A metric for characterizing the arm nonuse workspace in poststroke individuals using a robot arm.

An overreliance on the less-affected limb for functional tasks at the expense of the paretic limb and in spite of recovered capacity is an often-observed phenomenon in survivors of hemispheric stroke. The difference between capacity for use and actual spontaneous use is referred to as arm nonuse. Obtaining an ecologically valid evaluation of arm nonuse is challenging because it requires the observation of spontaneous arm choice for different tasks, which can easily be influenced by instructions, presumed expectations, and awareness that one is being tested. To better quantify arm nonuse, we developed the bimanual arm reaching test with a robot (BARTR) for quantitatively assessing arm nonuse in chronic stroke survivors. The BARTR is an instrument that uses a robot arm as a means of remote and unbiased data collection of nuanced spatial data for clinical evaluations of arm nonuse. This approach shows promise for determining the efficacy of interventions designed to reduce paretic arm nonuse and enhance functional recovery after stroke. We show that the BARTR satisfies the criteria of an appropriate metric for neurorehabilitative contexts: It is valid, reliable, and simple to use.

Preference-Driven Texture Modeling Through Interactive Generation and Search.

Data-driven texture modeling and rendering has pushed the limit of realism in haptics. However, the lack of haptic texture databases, difficulties of model interpolation and expansion, and the complexity of real textures prevent data-driven methods from capturing a large variety of textures and from customizing models to suit specific output hardware or user needs. This work proposes an interactive texture generation and search framework driven by user input. We design a GAN-based texture model generator, which can create a wide range of texture models using Auto-Regressive processes. Our interactive texture search method, which we call "preference-driven," follows an evolutionary strategy given guidance from user's preferred feedback within a set of generated texture models. We implemented this framework on a 3D haptic device and conducted a two-phase user study to evaluate the efficiency and accuracy of our method for previously unmodeled textures. The results showed that by comparing the feel of real and generated virtual textures, users can follow an evolutionary process to efficiently find a virtual texture model that matched or exceeded the realism of a data-driven model. Furthermore, for 4 out of 5 real textures, ≥ 80% of the preference-driven models from participants were rated comparable to the data-driven models.

Low-Volume Sprint Interval Swimming Is Sufficient to Increase Blood Metabolic Biomarkers in Master Swimmers.

Purpose: Sprint interval exercise is a time-efficient way of inducing beneficial adaptations. However, little is known about its minimal effective volume, especially in swimming. The aim of the present study was to evaluate and compare the effects of two sprint interval swimming sets of different low volumes on blood biomarkers. Method: Twenty-one master swimmers [11 females aged 38.5 (8.5) years, 10 males aged 42.7 (5.7) years] completed two freestyle swimming sets of 4 × 50 m and 4 × 25 m at maximal intensity and a work-to-rest ratio of 1:1, on different days, in random and counterbalanced order. Blood samples were taken before, immediately after and one hour after exercise for determination of a number of biochemical parameters. Results: Swimming speed was higher in the 4 × 25-m set. Lactate, glucose, insulin, glucagon, cortisol, and reduced glutathione increased immediately post-exercise, while uric acid increased 1 h post-exercise (p < .05). All aforementioned biomarkers, excluding glucagon, increased more with the 4 × 50-m set, compared to the 4 × 25-m set (p < .05). Session rating of perceived exertion was higher after the 4 × 50-m set (p = .011). Conclusion: Both sprint interval swimming sets elicited increases in blood biomarkers in master swimmers. The set of higher volume elicited greater increases in most of the biochemical markers studied but also in subjective load. Thus, although the set of higher volume was more efficient in perturbing blood biomarkers, even the very low-volume set induced metabolic stress that may trigger adaptive mechanisms.

Relevance of a Sprint Interval Swim Training Set to the 100-Meter Freestyle Event Based on Blood Lactate and Kinematic Variables.

Sprint interval training (SIT) sets are commonly used by coaches in the training routine of swimmers competing in short-distance events; however, data regarding their relevance to competitive events are scarce. The aim of this study was to examine whether performance variables differed or correlated between a 4 × 50-m maximal swimming set (with a work-to-rest ratio of 1:4) and the 100-m freestyle event. Eleven male and 16 female competitive swimmers aged 16.1 ± 1.1 years participated in the study. All swimmers trained at least six times a week and had training experience of more than 4 years. They completed the two freestyle tests on different days, in random and counterbalanced order. In each test, speed, blood lactate, stroke rate (SR), and stroke index (SI) were measured. Speed, blood lactate, and SR were higher at the 4 × 50 m compared to the 100 m and were positively correlated between tests (p < 0.001). The SI did not differ significantly, but was positively correlated between tests. Males were faster and had a higher SI than females, but genders did not differ in lactate. Since performance variables were better in the SIT set and correlated with those in the 100-m bout, we suggest that the 4 × 50-m set can be used to improve performance in the 100-m freestyle event. Moreover, this set can help coaches identify which swimmers will swim fastest in the event.

Effects of Aging, Long-Term and Lifelong Exercise on the Urinary Metabolic Footprint of Rats.

Life expectancy has risen in the past decades, resulting in an increase in the number of aged individuals. Exercise remains one of the most cost-effective treatments against disease and the physical consequences of aging. The purpose of this research was to investigate the effects of aging, long-term and lifelong exercise on the rat urinary metabolome. Thirty-six male Wistar rats were divided into four equal groups: exercise from 3 to 12 months of age (A), lifelong exercise from 3 to 21 months of age (B), no exercise (C), and exercise from 12 to 21 months of age (D). Exercise consisted in swimming for 20 min/day, 5 days/week. Urine samples collection was performed at 3, 12 and 21 months of life and their analysis was conducted by liquid chromatography-mass spectrometry. Multivariate analysis of the metabolite data did not show any discrimination between groups at any of the three aforementioned ages. However, multivariate analysis discriminated the three ages clearly when the groups were treated as one. Univariate analysis showed that training increased the levels of urinary amino acids and possibly protected against sarcopenia, as evidenced by the higher levels of creatine in the exercising groups. Aging was accompanied by decreased levels of urinary amino acids and signs of increased glycolysis. Concluding, both aging and, to a lesser degree, exercise affected the rat urinary metabolome, including metabolites related to energy metabolism, with exercise showing a potential to mitigate the consequences of aging.

Response of Blood Biomarkers to Sprint Interval Swimming.

PURPOSE: To evaluate and compare the effects of 2 sprint interval training (SIT) sets of different distances on biochemical markers indicative of metabolism, stress, and antioxidant capacity in competitive swimmers and, to investigate the potential influence of gender on these markers. METHODS: Twenty-four adolescent, well-trained swimmers (12 men and 12 women) participated in the study. In a random and counterbalanced order, the swimmers completed 2 SIT sets (8 × 50 m and 8 × 25 m) in freestyle with maximal intensity on different days. Work-to-rest ratio was 1:1 in both sets. Blood samples were drawn preexercise, immediately postexercise, and 1 hour postexercise to evaluate the effects of the SIT sets on a number of biochemical parameters. RESULTS: Swimming speed was higher at 8 × 25 m. The 2 SIT sets induced significant increases in lactate, glucose, insulin, glucagon, cortisol, and uric acid (P ≤ .001). No differences in these parameters were found between sets, except for irisin (higher in 8 × 50 m; P = .02). Male swimmers were faster and had higher lactate and uric acid concentrations, as well as lower reduced glutathione concentration, than female swimmers (P < .01). CONCLUSIONS: The 2 swimming SIT sets induced increases in most of the biochemical markers studied. The 2-fold difference between sets in distance did not differentiate the effects of sprint interval exercise on most biochemical parameters. Thus, low-volume SIT sets seem to be effective stimuli for competitive swimmers.

Effects of lifelong exercise and aging on the blood metabolic fingerprint of rats.

Regular exercise is an important part of a healthy lifestyle, as it helps maintain a healthy weight and reduces the risk of chronic diseases. We explored the effects of lifelong exercise and aging on rat metabolism through a metabolomics approach. Thirty-six rats were divided into four equal groups: exercise during the 1st half of life (3-12 months), lifelong exercise (3-21 months), no exercise, and exercise during the 2nd half of life (12-21 months). Exercise consisted in swimming for 20 min, five times a week. Blood samples collected at 3, 12, and 21 months of life were analysed by 1H NMR spectroscopy. The groups that exercised during the 2nd half of life weighed less than the groups that did not. Exercise had an orexigenic effect during the 1st half and an anorexigenic effect during the 2nd half. Multivariate analysis showed a clear discrimination between ages when groups were treated as one and between the exercising and non-exercising groups at 12 months. Univariate analysis showed many effects of aging and some effects of exercise on metabolites involved in carbohydrate, lipid and protein metabolism. Especially during the 1st half, exercise had anabolic effects, whereas aging had catabolic effects on amino acid metabolism. In two cases (glycine and succinate), exercise (especially during the 1st half) mitigated potentially harmful effects of aging. The higher values of succinate and the lower values of lactate during the 1st half in the exercising groups suggest increased oxidative metabolism. In conclusion, moderate-intensity exercise for life or half-life had strong and potentially healthful effects on body weight and (partly) appetite, as well as on some blood metabolites. The effects of aging on the rat blood metabolome seemed to be stronger than those of exercise.

Effect of exercise on key pharmacokinetic parameters related to metformin absorption in healthy humans: A pilot study.

Exercise is widely accepted as having therapeutic effects; thus, it is important to know whether it interacts with medications. The aim of the present pilot study was to examine the effect of high-intensity interval exercise (known to have antidiabetic action) on key pharmacokinetic parameters related to absorption of metformin (the first-line medication against type 2 diabetes). Ten healthy men participated in two sessions, spaced one to two weeks apart in random, counterbalanced order. In both sessions, participants received 1000 mg of metformin orally, 1-1.5 hours after breakfast. Then, they either ran for 60 minutes at alternating intensity, starting at 40 minutes after metformin administration, and rested without food consumption over the next 3 hours or they rested without food consumption during the entire testing period. Venous blood samples were collected before and at 0.5, 2, 2.5, 3, 3.5, 4, and 4.5 hours after metformin administration for metformin determination by liquid chromatography-mass spectrometry. Capillary blood samples were also collected for lactate and glucose measurements. Data from the two sessions were compared through Wilcoxon or Student's t test, as appropriate. Maximum plasma concentration of metformin (Cmax ) was higher at exercise compared to rest (P = .059). Time to reach Cmax (Tmax ) decreased with exercise (P = .009), and the area under the metformin concentration vs time curve was higher at exercise (P = .047). The addition of exercise to metformin administration did not cause hypoglycemia or lactic acidosis. In conclusion, our results provide the first evidence that pharmacokinetic values related to metformin absorption are affected by exercise.

Effects of sprint interval exercise dose and sex on circulating irisin and redox status markers in adolescent swimmers.

Irisin and redox status markers seem to share common pathways of exercise-induced upregulation. The aim of the present study was to assess the effects of sprint interval swimming exercise dose and sex on the circulating levels of irisin and redox status markers in adolescent swimmers. Sixteen male and 16 female adolescent swimmers completed two sets of 4 × 50 m maximal freestyle swimming with a send-off time of 90 s, separated by 10 min of passive recovery. Venous blood samples were obtained pre-exercise (Pre), after the first set (Post1) and after the second set (Post2). Males had higher irisin levels than females. Reduced glutathione (GSH, µmol g Hb-1) increased from 8.6 (2.2) [pooled males and females, mean (SD) throughout] at Pre to 9.4 (2.1) at Post1 and Post2. Total antioxidant capacity (µmol DPPH mL-1) increased from 0.89 (0.17) at Post1 to 0.94 (0.16) at Post2. 8-hydroxy-2´-deoxyguanosine (ng mL-1) increased from 20.9 (6.9) at Pre and 21.5 (7.1) at Post1 to 25.0 (10.9) at Post2. Overall, sprint interval swimming exercise induced small but potentially effective changes in the studied parameters. Exercise dose influenced the GSH and 8-OHdG responses, and sex affected irisin levels.

Diurnal variation and reliability of the urine lactate concentration after maximal exercise.

The postexercise urine lactate concentration is a novel valid exercise biomarker, which has exhibited satisfactory reliability in the morning hours under controlled water intake. The aim of the present study was to investigate the diurnal variation of the postexercise urine lactate concentration and its reliability in the afternoon hours. Thirty-two healthy children (11 boys and 21 girls) and 23 adults (13 men and 10 women) participated in the study. All participants performed two identical sessions of eight 25 m bouts of maximal freestyle swimming executed every 2 min with passive recovery in between. These sessions were performed in the morning and afternoon and were separated by 3-4 days. Adults performed an additional afternoon session that was also separated by 3-4 days. All swimmers drank 500 mL of water before and another 500 mL after each test. Capillary blood and urine samples were collected before and after each test for lactate determination. Urine creatinine, urine density and body water content were also measured. The intraclass correlation coefficient was used as a reliability index between the morning and afternoon tests, as well as between the afternoon test and retest. Swimming performance and body water content exhibited excellent reliability in both children and adults. The postexercise blood lactate concentration did not show diurnal variation, showing a good reliability between the morning and afternoon tests, as well as high reliability between the afternoon test and retest. The postexercise urine density and lactate concentration were affected by time of day. However, when lactate was normalized to creatinine, it exhibited excellent reliability in children and good-to-high reliability in adults. The postexercise urine lactate concentration showed high reliability between the afternoon test and retest, independent of creatinine normalization. The postexercise blood and urine lactate concentrations were significantly correlated in all cases, attesting to the validity of urine lactate as an index of anaerobic metabolism. We conclude that urine lactate, after normalization to creatinine, could be used in training practice either in the morning or in the afternoon. Further research is needed to assess the applicability of this novel exercise biomarker.

Human-Robot Mutual Adaptation in Shared Autonomy.

Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an effective strategy, sometimes against the human's own preference, while still retaining his trust. We achieve this through a principled human-robot mutual adaptation formalism. We integrate a bounded-memory adaptation model of the human into a partially observable stochastic decision model, which enables the robot to adapt to an adaptable human. When the human is adaptable, the robot guides the human towards a good strategy, maybe unknown to the human in advance. When the human is stubborn and not adaptable, the robot complies with the human's preference in order to retain their trust. In the shared autonomy setting, unlike many other common human-robot collaboration settings, only the robot actions can change the physical state of the world, and the human and robot goals are not fully observable. We address these challenges and show in a human subject experiment that the proposed mutual adaptation formalism improves human-robot team performance, while retaining a high level of user trust in the robot, compared to the common approach of having the robot strictly following participants' preference.

Human-robot mutual adaptation in collaborative tasks: Models and experiments.

Adaptation is critical for effective team collaboration. This paper introduces a computational formalism for mutual adaptation between a robot and a human in collaborative tasks. We propose the Bounded-Memory Adaptation Model, which is a probabilistic finite-state controller that captures human adaptive behaviors under a bounded-memory assumption. We integrate the Bounded-Memory Adaptation Model into a probabilistic decision process, enabling the robot to guide adaptable participants towards a better way of completing the task. Human subject experiments suggest that the proposed formalism improves the effectiveness of human-robot teams in collaborative tasks, when compared with one-way adaptations of the robot to the human, while maintaining the human's trust in the robot.

Improved reliability of the urine lactate concentration under controlled hydration after maximal exercise.

CONTEXT: Urine lactate may be a novel biomarker of lactate production capacity but its reliability has been unsatisfactory so far. OBJECTIVE: To compare the reliability of urine lactate between controlled hydration and no hydration after maximal exercise. MATERIAL AND METHODS: Athletes performed swimming exercise four times: two followed by consumption of 1 L of water and two followed by no water intake. Blood and urine lactate was measured. RESULTS: The reliability of urine lactate was good and similar to that in blood only after controlled hydration. Blood and urine lactate were correlated under both hydration conditions. DISCUSSION AND CONCLUSION: Controlled hydration after exercise provides satisfactory reliability of urine lactate.

Reliability of urine lactate as a novel biomarker of lactate production capacity in maximal swimming.

CONTEXT: Postexercise urine lactate may be a novel biomarker of lactate production capacity during exercise. OBJECTIVE: To evaluate the reliability and utility of the urine lactate concentration after maximal swimming trials between different training protocols (6 × 50 m and 3 × 100 m) and training states (active and nonactive swimmers). MATERIALS AND METHODS: Lactate and creatinine were determined by spectrophotometry in blood and urine. RESULTS: Blood and urine lactate concentrations were correlated in-between training protocols and in participants of different training states. The reliability of the urine lactate concentration was moderate for one of the training protocols and good or moderate for the two training states. Additionally, it was lower than that of the blood lactate concentration, and did not improve after normalizing to the urine creatinine concentration. DISCUSSION AND CONCLUSION: Although promising as a biomarker of lactate production capacity, urine lactate requires further research to improve its reliability.

Exercise-induced oxidatively damaged DNA in humans: evaluation in plasma or urine?

Physical exercise can induce oxidative damage in humans. 8-Hydroxy-2'-deoxyguanosine (8-OHdG) is a widely known biomarker of DNA oxidation, which can be determined in blood and urine. The aim of the present study was to compare these two biological fluids in terms of which is more suitable for the estimation of the oxidative damage of DNA by measuring the concentration of 8-OHdG one hour after maximal exercise by enzyme immunoassay. The concentration of 8-OHdG increased with exercise only in plasma (p < 0.001), and values differed between exercise tests in both plasma and urine (p < 0.05). In conclusion, plasma appears to be more sensitive to exercise-induced 8-OHdG changes than urine and, hence, a more appropriate medium for assessing oxidative damage of DNA, although the poor repeatability of the measurement needs to be addressed in future studies.

Formalizing Human-Robot Mutual Adaptation: A Bounded Memory Model.

Mutual adaptation is critical for effective team collaboration. This paper presents a formalism for human-robot mutual adaptation in collaborative tasks. We propose the bounded-memory adaptation model (BAM), which captures human adaptive behaviors based on a bounded memory assumption. We integrate BAM into a partially observable stochastic model, which enables robot adaptation to the human. When the human is adaptive, the robot will guide the human towards a new, optimal collaborative strategy unknown to the human in advance. When the human is not willing to change their strategy, the robot adapts to the human in order to retain human trust. Human subject experiments indicate that the proposed formalism can significantly improve the effectiveness of human-robot teams, while human subject ratings on the robot performance and trust are comparable to those achieved by cross training, a state-of-the-art human-robot team training practice.