) operates a reduction of its available degrees of freedom, by simultaneously recruiting groups of otherwise antagonistic muscles and large populations of motoneurons; and 2) ensures reliability and effectiveness of this escape reflex, by guaranteeing the reproducibility of its crucial initial phase.

Myotomal slow muscle function of rainbow trout Oncorhynchus mykiss during steady swimming.

1998 ◽  
Vol 201 (10) ◽  
pp. 1659-1671 ◽  
Author(s):  
L Hammond ◽  
J D Altringham ◽  
C S Wardle
Keyword(s):  
Rainbow Trout ◽  
Oncorhynchus Mykiss ◽  
Body Length ◽  
Muscle Activation ◽  
Activity Patterns ◽  
The Body ◽  
Entire Body ◽  
Negative Power ◽  
Rainbow Trout Oncorhynchus Mykiss

Strain and activity patterns were determined during slow steady swimming (tailbeat frequency 1.5-2.5 Hz) at three locations on the body in the slow myotomal muscle of rainbow trout Oncorhynchus mykiss using sonomicrometry and electromyography. Strain was independent of tailbeat frequency over the range studied and increased significantly from +/-3.3 % l0 at 0.35BL to +/-6 % at 0.65BL, where l0 is muscle resting length and BL is total body length. Muscle activation occurred significantly later in the strain cycle at 0.35BL (phase shift 59 degrees) than at 0.65BL (30 degrees), and the duration of activity was significantly longer (211 degrees at 0.35BL and 181 degrees at 0.65BL). These results differ from those of previous studies. The results have been used to simulate in vivo activity in isolated muscle preparations using the work loop technique. Preparations from all three locations generated net positive power under in vivo conditions, but the negative power component increased from head to tail. Both kinematically, and in the way its muscle functions to generate hydrodynamic thrust, the rainbow trout appears to be intermediate between anguilliform swimmers such as the eel, which generate thrust along their entire body length, and carangiform fish (e.g. saithe Pollachius virens), which generate thrust primarily at the tail blade.

Estimation of the 2-DOF Time-Varying Impedance of the Human Ankle

2017 ◽  
Author(s):  
Evandro Ficanha ◽  
Guilherme Aramizo Ribeiro ◽  
Lauren Knop ◽  
Mohammad Rastgaar Aagaah
Keyword(s):  
Degrees Of Freedom ◽  
Muscle Activation ◽  
Stance Phase ◽  
Impedance Control ◽  
The Body ◽  
Time Varying ◽  
Ankle Impedance ◽  
Impedance Modulation ◽  
Human Ankle ◽  
Vibrating Platform

The human ankle plays a major role in locomotion as it the first major joint to transfer the ground reaction torques to the rest of the body while providing power for locomotion and stability. One of the main causes of the ankle impedance modulation is muscle activation [1, 2], which can tune the ankle’s stiffness and damping during the stance phase of gait. The ankle’s time-varying impedance is also task dependent, meaning that different activities such as walking at different speeds, turning, and climbing/descending stairs would impose different profiles of time-varying impedance modulation. The impedance control is commonly used in the control of powered ankle-foot prostheses; however, the information on time-varying impedance of the ankle during the stance phase is limited in the literature. The only previous study during the stance phase, to the best of the authors knowledge, reported the human ankle impedance at four points of the stance phase in dorsiflexion-plantarflexion (DP) [1] during walking. To expand previous work and estimate the impedance in inversion-eversion (IE), a vibrating platform was fabricated (Fig. 1) [3]. The platform allows the ankle impedance to be estimated at 250 Hz in both DP and IE, including combined rotations in both degrees of freedom (DOF) simultaneously. The results can be used in a 2-DOF powered ankle-foot prosthesis developed by the authors, which is capable of mimicking the ankle kinetics and kinematics in the frontal and sagittal planes [4]. The vibrating platform can also be used to tune the prosthesis to assure it properly mimics the human ankle dynamics. This paper describes the results of the preliminary experiments using the vibrating platform on 4 male subjects. For the first time, the time-varying impedance of the human ankle in both DP and IE during walking in a straight line are reported.

Design of a Rotatable One-Element Snake Bone for NOTES

2017 ◽  
Author(s):  
Aoyu Zhang ◽  
Bin Liu ◽  
John Liu ◽  
Tianyu Xie
Keyword(s):  
Degrees Of Freedom ◽  
Cost Effective ◽  
The Body ◽  
Single Element ◽  
Entire Body ◽  
Natural Orifice ◽  
Pass Through ◽  
Bone Structures ◽  
Portal Of Entry ◽  
Novel Design

Over the past decade, natural orifice transluminal endoscopic surgery (NOTES) has developed out of a merger of endoscopy and surgery [1]. NOTES offers the advantages of avoiding external incisions and scars, reducing pain, and shortening recovery time by using natural body orifices as the primary portal of entry for surgeries [2]. The NOTES platform consists of a flexible, hollow body — enabling travel in the interior of the human body — and the distal end (head), the mechanical structure of which is based off of the snake bone. After the distal end passes through a natural orifice, through a transluminal opening of the stomach, vagina, bladder, or colon, and reaches the target working place in the peritoneal cavity, several therapeutic and imaging tools can be passed through the hollow conduit of the NOTES’ body for surgeries [3]. The traditional snake bone design presents two major problems. First, the movement is constrained to two bending degrees-of-freedom (DOF). A need to reorient the tool then often requires the entire body to be rotated by the physician, an unwieldly manipulation that both hinders convenience and results in imprecise control. Second, the traditional fabrication process is tedious and therefore lends to higher manufacturing costs; the bending joints must be first individually machined then assembled together piece-by-piece using rotation pins. We propose a novel design for the snake bone that introduces an additional DOF via rotation and is simple and cost-effective to machine. The revised snake bone design features rotation segments controlled by wires that a physician can readily manipulate for increased control and convenience. Further, because surgical tools that pass through the NOTES body conduit are also installed on snake bone structures, the introduction of rotation to the snake bone design increases each tool’s mobility and manipulation. This advance therefore presents the potential to decrease both the number of required tools and the overall diameter of the NOTES body. Finally, the body is machined as a single element and therefore minimizes the work of assembly.

scholarly journals A Design Concept and Kinematic Model for a Soft Aquatic Robot with Complex Bio-mimicking Motion

2022 ◽  
Author(s):  
Shokoofeh Abbaszadeh ◽  
Roberto Leidhold ◽  
Stefan Hoerner
Keyword(s):  
Degrees Of Freedom ◽  
Kinematic Model ◽  
The Body ◽  
Optical Measurements ◽  
Fish Mortality ◽  
Entire Body ◽  
Animal Testing ◽  
Live Animal ◽  
Complex Deformation ◽  
Propulsion Performance

AbstractFish mortality assessments for turbine passages are currently performed by live-animal testing with up to a hundred thousand fish per year in Germany. A propelled sensor device could act as a fish surrogate. In this context, the study presented here investigates the state of the art via a thorough literature review on propulsion systems for aquatic robots. An evaluation of propulsion performance, weight, size and complexity of the motion achievable allows for the selection of an optimal concept for such a fish mimicking device carrying the sensors. In the second step, the design of a bioinspired soft robotic fish driven by an unconventional drive system is described. It is based on piezoceramic actuators, which allow for motion with five degrees of freedom (DOF) and the creation of complex bio-mimicking body motions. A kinematic model for the motion’s characteristics is developed, to achieve accurate position feedback with the use of strain gauges. Optical measurements validate the complex deformation of the body and deliver the basis for the calibration of the kinematic model. Finally, it can be shown, that the calibrated model presented allows the tracking of the deformation of the entire body with an accuracy of 0.1 mm.

Complete Solution Sets for Neuromuscular Models Reveal How Mechanical Constraints Limit Neural Control Options

2010 ◽  
Author(s):  
Jason J. Kutch ◽  
Francisco J. Valero-Cuevas
Keyword(s):  
Degrees Of Freedom ◽  
Neural Control ◽  
Muscle Activation ◽  
Complete Solution ◽  
The Body ◽  
Joint Torques ◽  
Mechanical Constraints ◽  
Geometric Methods ◽  
Muscle Activations ◽  
Fingertip Forces

One of the main goals of neuromuscular modeling is to establish the range of feasible muscle activations for a given mechanical output of the body. This is not a trivial problem because there are typically infinitely many combinations of muscle activations that will generate the same joint torques, as most joints are actuated by more muscles than rotational degrees of freedom. Here we show that well-established geometric methods easily provide a complete description of the set of muscle activations that generate a desired set of joint torques or endpoint forces. In contrast to iterative linear programming optimizations, geometric methods provide a set of solutions in muscle activation space simply by converting between the geometric representations of neural and mechanical constraints. As an example, we use geometric methods to find the feasible set of activations that produce fingertip forces in a set of directions. These results show that for a given set of fingertip forces, the range of feasible activation for each muscle can differ with the choice of mechanical constraints. Thus, the mechanical constraints of the task play an important role governing the options the nervous system has when controlling redundant muscles.

Representing utility and deploying the body

2020 ◽  
Vol 43 ◽  
Author(s):  
David Spurrett
Keyword(s):  
Functional Activity ◽  
Degrees Of Freedom ◽  
The Body ◽  
Target Article ◽  
Processing Demands ◽  
The Many

Abstract Comprehensive accounts of resource-rational attempts to maximise utility shouldn't ignore the demands of constructing utility representations. This can be onerous when, as in humans, there are many rewarding modalities. Another thing best not ignored is the processing demands of making functional activity out of the many degrees of freedom of a body. The target article is almost silent on both.

scholarly journals Validation method for body-mounted sensor attachments

2020 ◽  
Vol 6 (2) ◽  
Author(s):  
Katharina Schmidt ◽  
David Hochmann
Keyword(s):  
Evaluation Method ◽  
Tracking System ◽  
The Body ◽  
Exploratory Research ◽  
Body Segment ◽  
Validation Method ◽  
Sensor Position ◽  
Validation Parameters ◽  
Measurement Units ◽  
Soft Tissue Artifact

AbstractSmall sensor devices like inertial measurement units enable mobile movement and gait analysis, whereby existing systems differ in data acquisition, data processing, and gait parameter calculation. Concerning the validation, recent studies focus on the captured motion and the influence of sensor positioning with respect to the accuracy of the computed biomechanical parameters in comparison to a reference system. Although soft tissue artifact is a major source of error for skin-mounted sensors, there are no investigations regarding the relative movement between the body segment and sensor attachment itself. The aim of this study is to find an evaluation method and to determine parameters that allow the validation of various sensor attachment types and different sensor positionings. The analysis includes the comparison between an adhesive and strap attachment variant as well as the frontal and lateral sensor placement. To validate different attachments, an optical marker-based tracking system was used to measure the body segment and sensor position during movement. The distance between these two positions was calculated and analyzed to determine suitable validation parameters. Despite the exploratory research, the results suggest a feasible validation method to detect differences between the attachments, independent of the sensor type. To have representative and statistically validated results, further studies that involve more participants are necessary.

Surface ultrastructure of juvenile and adult stages of Centrocestus armatus

1998 ◽  
Vol 72 (3) ◽  
pp. 215-219 ◽  
Author(s):  
Ho-Choon Woo ◽  
Myung-Deuk Seo ◽  
Sung-Jong Hong
Keyword(s):  
Oral Sucker ◽  
Body Surface ◽  
Dorsal Surface ◽  
High Density ◽  
The Body ◽  
Albino Rats ◽  
Entire Body ◽  
Type Ii ◽  
Posterior Half ◽  
Surface Ultrastructure

AbstractCentrocestus armatus (Trematoda: Heterophyidae) develops rapidly and produces eggs at 3 days postinfection in albino rats. Excysted metacercariae are pear-shaped and concave ventrally, with 42–44 peg-like circumoral spines. The entire body surface is densely covered with scale-like serrated spines. On juveniles, serration of the tegumental spines is greatest in the middle of the ventral and dorsal surfaces, and decreases anteriorly and posteriorly. Ciliated sensory papillae are concentrated around the oral sucker. Several nonciliated sensory papillae (type II papillae) occur equidistantly on the acetabulum and are arranged in a linear symmetry on the dorsal surface. On adults, the serration of the tegumental spines decreases to 14–17 tips on the ventrolateral surface. The high density of tegumental spines on posterior half of the body and the distribution of type II papillae on dorsal surface are considered to be characteristic of C. armatus.

A Benchmark Control Problem for Supercavitating Vehicles and an Initial Investigation of Solutions

2003 ◽  
Vol 9 (7) ◽  
pp. 791-804 ◽  
Author(s):  
John Dzielski ◽  
Andrew Kurdila
Keyword(s):  
High Speed ◽  
Linear Models ◽  
The Body ◽  
Control Surface ◽  
Force Model ◽  
Entire Body ◽  
Benchmark Problem ◽  
Supercavitating Vehicles ◽  
Forcing Function ◽  
Natural Cavitation

At very high speeds, underwater bodies develop cavitation bubbles at the trailing edges of sharp corners or from contours where adverse pressure gradients are sufficient to induce flow separation. Coupled with a properly designed cavitator at the nose of a vehicle, this natural cavitation can be augmented with gas to induce a cavity to cover nearly the entire body of the vehicle. The formation of the cavity results in a significant reduction in drag on the vehicle and these so-called high-speed supercavitating vehicles (HSSVs) naturally operate at speeds in excess of 75 m s-1. The first part of this paper presents a derivation of a benchmark problem for control of HSSVs. The benchmark problem focuses exclusively on the pitch-plane dynamics of the body which currently appear to present the most severe challenges. A vehicle model is parametrized in terms of generic parameters of body radius, body length, and body density relative to the surrounding fluid. The forebody shape is assumed to be a right cylindrical cone and the aft two-thirds is assumed to be cylindrical. This effectively parametrizes the inertia characteristics of the body. Assuming the cavitator is a flat plate, control surface lift curves are specified relative to the cavitator effectiveness. A force model for a planing afterbody is also presented. The resulting model is generally unstable whenever in contact with the cavity and stable otherwise, provided the fin effectiveness is large enough. If it is assumed that a cavity separation sensor is not available or that the entire weight of the body is not to be carried on control surfaces, limit cycle oscillations generally result. The weight of the body inevitably forces the vehicle into contact with the cavity and the unstable mode; the body effectively skips on the cavity wall. The general motion can be characterized by switching between two nominally linear models and an external constant forcing function. Because of the extremely short duration of the cavity contact, direct suppression of the oscillations and stable planing appear to present severe challenges to the actuator designer. These challenges are investigated in the second half of the paper, along with several approaches to the design of active control systems.

The philometrid nematodePhilometroides acreanensis n. sp. from the stomach wall of the catfishPimelodus blochiiin north-western Brazil

2017 ◽  
Vol 92 (1) ◽  
pp. 109-115 ◽  
Author(s):  
P.H.O. Cavalcante ◽  
F. Moravec ◽  
C.P. Santos
Keyword(s):  
Body Length ◽  
Gravid Female ◽  
Drainage System ◽  
Nematode Species ◽  
Fish Host ◽  
The Body ◽  
Stomach Wall ◽  
Amazon River ◽  
Entire Body ◽  
South American

AbstractA new nematode species,Philometroides acreanensisn. sp. (Philometridae), is described from female specimens recovered from the stomach wall of the freshwater catfishPimelodus blochiiValenciennes (Pimelodidae) collected in the Acre River (Amazon River basin), Acre State, Brazil. Based on examination by light and scanning electron microscopy, the new species differs from the two other South American congeneric species mainly in the body length of the gravid female (240–280 mm), the length of the oesophagus (1.25 mm in holotype) representing 0.5% of the entire body length, the range of cuticular embossment, as well as the location in the host (stomach), order of the fish host (Siluriformes) and the geographical distribution (Amazon River drainage system). This is the third known species ofPhilometroidesYamaguti, 1935 reported from South America. A key to species ofPhilometroidesoccurring in the fish of America is provided.

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