Motor unit buckling in variable recruitment fluidic artificial muscle bundles: implications and mitigations

Fluidic artificial muscles (FAMs) are a popular actuation choice due to their compliant nature and high force-to-weight ratio. Variable recruitment is a bio-inspired actuation strategy in which multiple FAMs are combined into motor units that can be pressurized sequentially according to load demand. In a traditional ‘fixed-end’ variable recruitment FAM bundle, inactive units and activated units that are past free strain will compress and buckle outward, resulting in resistive forces that reduce overall bundle force output, increase spatial envelope, and reduce operational life. This paper investigates the use of inextensible tendons as a mitigation strategy for preventing resistive forces and outward buckling of inactive and submaximally activated motor units in a variable recruitment FAM bundle. A traditional analytical fixed-end variable recruitment FAM bundle model is modified to account for tendons, and the force-strain spaces of the two configurations are compared while keeping the overall bundle length constant. Actuation efficiency for the two configurations is compared for two different cases: one case in which the radii of all FAMs within the bundle are equivalent, and one case in which the bundles are sized to consume the same amount of working fluidvolume at maximum contraction. Efficiency benefits can be found for either configuration for different locations within their shared force-strain space, so depending on the loading requirements, one configuration may be more efficient than the other. Additionally, a study is performed to quantify the increase in spatial envelope caused by the outward buckling of inactive or low-pressure motor units. It was found that at full activation of recruitment states 1, 2, and 3, the tendoned configuration has a significantly higher volumetric energy density than the fixed-end configuration, indicating that the tendoned configuration has more actuation potential for a given spatial envelope. Overall, the results show that using a resistive force mitigation strategy such as tendons can completely eliminate resistive forces, increase volumetric energy density, and increase system efficiency for certain loading cases. Thus, there is a compelling case to be made for the use of tendoned FAMs in variable recruitment bundles.

Abnormal synergistic gait mitigation in acute stroke using an innovative ankle–knee–hip interlimb humanoid robot: a preliminary randomized controlled trial

Abnormal spasticity and associated synergistic patterns are the most common neuromuscular impairments affecting ankle–knee–hip interlimb coordinated gait kinematics and kinetics in patients with hemiparetic stroke. Although patients with hemiparetic stroke undergo various treatments to improve gait and movement, it remains unknown how spasticity and associated synergistic patterns change after robot-assisted and conventional treatment. We developed an innovative ankle–knee–hip interlimb coordinated humanoid robot (ICT) to mitigate abnormal spasticity and synergistic patterns. The objective of the preliminary clinical trial was to compare the effects of ICT combined with conventional physical therapy (ICT-C) and conventional physical therapy and gait training (CPT-G) on abnormal spasticity and synergistic gait patterns in 20 patients with acute hemiparesis. We performed secondary analyses aimed at elucidating the biomechanical effects of Walkbot ICT on kinematic (spatiotemporal parameters and angles) and kinetic (active force, resistive force, and stiffness) gait parameters before and after ICT in the ICT-C group. The intervention for this group comprised 60-min conventional physical therapy plus 30-min robot-assisted training, 7 days/week, for 2 weeks. Significant biomechanical effects in knee joint kinematics; hip, knee, and ankle active forces; hip, knee, and ankle resistive forces; and hip, knee, and ankle stiffness were associated with ICT-C. Our novel findings provide promising evidence for conventional therapy supplemented by robot-assisted therapy for abnormal spasticity, synergistic, and altered biomechanical gait impairments in patients in the acute post-stroke recovery phase.Trial Registration: Clinical Trials.gov identifier NCT03554642 (14/01/2020).

Ski Mountaineering: Perspectives on a Novel Sport to Be Introduced at the 2026 Winter Olympic Games

Ski mountaineering is a rapidly growing winter sport that involves alternately climbing and descending slopes and various racing formats that differ in length and total vertical gain, as well as their distribution of downhill and uphill sections. In recent years, both participation in and media coverage of this sport have increased dramatically, contributing, at least in part, to its inclusion in the 2026 Winter Olympics in Milano-Cortina. Here, our aim has been to briefly describe the major characteristics of ski mountaineering, its physiological and biomechanical demands, equipment, and training/testing, as well as to provide some future perspectives. Despite its popularity, research on this discipline is scarce, but some general characteristics are already emerging. Pronounced aerobic capacity is an important requirement for success, as demonstrated by positive correlations between racing time and maximal oxygen uptake and oxygen uptake at the second ventilatory threshold. Moreover, due to the considerable mechanical work against gravity on demanding uphill terrain, the combined weight of the athlete and equipment is inversely correlated with performance, prompting the development of both lighter and better equipment in recent decades. In ski mountaineering, velocity uphill is achieved primarily by more frequent (rather than longer) strides due primarily to high resistive forces. The use of wearable technologies, designed specifically for analysis in the field (including at elevated altitudes and cold temperatures) and more extensive collaboration between researchers, industrial actors, and coaches/athletes, could further improve the development of this sport.

Design, Simulation and Analysis of the Propulsion and Control System for an Electric Vehicle

The problems of global warming, a decrease of the available natural resources and many other problems in the world that happen recently become the major cause for increasing the demand for a new type of vehicle. That vehicle can be an environmental friend and so that a new generation of vehicles has been invented and tried to solve and avoid many problems. In this chapter, the proposed system is called the Multi-Converter/Multi-Machine system (MCMMS) which consists of two Synchronous Reluctance Motor (SynRM) that drive the two rear wheels of Pure Electric Vehicle (PEV). The SynRM speed and torque are controlled by using three different strategies of the PID controller. The PSO algorithm has been used as an optimization technique to find the optimal PID parameter to enhance the drive system performance of the PEV. In this system, the space vector pulse width modulation inverter for voltage source (VS-SVPWMI) has been employed to convert the DC battery voltage to three-phase AC voltage that feeds the SynRM motor in the PEV. The linear speed of the vehicle is controlled by an Electronic Differential Controller (EDC) which gives the reference speed for each driving wheel which depends on the driver reference speed and the steering angle. The specified driving route topology with three different road cases has been applied to acting and show the resistive forces that affected on the PEV during its moving on the road. In addition, to test the efficiency and stability of the PEV on the roads. Hence, this chapter has a full design, simulation and several comparison results for the propulsion electric vehicle system and it has tested implemented in the Matlab/Simulink environment version R2020a.

Transition to marine ice cliff instability controlled by ice thickness gradients and velocity

Portions of ice sheets grounded deep beneath sea level can disintegrate if tall ice cliffs at the ice-ocean boundary start to collapse under their own weight. This process, called marine ice cliff instability, could lead to catastrophic retreat of sections of West Antarctica on decadal-to-century time scales. Here we use a model that resolves flow and failure of ice to show that dynamic thinning can slow or stabilize cliff retreat, but when ice thickness increases rapidly upstream from the ice cliff, there is a transition to catastrophic collapse. However, even if vulnerable locations like Thwaites Glacier start to collapse, small resistive forces from sea-ice and calved debris can slow down or arrest retreat, reducing the potential for sustained ice sheet collapse.

Cool your jets: biological jet propulsion in marine invertebrates

ABSTRACT Pulsatile jet propulsion is a common swimming mode used by a diverse array of aquatic taxa from chordates to cnidarians. This mode of locomotion has interested both biologists and engineers for over a century. A central issue to understanding the important features of jet-propelling animals is to determine how the animal interacts with the surrounding fluid. Much of our knowledge of aquatic jet propulsion has come from simple theoretical approximations of both propulsive and resistive forces. Although these models and basic kinematic measurements have contributed greatly, they alone cannot provide the detailed information needed for a comprehensive, mechanistic overview of how jet propulsion functions across multiple taxa, size scales and through development. However, more recently, novel experimental tools such as high-speed 2D and 3D particle image velocimetry have permitted detailed quantification of the fluid dynamics of aquatic jet propulsion. Here, we provide a comparative analysis of a variety of parameters such as efficiency, kinematics and jet parameters, and review how they can aid our understanding of the principles of aquatic jet propulsion. Research on disparate taxa allows comparison of the similarities and differences between them and contributes to a more robust understanding of aquatic jet propulsion.

Distinct spatiotemporal contribution of morphogenetic events and mechanical tissue coupling during Xenopus neural tube closure

Neural tube closure (NTC) is a fundamental process during vertebrate embryonic development and is indispensable for the formation of the central nervous system. Here, using Xenopus laevis embryos, live imaging, single-cell tracking, optogenetics, and loss of function experiments we examine the contribution of convergent extension (CE) and apical constriction (AC) and we define the role of the surface ectoderm (SE) during NTC. We show that NTC is a two-stage process and that CE and AC do not overlap temporally while their spatial activity is distinct. PCP-driven CE is restricted to the caudal part of the neural plate (NP) and takes place during the first stage. CE is essential for correct positioning of the NP rostral most region in the midline of the dorsoventral axis. AC occurs after CE throughout the NP and is the sole contributor of anterior NTC. We go on to show that the SE is mechanically coupled with the NP providing resistive forces during NTC. Its movement towards the midline is passive and driven by forces generated through NP morphogenesis. Last, we show that increase of SE resistive forces is detrimental for NP morphogenesis, showing that correct SE development is permissive for NTC.

Driving cycle based battery rating selection and range analysis in EV applications

<p>The energy consumption of electric vehicles (EVs)depends on traffic environment, terrain, resistive forces acting on vehicle, vehicle characteristics and driving habits of driver. The battery pack in EV is the main energy storage element and the energy capacity determines the range of vehicle. This paper discusses the behavior of battery when EV is subjected to different driving environments such as urban and highway. The battery rating is selected based on requirement of driving cycle. The MATLAB/Simulink model of battery energy storage system (BESS) consisting of battery, bidirectional DC/DCconverter and electric propulsion system is built. The simulation is carried out and the performance of BESS is tested for standard driving cycles which emulate actual driving situations. It has been shown that, the amount of the energy recovered by battery during deceleration depends on the amount of regenerative energy available in the driving cycle. If the battery recovers more energy during deceleration, the effective energy consumed by it reduces and the range of the vehicle increases.</p>

The metabolic cost of overcoming air resistive forces in distance running

We lack a mechanistic understanding of the relationship between aerodynamic drag forces and metabolic power during running. Further, the energetic and time savings possible from reducing aerodynamic drag (drafting) are still unclear due to the different methods previously assumed for converting from force reductions to metabolic power savings. Here, we quantified how small horizontal impeding forces (equivalent to aerodynamic forces) affect metabolic power and ground reaction forces over a range of velocities in competitive runners. In three sessions, 12 runners completed six 5-minute trials with 5 minutes of recovery in-between. We tested one velocity per session (12, 14 and 16 km/h), at three horizontal impeding force conditions (0, 4 and 8 N). On average, metabolic power increased by 6.13% per 1% body weight of horizontal impeding force but varied considerably between individuals. With greater horizontal impeding force, braking impulses decreased while propulsive impulses increased (p < 0.001). Across running velocities, the changes in braking and propulsive impulses with greater impeding force were correlated (r = -0.97; p < 0.001), but were not related to individual changes in metabolic power. We estimate that at ∼2-hour marathon pace, overcoming air resistive force comprises 8.52% of the gross metabolic power on average.

Effects of Hemispheric Stroke Localization on the Reorganization of Arm Movements within Different Mechanical Environments

This study investigated how stroke’s hemispheric localization affects motor performance, spinal maps and muscle synergies while performing planar reaching with and without assistive or resistive forces. A lesion of the right hemisphere affected performance, reducing average speed and smoothness and augmenting lateral deviation in both arms. Instead, a lesion of the left hemisphere affected the aiming error, impairing the feedforward control of the ipsilesional arm. The structure of the muscle synergies had alterations dependent on the lesion side in both arms. The applied force fields reduced the differences in performance and in muscle activations between arms and among populations. These results support the hypotheses of hemispheric specialization in movement control and identify potential significant biomarkers for the design of more effective and personalized rehabilitation protocols.