Chorda Dorsalis System as a Paragon for Soft Medical Robots to Design Echocardiography Probes with a New SOM-Based Steering Control.

Continuum robots play the role of end effectors in various surgical robots and endoscopic devices. While soft continuum robots (SCRs) have proven advantages such as safety and compliance, more research and development are required to enhance their capability for specific medical scenarios. This research aims at designing a soft robot, considering the concepts of geometric and kinematic similarities. The chosen application is a semi-invasive medical application known as transesophageal echocardiography (TEE). The feasibility of fabrication of a soft endoscopic device derived from the Chorda dorsalis paragon was shown empirically by producing a three-segment pneumatic SCR. The main novelties include bioinspired design, modeling, and a navigation control strategy presented as a novel algorithm to maintain a kinematic similarity between the soft robot and the rigid counterpart. The kinematic model was derived based on the method of transformation matrices, and an algorithm based on a self-organizing map (SOM) network was developed and applied to realize kinematic similarity. The simulation results indicate that the control method forces the soft robot tip to follow the path of the rigid probe within the prescribed distance error (5 mm). The solution provides a soft robot that can surrogate and succeed the traditional rigid counterpart owing to size, workspace, and kinematics.

Comparison of sEMG Onset Detection Methods for Occupational Exoskeletons on Extensive Close-to-Application Data.

The design of human-machine interfaces of occupational exoskeletons is essential for their successful application, but at the same time demanding. In terms of information gain, biosensoric methods such as surface electromyography (sEMG) can help to achieve intuitive control of the device, for example by reduction of the inherent time latencies of a conventional, non-biosensoric, control scheme. To assess the reliability of sEMG onset detection under close to real-life circumstances, shoulder sEMG of 55 healthy test subjects was recorded during seated free arm lifting movements based on assembly tasks. Known algorithms for sEMG onset detection are reviewed and evaluated regarding application demands. A constant false alarm rate (CFAR) double-threshold detection algorithm was implemented and tested with different features. Feature selection was done by evaluation of signal-to-noise-ratio (SNR), onset sensitivity and precision, as well as timing error and deviation. Results of visual signal inspection by sEMG experts and kinematic signals were used as references. Overall, a CFAR algorithm with Teager-Kaiser-Energy-Operator (TKEO) as feature showed the best results with feature SNR = 14.48 dB, 91% sensitivity, 93% precision. In average, sEMG analysis hinted towards impending movements 215 ms before measurable kinematic changes.

Positioning of pivot points in quadrupedal locomotion: limbs global dynamics in four different dog breeds.

Dogs (Canis familiaris) prefer the walk at lower speeds and the more economical trot at speeds ranging from 0.5 Fr up to 3 Fr. Important works have helped to understand these gaits at the levels of the center of mass, joint mechanics, and muscular control. However, less is known about the global dynamics for limbs and if these are gait or breed-specific. For walk and trot, we analyzed dogs' global dynamics, based on motion capture and single leg kinetic data, recorded from treadmill locomotion of French Bulldog (N = 4), Whippet (N = 5), Malinois (N = 4), and Beagle (N = 5). Dogs' pelvic and thoracic axial leg functions combined compliance with leg lengthening. Thoracic limbs were stiffer than the pelvic limbs and absorbed energy in the scapulothoracic joint. Dogs' ground reaction forces (GRF) formed two virtual pivot points (VPP) during walk and trot each. One emerged for the thoracic (fore) limbs (VPPTL) and is roughly located above and caudally to the scapulothoracic joint. The second is located roughly above and cranially to the hip joint (VPPPL). The positions of VPPs and the patterns of the limbs' axial and tangential projections of the GRF were gaits but not always breeds-related. When they existed, breed-related changes were mainly exposed by the French Bulldog. During trot, positions of the VPPs tended to be closer to the hip joint or the scapulothoracic joint, and variability between and within breeds lessened compared to walk. In some dogs, VPPPL was located below the pelvis during trot. Further analyses revealed that leg length and not breed may better explain differences in the vertical position of VPPTL or the horizontal position of VPPPL. The vertical position of VPPPL was only influenced by gait, while the horizontal position of VPPTL was not breed or gait-related. Accordingly, torque profiles in the scapulothoracic joint were likely between breeds while hip torque profiles were size-related. In dogs, gait and leg length are likely the main VPPs positions' predictors. Thus, variations of VPP positions may follow a reduction of limb work. Stability issues need to be addressed in further studies.

SenGlove-A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand.

For technical or medical applications, the knowledge of the exact kinematics of the human hand is key to utilizing its capability of handling and manipulating objects and communicating with other humans or machines. The optimal relationship between the number of measurement parameters, measurement accuracy, as well as complexity, usability and cost of the measuring systems is hard to find. Biomechanic assumptions, the concepts of a biomechatronic system and the mechatronic design process, as well as commercially available components, are used to develop a sensorized glove. The proposed wearable introduced in this paper can measure 14 of 15 angular values of a simplified hand model. Additionally, five contact pressure values at the fingertips and inertial data of the whole hand with six degrees of freedom are gathered. Due to the modular design and a hand size examination based on anthropometric parameters, the concept of the wearable is applicable to a large variety of hand sizes and adaptable to different use cases. Validations show a combined root-mean-square error of 0.99° to 2.38° for the measurement of all joint angles on one finger, surpassing the human perception threshold and the current state-of-the-art in science and technology for comparable systems.

The Interplay of Biomimetics and Biomechatronics.

Biomechatronics is an engineering subject in which biomimetics as a method is one of its two supporting pillars: biology for engineering, or Bio4Eng. This is contrasted with biocompatible design, or Eng4Bio, examples of which are human-serving systems, such as exoskeletons, and biomedical engineering. The paper aims to illustrate that the research fields of biomimetics, biomechatronics, and biomedical engineering are not in competition but mutually supportive. The current attempts to place biomechatronics under the umbrella of biomimetics or biomedical engineering are therefore not expedient; they deprive the subject of its strength of combining Bio4Eng and Eng4Bio at any time in a task-related manner. In addition to research and development, however, the training of the specialists supporting the subjects must not be disregarded and is therefore described based on a proven design.

Force plates may be used for dynamic analyses of endoprostheses explantation procedures.

The number of hip and knee arthroplasty replacement surgeries is increasing steadily. In combination with demographic aging and the number of periprosthetic complications, this development has lead to the phenomenon where the need for revision surgery is rising. The problem is, that, while implantation procedures of hip arthroplasties are more or less standardized, explantation is a non-standardized task for experienced specialists, due to the unpredictability of the adequate loosening method. The surgeon often only gets to decide on which tools and methods may be applied to detach the prosthesis, only after getting access to the operation site. The time taken to detach the prosthesis is hardly predictable and mainly depends on the surgeons' skills. To gain objective data on the mechanics of explantation, new measurement methods are required. One technical base for studies on revision procedures are standard force plates, available in biomechanics laboratories.

Three-dimensional imaging of the fibrous microstructure of Achilles tendon entheses in Mus musculus.

The whole-organ, three-dimensional microstructure of murine Achilles tendon entheses was visualized with micro-computed tomography (microCT). Contrast-enhancement was achieved either by staining with phosphotungstic acid (PTA) or by a combination of cell-maceration, demineralization and critical-point drying with low tube voltages and propagation-based phase-contrast (fibrous structure scan). By PTA-staining, X-ray absorption of the enthesial soft tissues became sufficiently high to segment the tendon and measure cross-sectional areas along its course. With the fibrous structure scans, three-dimensional visualizations of the collagen fiber networks of complete entheses were obtained. The characteristic tissues of entheses were identified in the volume data. The tendon proper was marked as a segment manually. The fibers within the tendon were marked by thresholding. Tendon and fiber cross-sectional areas were measured. The measurements were compared between individuals and protocols for contrast-enhancement, using a spatial reference system within the three-dimensional enthesis. The usefulness of the method for investigations of the fibrous structure of collagenous tissues is demonstrated.

Functionalized Thick Film Impedance Sensors for Use in In Vitro Cell Culture.

Multi-electrode arrays find application in electrophysiological recordings. The quality of the captured signals depends on the interfacial contact between electrogenic cells and the electronic system. Therefore, it requires reliable low-impedance electrodes. Low-temperature cofired ceramic technology offers a suitable platform for rapid prototyping of biological reactors and can provide both stable fluid supply and integrated bio-hardware interfaces for recordings in electrogenic cell cultures. The 3D assembly of thick film gold electrodes in in vitro bio-reactors has been demonstrated for neuronal recordings. However, especially when dimensions become small, their performance varies strongly. This work investigates the influence of different coatings on thick film gold electrodes with regard to their influence on impedance behavior. PEDOT: PSS layer, titanium oxynitride and laminin coatings are deposited on LTCC gold electrodes using different 2D and 3D MEA chip designs. Their impedance characteristics are compared and discussed. Titanium oxynitride layers emerged as suitable functionalization. Small 86-µm-electrodes have a serial resistance Rs of 32 kOhm and serial capacitance Cs of 4.1 pF at 1 kHz. Thick film gold electrodes with such coatings are thus qualified for signal recording in 3-dimensional in vitro cell cultures.

Kinematic response in limb and body posture to sensory feedback from carpal sinus hairs in the rat (Rattus norvegicus).

One of the most challenging adaptations within the therians has been to ensure dynamic stability of the trunk during rapid locomotion in highly structured environments. A reorganization of limb mechanics and development of new sensors has taken place within their stem lineage. Rats, which have a similar lifestyle to the first therians, possess sinus hairs specialized for tactile sensing. It is supposed that carpal sinus hairs have a role in sensing substrate properties and can thus induce adjustments in limb kinematics and body posture according to the different surface diameters and structures detected. This implies a shared sensorimotor control loop of sinus hairs and body posture. To investigate the role of the carpal sinus hairs during locomotion and to explore a possible interaction between limb and spine motion, spatiotemporal and kinematic parameters as well as the contact mechanics of the hairs with regard to the surface were quantified. Locomotion on a treadmill with continuous and discontinuous substrates was compared in the presence/absence of the carpal sinus hairs across a speed range from 0.2m/s to 0.6m/s. Recordings were taken synchronously using x-ray fluoroscopy and normal-light high-speed cameras. Our investigation revealed that the three tactile hairs made a triangle-like contact with the ground approximately 30ms before touchdown of the forelimb. Within that time, it is likely that both the body posture and its oscillation are adjusted according to the different surface textures. The sensory input of the carpal sinus hairs induces a stabilization of the trajectory of the center of mass and, therefore, improves the dynamic stability of the trunk; conversely, the absence of the sensors results in a more crouched frontal body posture, similar to that seen in rats when they are moving in an unknown terrain. The carpal sinus hairs also sense the animal's speed during surface contact. This implicates an adjustment of the limb and spine kinematics, by increasing the speed-dependent effect or by increasing the distance between the trunk and the ground when the rat is walking faster.

Calculation of muscle forces during normal gait under consideration of femoral bending moments.

This paper introduces a new approach for computing lower extremity muscle forces by incorporating equations that consider "bone structure" and "prevention of bending by load reduction" into existing optimization algorithms. Lower extremity muscle and joint forces, during normal gait, were calculated and compared using two different optimization approaches. We added constraint equations that prevent femoral bending loads to an existing approach that considers "minimal total muscular force". Gait parameters such as kinematics, ground reaction forces, and surface electromyographic activation patterns were examined using standardized gait analysis. A subject-specific anatomic model of the lower extremities, obtained from magnetic resonance images of a healthy male, was used for the simulations. Finite element analysis was used to calculate femoral loads. The conventional method of calculating muscle forces leads to higher rates of femoral bending and structural stress than the new approach. Adding equations with structural subject-specific parameters in our new approach resulted in reduced femoral stress patterns. These findings show that our new approach improves the accuracy of femoral stress and strain simulations. Structural overloads caused by bending can be avoided during inverse calculation of muscle forces.

The role of vibrissal sensing in forelimb position control during travelling locomotion in the rat (Rattus norvegicus, Rodentia).

In the stem lineage of therians, a comprehensive reorganization of limb and body mechanics took place to provide dynamic stability for rapid locomotion in a highly structured environment. At what was probably the same time, mammals developed an active sense of touch in the form of movable mystacial vibrissae. The rhythmic movements of the limbs and vibrissae are controlled by central pattern-generating networks which might interact with each other in sensorimotor control. To test this possible interaction, we studied covariation between the two by investigating speed-dependent adjustments in temporal and spatial parameters of forelimb and vibrissal kinematics in the rat. Furthermore, the possible role of carpal vibrissae in connecting the two oscillating systems was explored. We compared locomotion on continuous and discontinuous substrates in the presence and absence of the mystacial or/and carpal vibrissae across a speed range of 0.2-0.5m/s and found that a close coupling of the kinematics of the two oscillating systems appears to be precluded by their differential dependence on the animal's speed. Speed-related changes in forelimb kinematics mainly occur in temporal parameters, whereas vibrissae change their spatial excursion. However, whisking frequency is always high enough that at least one whisk cycle falls into the swing phase of the limb, which is the maximum critical period for sensing the substrate on which the forepaw will be placed. The influence of tactile cues on forelimb positional control is more subtle than expected. Tactile cues appear to affect the degree of parameter variation but not average parameters or the failure rate of limbs during walking on a perforated treadmill. The carpal vibrissae appear to play a role in sensing the animal's speed by measuring the duration of the stance phase. The absence of this cue significantly reduces speed-related variation in stride frequency and vibrissal protraction.

A computational model for dynamic analysis of the human gait.

Biomechanical models are important tools in the study of human motion. This work proposes a computational model to analyse the dynamics of lower limb motion using a kinematic chain to represent the body segments and rotational joints linked by viscoelastic elements. The model uses anthropometric parameters, ground reaction forces and joint Cardan angles from subjects to analyse lower limb motion during the gait. The model allows evaluating these data in each body plane. Six healthy subjects walked on a treadmill to record the kinematic and kinetic data. In addition, anthropometric parameters were recorded to construct the model. The viscoelastic parameter values were fitted for the model joints (hip, knee and ankle). The proposed model demonstrated that manipulating the viscoelastic parameters between the body segments could fit the amplitudes and frequencies of motion. The data collected in this work have viscoelastic parameter values that follow a normal distribution, indicating that these values are directly related to the gait pattern. To validate the model, we used the values of the joint angles to perform a comparison between the model results and previously published data. The model results show a same pattern and range of values found in the literature for the human gait motion.

Influence of various types of damage on the fracture strength of ceramic femoral heads.

Ceramic-on-ceramic articulations are a frequently used bearing for total hip replacements. This success mainly is due to their excellent tribological properties. Ceramics can withstand high pressure loads due to its brittleness but only low bending stresses. A ceramic ball head fracture is the result of subcritical crack growth. This kind of fracture in vivo can abet by damage or contamination of the stem cone. The main goal of this work is to provide a risk assessment of different possible damage mechanisms and contaminations that may result in lower fracture strength of a ceramic ball head. To simulate potential causes, different types and dimensions of metal wire, foils, hair, and lubricants were inserted between the ceramic ball head and the metal cone of the stem. The test results clearly show that fracture strength is negatively influenced by most of the inhomogeneities between the cone and the head because they increase the peak stresses acting on a part of the ceramic ball head. The results of this article clearly confirm the demand for an undamaged taper fit "free of contamination" between the ceramic head and the metal cone during implantation.

A novel PDMS micro membrane biosensor based on the analysis of surface stress.

The biological and medical application of biosensors is more and more important with the development of technology and society. Detection of cells and biological molecules utilizing biosensors based on the analysis of surface stress would facilitate inexpensive and high-throughput test and diagnosis. This paper presents a biocompatible surface stress-based polydimethylsiloxane (PDMS) micro membrane biosensor. Each biosensor chip consists of two available PDMS micro membranes, one acts as active membrane and the other as reference. Biosensors were functionalized using different functional materials respectively: MUA (11 Mercapto 1 undecanoicacid), MUO (11 Mercapto 1 undecanol) and DOT (Dodecane thiol). Two biosensor test systems were built based on a white light interferometer and a fiber optic interferometer respectively. Finally, testing experiments using Escherichia coli (E. coli) were performed based on the biosensor test systems we built. The results of the experiments showed that the MUA is a better functional material to functionalize the biosensor membranes than MUO and DOT for E. coli detection, some properties of E. coli, such as healthily living and dead status, can be analyzed based on the PDMS micro membrane biosensors.

Spatial control of the energy metabolism of yeast cells through electrolytic generation of oxygen.

The metabolic dynamics of yeast cells is controlled by electric pulses delivered through a spatially extended yeast cell/Au electrode interface. Concomitant with voltage pulses, oxygen is generated electrolytically at the electrode surface and delivered to the cells. The generation of oxygen was investigated in dependence of the applied voltage, width of the voltage pulses and temperature of the electrolytic solution. The local oxygen pulses at the electrodes lead to a transient activation of the aerobic energy metabolism of the yeast cells causing a perturbation in their energy balance. The effect of these local perturbations on the temporal dynamics of glycolysis in yeast cells is quantified in dependence of the energy state of cells.

Legs evolved only at the end!

Talking about legged locomotion often evokes the idea that animals using such devices are perfectly adapted to this kind of motion and should be copied by robotics. The aim of this contribution is to show that the evolution of legs comes late in phylogeny, be it in arthropods or vertebrates. Neural control of legs in vertebrates has to deal with conservative arrangements 'invented' for axial locomotion of metameric organisms. The structure of this paper is to show the importance of axial driven propulsion in vertebrates without legs, with legs and only at the end how limbs move the body in eutherian mammals.

Biomimetic robotics should be based on functional morphology.

Due to technological improvements made during the last decade, bipedal robots today present a surprisingly high level of humanoid skill. Autonomy, with respect to the processing of information, is realized to a relatively high degree. What is mainly lacking in robotics, moving from purely anthropomorphic robots to 'anthropofunctional' machines, is energetic autonomy. In a previously published analysis, we showed that closer attention to the functional morphology of human walking could give robotic engineers the experiences of an at least 6 Myr beta test period on minimization of power requirements for biped locomotion. From our point of view, there are two main features that facilitate sustained walking in modern humans. The first main feature is the existence of 'energetically optimal velocities' provided by the systematic use of various resonance mechanisms: (a). suspended pendula (involving arms as well as legs in the swing phase of the gait cycle) and matching of the pendular length of the upper and lower limbs; (b). inverted pendula (involving the legs in the stance phase), driven by torsional springs around the ankle joints; and (c). torsional springs in the trunk. The second main feature is compensation for undesirable torques induced by the inertial properties of the swinging extremities: (a). mass distribution in the trunk characterized by maximized mass moments of inertia; (b). lever arms of joint forces at the hip and shoulder, which are inversely proportional to their amplitude; and (c). twisting of the trunk, especially torsion. Our qualitative conclusions are three-fold. (1). Human walking is an interplay between masses, gravity and elasticity, which is modulated by musculature. Rigid body mechanics is insufficient to describe human walking. Thus anthropomorphic robots completely following the rules of rigid body mechanics cannot be functionally humanoid. (2). Humans are vertebrates. Thus, anthropomorphic robots that do not use the trunk for purposes of motion are not truly humanoid. (3). The occurrence of a waist, especially characteristic of humans, implies the existence of rotations between the upper trunk (head, neck, pectoral girdle and thorax) and the lower trunk (pelvic girdle) via an elastic joint (spine, paravertebral and abdominal musculature). A torsional twist around longitudinal axes seems to be the most important.

The importance of the evolutionary heritage of locomotion on flat ground in small mammals for the development of arboreality.

The earliest representatives of the mammalian stem line were small. Recent small mammals preserving their morphology possess rather similar kinematic and dynamic locomotor patterns, even if they are not closely related. For a small animal, the mechanics of locomotion on a large branch is comparable to locomotion on flat ground. Combining these informations, it seems sensible to start a discussion on the origins of arboreality with a detailed analysis of the locomotion of small mammals on flat ground. For this purpose, the kinematics of twelve species of mammals were observed using cineradiography, a "general limb" of small mammals was derived as a principle, and its interactions with the trunk were analyzed. These data form the basis for a theoretical upscaling of the motion patterns in arboreal animals, revealing that the transfer of torques between animal and branch becomes unavoidable, thus making the use of prehensile hands advantageous, which by their tendency of distal concentration of muscle masses force the need to change the basic kinematic patterns.

ISB recommendation on definitions of joint coordinate system of various joints for the reporting of human joint motion--part I: ankle, hip, and spine. International Society of Biomechanics.

The Standardization and Terminology Committee (STC) of the International Society of Biomechanics (ISB) proposes a general reporting standard for joint kinematics based on the Joint Coordinate System (JCS), first proposed by Grood and Suntay for the knee joint in 1983 (J. Biomech. Eng. 105 (1983) 136). There is currently a lack of standard for reporting joint motion in the field of biomechanics for human movement, and the JCS as proposed by Grood and Suntay has the advantage of reporting joint motions in clinically relevant terms. In this communication, the STC proposes definitions of JCS for the ankle, hip, and spine. Definitions for other joints (such as shoulder, elbow, hand and wrist, temporomandibular joint (TMJ), and whole body) will be reported in later parts of the series. The STC is publishing these recommendations so as to encourage their use, to stimulate feedback and discussion, and to facilitate further revisions. For each joint, a standard for the local axis system in each articulating bone is generated. These axes then standardize the JCS. Adopting these standards will lead to better communication among researchers and clinicians.

Basic limb kinematics of small therian mammals.

A comparative study of quantitative kinematic data of fore- and hindlimb movements of eight different mammalian species leads to the recognition of basic principles in the locomotion of small therians. The description of kinematics comprises fore- and hindlimb movements as well as sagittal spine movements including displacement patterns of limb segments, their contribution to step length, and joint movements. The comparison of the contributions of different segments to step length clearly shows the proximal parts (scapula, femur) to produce more than half of the propulsive movement of the whole limb at symmetrical gaits. Basically, a three-segmented limb with zigzag configuration of segments is mainly displaced at the scapular pivot or hip joint, both of which have the same vertical distance to the ground. Two segments operate in matched motion during retraction of the limb. While kinematic parameters of forelimbs are independent of speed and gait (with the scapula as the dominant element), fundamental changes occur in hindlimb kinematics with the change from symmetrical to in-phase gaits. Forward motion of the hindlimbs is now mainly due to sagittal lumbar spine movements contributing to half of the step length. Kinematics of small therian mammals are independent of their systematic position, their natural habitat, and also of specific anatomical dispositions (e.g. reduction of fingers, toes, or clavicle). In contrast, the possession of a tail influences 'pelvic movements'.