Effects of Concurrent and Terminal Visual Feedback on Ankle Co-Contraction in Older Adults during Standing Balance

This preliminary investigation studied the effects of concurrent and terminal visual feedback during a standing balance task on ankle co-contraction, which was accomplished via surface electromyography of an agonist–antagonist muscle pair (medial gastrocnemius and tibialis anterior muscles). Two complementary mathematical definitions of co-contraction indices captured changes in ankle muscle recruitment and modulation strategies. Nineteen healthy older adults received both feedback types in a randomized order. Following an analysis of co-contraction index reliability as a function of surface electromyography normalization technique, linear mixed-effects regression analyses revealed participants learned or utilized different ankle co-contraction recruitment (i.e., relative muscle pair activity magnitudes) and modulation (i.e., absolute muscle pair activity magnitudes) strategies depending on feedback type and following the cessation of feedback use. Ankle co-contraction modulation increased when concurrent feedback was used and significantly decreased when concurrent feedback was removed. Ankle co-contraction recruitment and modulation did not significantly change when terminal feedback was used or when it was removed. Neither ankle co-contraction recruitment nor modulation was significantly different when concurrent feedback was used compared to when terminal feedback was used. The changes in ankle co-contraction recruitment and modulation were significantly different when concurrent feedback was removed as compared to when terminal feedback was removed. Finally, this study found a significant interaction between feedback type, removal of feedback, and order of use of feedback type. These results have implications for the design of balance training technologies using visual feedback.

Independent control of cocontraction and reciprocal activity during goal-directed reaching in muscle space

The movement in a joint is facilitated by a pair of muscles that pull in opposite directions. The difference in the pair’s muscle force or reciprocal activity results in joint torque, while the overlapping muscle force or the cocontraction is related to the joint’s stiffness. Cocontraction knowingly adapts implicitly over a number of movements, but it is unclear whether the central nervous system can actively regulate cocontraction in a goal-directed manner in a short span of time. We developed a muscle interface where a cursor’s horizontal position was determined by the reciprocal activity of the shoulder flexion–extension muscle pair, while the vertical position was controlled by its cocontraction. Participants made goal-directed movements to single and via-point targets in the two-dimensional muscle space, learning to move the cursor along the shortest path. Simulations using an optimal control framework suggest that the reciprocal activity and the cocontraction may be controlled independently by the CNS, albeit at a rate orders of magnitude slower than the muscle’s maximal activation speed.

Ball and Beam Balancing Mechanism Actuated With Pneumatic Artificial Muscles

The paper presents the results of modeling and control of an original and unique ball-on-beam system with a pneumatic artificial muscle pair in an antagonistic configuration. This system represents a class of under-actuated, high-order nonlinear systems, which are characterized by an open-loop unstable equilibrium point. Since pneumatic muscles have elastic, nonlinear characteristics, they are more difficult to control. Considering that an additional nonlinearity is added to the system which makes it harder to stabilize. The nonlinear mathematical model has been derived based on the physical model of the ball-on-beam mechanism, the beam rotating by using an antagonistic muscle pair and the pneumatic muscle actuated by a proportional valve. Based on the nonlinear model, the linearized equations of motion have been derived and a control-oriented model has been developed, which is used in the state feedback controller design procedure. The proposed state feedback controller has been verified by means of computer simulations and experimentally on the laboratory setup. The simulation and experimental results have shown that the state feedback controller can stabilize the ball-on-beam system around an equilibrium position in the presence of external disturbances and to track a reference trajectory with a small tracking error.

Establishment of bilateral symmetryand accuracy of carcass data estimates in Ghungroo pig carcass

Ghungroo is the first registered pig breed of indigenous origin in India. The work was designed to develop a reference dissection method for carcasses by establishing bi-lateral symmetry and to determine whether or not differences exist between right and left sides of pig carcasses for some precisely measured physical and chemical traits. Carcass evaluation procedures could be simplified if selected measurements from one side accurately reflect the composition or meat quality of the entire carcass. Forty pigs of Ghungroo breed were selected to represent equally two sexes and two market weight groups. The pigs were slaughtered and after the carcasses were chilled they were carefully split into left and right sides. Least correlation coefficient (0.961) was observed for carcass length. The weights of all the five muscles evaluated differed slightly, but the left and right averages were not significantly different. Similarly, the mean difference for total intramuscular fat between left and right units of a muscle pair was not significant for any of the five muscles studied. Thus, the data obtained from left side of a Ghungroo pig carcass apparently was sufficiently accurate for most experimental purposes.

Nonlinear Tracking Control of an Antagonistic Muscle Pair Actuated System

When developing a machine intended for interaction with humans such as rehabilitation equipment or powered prostheses, it is useful to test in simulation prior to hardware implementation, avoiding safety hazards. Few models of the human for such purposes are seen in the literature. This paper moves toward the realization of such a model by developing a simple muscle-actuated system and related controller. The backstepping control methodology is implemented such that the controller accounts for all of the levels of intricacy presented by the Hill muscle model as an actuator, including the activation dynamics. The neural inputs are used as the actual controls. To be able to derive the control law, a modified strict-feedback form of the model is also developed. Stable tracking performance is then achieved in simulation.

Inhibition of Cisplatin-Induced Lipid Catabolism and Weight Loss by Ghrelin in Male Mice

Cachexia, defined as an involuntary weight loss ≥5%, is a serious and dose-limiting side effect of chemotherapy that decreases survival in cancer patients. Alterations in lipid metabolism are thought to cause the lipodystrophy commonly associated with cachexia. Ghrelin has been proposed to ameliorate the alterations in lipid metabolism due to its orexigenic and anabolic properties. However, the mechanisms of action through which ghrelin could potentially ameliorate chemotherapy-associated cachexia have not been elucidated. The objectives of this study were to identify mechanisms by which the chemotherapeutic agent cisplatin alters lipid metabolism and to establish the role of ghrelin in reversing cachexia. Cisplatin-induced weight and fat loss were prevented by ghrelin. Cisplatin increased markers of lipolysis in white adipose tissue (WAT) and of β-oxidation in liver and WAT and suppressed lipogenesis in liver, WAT, and muscle. Ghrelin prevented the imbalance between lipolysis, β-oxidation, and lipogenesis in WAT and muscle. Pair-feeding experiments demonstrated that the effects of cisplatin and ghrelin on lipogenesis, but not on lipolysis and β-oxidation, were due to a reduction in food intake. Thus, ghrelin prevents cisplatin-induced weight and fat loss by restoring adipose tissue functionality. An increase in caloric intake further enhances the anabolic effects of ghrelin.

A neuromechanical model explaining forward and backward stepping in the stick insect

The mechanism underlying the generation of stepping has been the object of intensive studies. Stepping involves the coordinated movement of different leg joints and is, in the case of insects, produced by antagonistic muscle pairs. In the stick insect, the coordinated actions of three such antagonistic muscle pairs produce leg movements and determine the stepping pattern of the limb. The activity of the muscles is controlled by the nervous system as a whole and more specifically by local neuronal networks for each muscle pair. While many basic properties of these control mechanisms have been uncovered, some important details of their interactions in various physiological conditions have so far remained unknown. In this study, we present a neuromechanical model of the coupled protractor-retractor and levator-depressor neuromuscular systems and use it to elucidate details of their coordinated actions during forward and backward walking. The switch from protraction to retraction is evoked at a critical angle of the femur during downward movement. This angle represents a sensory input that integrates load, motion, and ground contact. Using the model, we can make detailed suggestions as to how rhythmic stepping might be generated by the central pattern generators of the local neuronal networks, how this activity might be transmitted to the corresponding motoneurons, and how the latter might control the activity of the related muscles. The entirety of these processes yields the coordinated interaction between neuronal and mechanical parts of the system. Moreover, we put forward a mechanism by which motoneuron activity could be modified by a premotor network and suggest that this mechanism might serve as a basis for fast adaptive behavior, like switches between forward and backward stepping, which occur, for example, during curve walking, and especially sharp turning, of insects.

A shape memory alloy based tendon-driven actuation system for biomimetic artificial fingers, part II: modelling and control

SUMMARYIn this paper, the dynamics and biomimetic control of an artificial finger joint actuated by two opposing one-way shape memory alloy (SMA) muscle wires that are configured in a double spring-biased agonist–antagonist fashion is presented. This actuation system, which was described in Part I, forms the basis for biomimetic tendon-driven flexion/extension and abduction/adduction of the artificial finger. The work presented in this paper centres on thermomechanical modelling of the SMA wire, including both major and minor hysteresis loops in the phase transformation model, and co-operative control strategy of the agonist–antagonist muscle pair using a pulse-width-modulated proportional-integral-derivation (PWM–PID) controller. Parametric analysis and identification are carried out based on both simulation and experimental results. The performance advantage of the proposed co-operative control is shown using the metacarpophalangeal joint of the artificial finger.