Development of Topology Optimized Bending-Twisting Soft Finger

This paper proposed a systematic framework to automatically design and fabricate optimized soft robotic fingers. The soft finger is composed of a soft silicone structure with inner air chambers and a harder outer layer, which are fabricated by molding process and 3D printing, respectively. The softer layer is utilized for actuation while the supportive hard structure is used to impose constraints. The framework applies a topology optimization approach based on RAMP method to obtain an optimal design of the outer layer of the soft fingers. Two basic motion primitives (bending and twisting) of the soft finger were explored. A multi-segmented soft bending finger and a soft twisting finger were designed and fabricated through the proposed framework. This work also explored the combination of bending and twisting primitives by developing a combined bending-twisting soft finger. The soft fingers were characterized by free and blocked movement tests. The experiments showed that the triple-segmented soft finger can achieve a maximum of 50.5 no-load bending under the actuation pressure of 53 kPa. The blocked movement test on the multi-segmented soft actuating finger showed that this finger could generate up to a maximum of 0.63 N force under 57 kPa actuation pressure in 7 seconds of inflating time. The developed twisting soft finger was shown to achieve tip rotation of up to 219 degrees under 29 kPa actuation pressure. Finally, the potential capability of the bending-twisting soft fingers was verified through applications like screwing and object grasping.

Effects of 4-week small-sided games vs. high-intensity interval training with changes of direction in female collegiate basketball players

The aim of the study was to investigate the effects of 4-week small-sided games (SSG) and high-intensity interval training with changes of direction (HIT-COD) on physical performance and specific technical skills in female collegiate basketball players. Nineteen players were divided into SSG (n = 9) and HIT-COD (n = 10) groups, that performed either SSG or HIT-COD three times per week for 4 weeks during the pre-season. Players’ heart rate (HR) and perceived exertion responses (RPE) were assessed during the intervention. Before and after the intervention period, performances were assessed with 30-15 intermittent fitness test (30-15IFT), repeated sprint ability (RSA) test, modified agility T-test (MAT), countermovement jump (CMJ), 20-m sprint, shooting accuracy test, 1 min shooting test, passing test, defensive movement test and control dribble test. Both training interventions led to similar physiological and perceived exertion responses, showing no significant differences in HR ( P = .49, d = 0.2) and RPE ( P = .77, d = 0.1) between groups. Significant improvements were observed in 30-15IFT (SSG: 4.1%, d = 1.5; HIT-COD: 4.2%, d = 1.7), RSAmean (SSG: −2.2%, d = 1.0; HIT-COD: −1.9%, d = 1.0), RSAbest (SSG: −2.0%, d = 0.9; HIT-COD: −2.1%, d = 1.1), MAT (SSG: −7.2%, d = 1.7; HIT-COD: 5.7%, d = 1.5), defensive movement test (SSG: −5.1%, d = 2.1; HIT-COD: −5.8%, d = 1.8) and control dribble test (SSG: −3.4%, d = 1.0; HIT-COD: −2.6%, d = 1.0). The only significant group × time interaction was found ( P = .032, [Formula: see text] = 0.24), with SSG improving 1 min shooting (22.4%, d = 1.0) and HIT-COD performing slightly worse (−2.6%, d = 0.1) after a 4-week intervention. The current study suggests that using SSG is more effective than HIT-COD for female collegiate basketball players in pre-season, since SSG improves physical performance and basketball-specific movements as well as shooting abilities after a 4-week intervention.

Implementation and evaluation of the virtual Graded Repetitive Arm Supplementary Program (GRASP) for individuals with stroke during the COVID-19 pandemic and beyond

Objective Given the uncertainty with the COVID-19 pandemic, implementing telerehabilitation that enables the remote delivery of rehabilitation services is needed to mitigate the spread of COVID-19. We studied the implementation and the effectiveness of the virtual Graded Repetitive Arm Supplementary (GRASP) Program delivered and evaluated via videoconferencing in individuals with stroke. Methods The RE-AIM (Reach, Effectiveness, Adoption, Implementation, Maintenance) framework with mixed methods was used to evaluate the implementation of the two iterations of the program delivered by a nonprofit organization during the pandemic. Results REACH: Seventeen people were screened, 13 people were eligible, and 11 consented to participate in the study. EFFECTIVENESS: Between baseline and post-test, participants with stroke demonstrated significant improvement in upper extremity function (Arm Capacity and Movement Test) and self-perceived UE function (Stroke Impact Scale). ADOPTION: Factors that facilitate program uptake by the staff were well-planned implementation, appropriate screening procedure, and helpful feedback from the audits. All staff felt comfortable using videoconferencing technology to deliver the program despite some technical difficulties. Factors contributing to ongoing participation included that the participants liked the group, they perceived improvements, and the instructor was encouraging. Only one participant with stroke was not comfortable using videoconferencing technology. IMPLEMENTAION: The program was implemented as intended as evaluated by a fidelity checklist. Participants’ adherence was high, as verified by the average attendance and practice time. MAINTENANCE: The organization continued to offer the program. Conclusion The virtual GRASP program was successfully implemented. Although the program was effective in improving both measured and perceived UE function in a small sample of individuals with stroke, caution should be taken in generalizing the results. Impact Implementing telerehabilitation is crucial to optimize patient outcomes and reduce the spread of COVID-19. Our findings provide guidance on the process of delivering a UE rehabilitation program remotely via videoconferencing for stroke. Moreover, insights that arise from this study also inform the implementation of other telerehabilitation services.

Overlooked evidence for non-juxtaposed conjunctive semantic compositionality in wild chimpanzees?

Recent discoveries of semantic compositionality in Japanese tits have enlivened the discussions on the presence of this phenomenon in animal communication. However, data on semantic compositionality in primates are lacking. In this paper, I revisit the study by Boesch [1991 (Hum Evol 6:81-89] who investigated drumming sequences by an alpha male in a chimpanzee (Pan troglodytes) community in the Taï National Park, Côte d'Ivoire. A reanalysis of the data reveals that, similar to the Japanese tits, the alpha male produced conjunctively (“additively”) combined messages of travel direction change and resting period initiation. Unlike the Japanese tits, the elements of the conjunctive message were not simply juxtaposed but displayed structural reduction reminiscent of fusion in human languages. Also unlike the Japanese tits, the elements of the conjunctive message did not pass the movement test for syntactic constituents. Additionally, limited data possibly point to processes similar to reduplication in human languages.

Remote evaluation of upper extremity motor function following stroke: The Arm Capacity and Movement Test (ArmCAM) (Preprint)

BACKGROUND Developing a simple measure that can be administered remotely via videoconferencing is needed for telerehabilitation for rural and remote population, or during the COVID-19 pandemic. OBJECTIVE To develop a valid and reliable measure [the Arm Capacity and Movement Test (ArmCAM)] administered remotely via videoconferencing to evaluate upper extremity motor function after stroke. METHODS A sample of individuals with stroke (N=31) was used to assess the reliability and validity of the ArmCAM (range: 0-30). Test-retest and inter-rater reliability were assessed through the intraclass correlation coefficients (ICC), standard error of measurement (SEM) and minimal detectable change (MDC). Validity was examined by the Pearson and Spearman rank correlation coefficients. RESULTS The ArmCAM consists of 10 items and takes 15 minutes to administer without any special equipment except for a computer and internet access. The ICC for test-retest reliability and inter-rater reliability were 0.997 and 0.993, respectively. The SEM and MDC95 were 0.74 and 2.05 points, respectively. With respect to validity, correlations between the ArmCAM and the Rating of Everyday Arm-use in the Community and Home Scale, Stroke Impact Scale-Hand, Fugl-Meyer Assessment for upper extremity, and Action Research Arm Test were good to excellent (correlation coefficients: 0.811-0.944). CONCLUSIONS he ArmCAM has good reliability and validity. It is an easy-to-use assessment that is designed to be administered remotely via video conferencing. CLINICALTRIAL NA (This is not a clinical trial)