Dynamic body acceleration as a proxy to predict the cost of locomotion in bottlenose dolphins

Estimates of the energetic costs of locomotion (COL) at different activity levels are necessary to answer fundamental eco-physiological questions and to understand the impacts of anthropogenic disturbance to marine mammals. We combined estimates of energetic costs derived from breath-by-breath respirometry with measurements of overall dynamic body acceleration (ODBA) from biologging tags to validate ODBA as a proxy for COL in trained common bottlenose dolphins (Tursiops truncatus). We measured resting metabolic rate (RMR); mean individual RMR was 0.71-1.42 times that of a similarly sized terrestrial mammal and agreed with past measurements which used breath-by-breath and flow-through respirometry. We also measured energy expenditure during submerged swim trials, at primarily moderate exercise levels. We subtracted RMR to obtain COL, and normalized COL by body size to incorporate individual swimming efficiencies. We found both mass-specific energy expenditure and mass-specific COL were linearly related with ODBA. Measurements of activity level and cost of transport (the energy required to move a given distance) improve understanding of the costs of locomotion in marine mammals. The strength of the correlation between ODBA and COL varied among individuals, but the overall relationship can be used at a broad scale to estimate the energetic costs of disturbance, daily locomotion costs to build energy budgets, and investigate the costs of diving in free-ranging animals where bio-logging data are available. We propose that a similar approach could be applied to other cetacean species.

Simulated hemiparesis increases optimal spatiotemporal gait asymmetry but not metabolic cost

Several neuromuscular impairments, such as weakness (hemiparesis), occur after an individual has a stroke, and these impairments primarily affect one side of the body more than the other. Predictive musculoskeletal modeling presents an opportunity to investigate how a specific impairment affects gait performance post-stroke. Therefore, our aim was to use to predictive simulation to quantify the spatiotemporal asymmetries and changes to metabolic cost that emerge when muscle strength is unilaterally reduced. We also determined how forced spatiotemporal symmetry affects metabolic cost. We modified a 2-D musculoskeletal model by uniformly reducing the peak isometric muscle force in all muscles unilaterally. We then solved optimal control simulations of walking across a range of speeds by minimizing the sum of the cubed muscle excitations across all muscles. Lastly, we ran additional optimizations to test if reducing spatiotemporal asymmetry would result in an increase in metabolic cost. Our results showed that the magnitude and direction of effort-optimal spatiotemporal asymmetries depends on both the gait speed and level of weakness. Also, the optimal metabolic cost of transport was 1.25 m/s for the symmetrical and 20% weakness models but slower (1.00 m/s) for the 40% and 60% weakness models, suggesting that hemiparesis can account for a portion of the slower gait speed seen in people post-stroke. Adding spatiotemporal asymmetry to the cost function resulted in small increases (~4%) in metabolic cost. Overall, our results indicate that spatiotemporal asymmetry may be optimal for people post-stroke, who have asymmetrical neuromuscular impairments. Additionally, the effect of speed and level of weakness on spatiotemporal asymmetry may explain the well-known heterogenous distribution of spatiotemporal asymmetries observed in the clinic. Future work could extend our results by testing the effects of other impairments on optimal gait strategies, and therefore build a more comprehensive understanding of the gait patterns in people post-stroke.

Virtual Energy Management for Physical Energy Savings in a Legged Robot Hopping on Granular Media

We discuss an active damping controller to reduce the energetic cost of a single step or jump of dynamic locomotion without changing the morphology of the robot. The active damping controller adds virtual damping to a virtual leg spring created by direct-drive motors through the robot’s leg linkage. The virtual damping added is proportional to the intrusion velocity of the robot’s foot, slowing the foot’s intrusion, and thus the rate at which energy is transferred to and dissipated by the ground. In this work, we use a combination of simulations and physical experiments in a controlled granular media bed with a single-leg robot to show that the active damping controller reduces the cost of transport compared with a naive compression-extension controller under various conditions.

CHALLENGES FACED BY PHYSIOTHERAPY PRACTITIONERS AND PATIENTS REGARDING CONTINUITY OF CARE AT THE UNIVERSITY TEACHING HOSPITALS LUSAKA, ZAMBIA.

Continuity of care is a fundamental dimension of quality of care and patient satisfaction, because it leads to quality and coordinated health care delivery, increased patient trust and condence. To explore the challenges that patients and Physiotherapy practitioners face regarding continuity of care at the University Teaching Hospitals in Lusaka, Zambia. The study employed a phenomenological qualitative design, using in-depth interviews with eight physiotherapy practitioners and six patients with varying medical conditions, aged 18 years and above. This study used a purposive sampling technique based on the researcher’s judgment of the subjects. This is a form of non-probability sampling in which decisions concerning the individuals to be included in the sample were taken by the researcher, based upon a variety of criteria, including specialist knowledge of the research issue, or capacity and willingness to participate in the research. All patients reported having multiple Physiotherapy service providers, which sometimes led to uncoordinated treatment sessions. In addition, ve out of six patients cited the high cost of transport fares from their homes to the hospital and work schedules clashing with hospital appointments as most critical factors that led to discontinuity in physiotherapy care. On the other hand, physiotherapy practitioners reported difculties following up on the progress of patients due to the functional design of the Physiotherapy department which requires them to operate from both the passive and active areas of the department. High physiotherapy practitioners’ turnover per patient, long distance from patients’ homes to the hospital as well as the physical demarcation of the department of Physiotherapy into active and passive treatment areas hinder continuity of care at the University Teaching Hospitals.

Different patterns of chronic hypoxia lead to hierarchical adaptative mechanisms in goldfish metabolism

Some hypoxia-tolerant species, such as goldfish, experience intermittent and severe hypoxia in their natural habitat causing them to develop multiple physiological adaptations. However, in fish, the metabolic impact of regular hypoxic exposure on swimming performance in normoxia is less well understood. Therefore, we experimentally tested whether chronic exposure to constant (30 days at 10% air saturation) or intermittent hypoxia (3hrs in normoxia and 21hrs in hypoxia, 5 days a week) would result in similar metabolic and swimming performance benefits after reoxygenation. Moreover, half of the normoxic and intermittent hypoxic fish were put on a 20-day normoxic training regime. After these treatments, metabolic rate (standard and maximum metabolic rates: SMR and MMR) and swimming performance (critical swimming speed [Ucrit] and cost of transport [COT]) were assessed. In addition, enzyme activities (citrate synthase CS, cytochrome c oxidase COX and lactate dehydrogenase LDH) and mitochondrial respiration were examined in red muscle fibres. We found that acclimation to constant hypoxia resulted in (1) metabolic suppression (-45% SMR, and -27% MMR), (2) increased anaerobic capacity (+117% LDH), (3) improved swimming performance (+80% Ucrit, -71% COT) and (4) no changes at the mitochondrial level. Conversely, the enhancement of swimming performance was reduced following acclimation to intermittent hypoxia (+45% Ucrit, -41% COT), with a 55% decrease in aerobic scope, despite a significant increase in oxidative metabolism (+201% COX, +49% CS). This study demonstrates that constant hypoxia leads to the greatest benefit in swimming performance and that mitochondrial metabolic adjustments only provide minor help in coping with hypoxia.

An insect-scale robot reveals the effects of different body dynamics regimes during open-loop running in feature-laden terrain

The transition from the lab to natural environments is an archetypal challenge in robotics. While larger robots can manage complex limb-ground interactions using sensing and control, such strategies are difficult to implement on small platforms where space and power are limited. The Harvard Ambulatory Microrobot (HAMR) is an insect-scale quadruped capable of effective open-loop running on featureless, hard substrates. Inspired by the predominantly feedforward strategy of rapidly-running cockroaches on uneven terrain [Sponberg, 2007], we used HAMR to explore open-loop running on two 3D printed heterogeneous terrains generated using fractional Brownian motion. The ``pocked'' terrain had foot-scale features throughout while the ``jagged'' terrain features increased in height in the direction of travel. We measured the performance of trot and pronk gaits while varying limb amplitude and stride frequency. The frequencies tested encompassed different dynamics regimes: body resonance (10-25~Hz) and kinematic running (30-40~Hz), with dynamics typical of biological running and walking, respectively, and limb-transmission resonance (45-60~Hz). On the featureless and pocked terrains, low mechanical cost-of-transport (mCoT) kinematic running combinations performed best without systematic differences between trot and pronk; indicating that if terrain features are not too tall, a robot can transition from homo- to heterogeneous environments in open-loop. Pronk bypassed taller features than trot on the jagged terrain, and higher mCoT, lower frequency running was more often effective. While increasing input power to the robot improved performance in general, lower frequency pronking on jagged terrain allowed the robot to bypass taller features compared with the same input power at higher frequencies. This was correlated with the increased variation in center-of-mass orientation occurring at frequencies near body resonance. This study established that appropriate choice of robot dynamics, as mediated by gait, frequency, and limb amplitude, can expand the terrains accessible to microrobots without the addition of sensing or closed-loop control.

Fishes regulate tail-beat kinematics to minimize speed-specific cost of transport

Energetic expenditure is an important factor in animal locomotion. Here we test the hypothesis that fishes control tail-beat kinematics to optimize energetic expenditure during undulatory swimming. We focus on two energetic indices used in swimming hydrodynamics, cost of transport and Froude efficiency. To rule out one index in favour of another, we use computational-fluid dynamics models to compare experimentally observed fish kinematics with predicted performance landscapes and identify energy-optimized kinematics for a carangiform swimmer, an anguilliform swimmer and larval fishes. By locating the areas in the predicted performance landscapes that are occupied by actual fishes, we found that fishes use combinations of tail-beat frequency and amplitude that minimize cost of transport. This energy-optimizing strategy also explains why fishes increase frequency rather than amplitude to swim faster, and why fishes swim within a narrow range of Strouhal numbers. By quantifying how undulatory-wave kinematics affect thrust, drag, and power, we explain why amplitude and frequency are not equivalent in speed control, and why Froude efficiency is not a reliable energetic indicator. These insights may inspire future research in aquatic organisms and bioinspired robotics using undulatory propulsion.

The performance of a flapping foil for a self-propelled fishlike body

Several fish species propel by oscillating the tail, while the remaining part of the body essentially contributes to the overall drag. Since in this case thrust and drag are in a way separable, most attention was focused on the study of propulsive efficiency for flapping foils under a prescribed stream. We claim here that the swimming performance should be evaluated, as for undulating fish whose drag and thrust are severely entangled, by turning to self-propelled locomotion to find the proper speed and the cost of transport for a given fishlike body. As a major finding, the minimum value of this quantity corresponds to a locomotion speed in a range markedly different from the one associated with the optimal efficiency of the propulsor. A large value of the feathering parameter characterizes the minimum cost of transport while the optimal efficiency is related to a large effective angle of attack. We adopt here a simple two-dimensional model for both inviscid and viscous flows to proof the above statements in the case of self-propelled axial swimming. We believe that such an easy approach gives a way for a direct extension to fully free swimming and to real-life configurations.