Circulating tumour DNA analysis demonstrates spatial mutational heterogeneity that coincides with disease relapse in myeloma.

Mutational characterisation in multiple myeloma (MM) currently relies on bone marrow (BM) biopsy, which fails to capture the putative spatial and genetic heterogeneity of this multifocal disease. Analysis of plasma (PL)-derived circulating free tumour DNA (ctDNA) as an adjunct to BM biopsy, for mutational characterisation and tracking disease progression, was evaluated. Paired BM MM cell DNA and ctDNA from 33 relapsed/refractory (RR) and 15 newly diagnosed (ND) patients were analysed for KRAS, NRAS, BRAF and TP53 mutations using the OnTarget Mutation Detection (OMD) platform. OMD detected 128 mutations (PL=31, BM=59, both=38) indicating the presence of PL mutations (54%). A higher frequency of PL-only mutations was detected in RR patients than ND (27.2% vs 6.6%, respectively), authenticating the existence of spatial and genetic heterogeneity in advanced disease. Activating RAS mutations were more highly prevalent than previously described with 69% harboring at least one RAS mutation. Sequential ctDNA quantitation with droplet digital PCR through longitudinal PL tracking of specific clones in seven patients demonstrated changes in fractional abundance of certain clones reflective of the disease status. We conclude that ctDNA analysis as an adjunct to BM biopsy represents a noninvasive and holistic strategy for improved mutational characterisation and therapeutic monitoring of MM.

Reducing the energy cost of human walking using an unpowered exoskeleton.

With efficiencies derived from evolution, growth and learning, humans are very well-tuned for locomotion. Metabolic energy used during walking can be partly replaced by power input from an exoskeleton, but is it possible to reduce metabolic rate without providing an additional energy source? This would require an improvement in the efficiency of the human-machine system as a whole, and would be remarkable given the apparent optimality of human gait. Here we show that the metabolic rate of human walking can be reduced by an unpowered ankle exoskeleton. We built a lightweight elastic device that acts in parallel with the user's calf muscles, off-loading muscle force and thereby reducing the metabolic energy consumed in contractions. The device uses a mechanical clutch to hold a spring as it is stretched and relaxed by ankle movements when the foot is on the ground, helping to fulfil one function of the calf muscles and Achilles tendon. Unlike muscles, however, the clutch sustains force passively. The exoskeleton consumes no chemical or electrical energy and delivers no net positive mechanical work, yet reduces the metabolic cost of walking by 7.2 ± 2.6% for healthy human users under natural conditions, comparable to savings with powered devices. Improving upon walking economy in this way is analogous to altering the structure of the body such that it is more energy-effective at walking. While strong natural pressures have already shaped human locomotion, improvements in efficiency are still possible. Much remains to be learned about this seemingly simple behaviour.

An exoskeleton using controlled energy storage and release to aid ankle propulsion.

Symmetric ankle propulsion is the cornerstone of efficient human walking. The ankle plantar flexors provide the majority of the mechanical work for the step-to-step transition and much of this work is delivered via elastic recoil from the Achilles' tendon - making it highly efficient. Even though the plantar flexors play a central role in propulsion, body-weight support and swing initiation during walking, very few assistive devices have focused on aiding ankle plantarflexion. Our goal was to develop a portable ankle exoskeleton taking inspiration from the passive elastic mechanisms at play in the human triceps surae-Achilles' tendon complex during walking. The challenge was to use parallel springs to provide ankle joint mechanical assistance during stance phase but allow free ankle rotation during swing phase. To do this we developed a novel `smart-clutch' that can engage and disengage a parallel spring based only on ankle kinematic state. The system is purely passive - containing no motors, electronics or external power supply. This `energy-neutral' ankle exoskeleton could be used to restore symmetry and reduce metabolic energy expenditure of walking in populations with weak ankle plantar flexors (e.g. stroke, spinal cord injury, normal aging).