On the analysis and control of a bipedal legged locomotion model via partial feedback linearization.

In this study, we introduce a new model for bipedal locomotion that enhances the classical spring-loaded inverted pendulum (SLIP) model. Our proposed model incorporates a damping term in the leg spring, a linear actuator serially interconnected to the leg, and a rotary actuator affixed to the hip. The distinct feature of this new model is its ability to overcome the non-integrability challenge inherent in the conventional SLIP models through the application of partial feedback linearization. By leveraging these actuators, our model enhances the stability and robustness of the locomotion mechanism, particularly when navigating across varied terrain profiles. To validate the effectiveness and practicality of this model, we conducted detailed simulation studies, benchmarking its performance against other recent models outlined in the literature. Our findings suggest that the redundancy in actuation introduced by our model significantly facilitates both open-loop and closed-loop walking gait, showcasing promising potential for the future of bipedal locomotion, especially for bio-inspired robotics applications in outdoor and rough terrains.

Treatment of tissue necrosis with hyperbaric oxygen therapy in a patient with pseudomonas endophthalmitis and orbital cellulitis: a case report.

Purpose: This report presents the treatment of tissue necrosis after evisceration with hyperbaric oxygen therapy (HBOT) in a patient with pseudomonas endophthalmitis and orbital cellulitis. Methods: A 49-year-old woman was admitted to our clinic with severe pain and vision loss after cataract surgery 3 days before, and pars plana vitrectomy 2 days before for endophthalmitis, in another hospital. Examination findings included limbal perforation, orbital cellulitis findings, and loss of light perception in the right eye. The patient, who received evisceration surgery and antibiotic treatment, showed loosening of the conjunctival sutures and necrosis in the conjunctiva, tenon, and sclera on the 9th postoperative day. The necrotic tissues were surgically debrided and the patient was referred to HBOT. Results: With HBOT and antibiotherapy, signs of inflammation regressed, healing on the conjunctival surface was accelerated, and prosthesis was suitable for use. Conclusions: Hyperbaric oxygen therapy is a treatment method that plays an active role in the healing of necrotic tissues by increasing the oxygenation and vascularization of the tissue.

Salience of multisensory feedback regulates behavioral variability.

Many animal behaviors are robust to dramatic variations in morphophysiological features, both across and within individuals. The control strategies that animals use to achieve such robust behavioral performances are not known. Recent evidence suggests that animals rely on sensory feedback rather than precise tuning of neural controllers for robust control. Here we examine the structure of sensory feedback, including multisensory feedback, for robust control of animal behavior. We re-examined two recent datasets of refuge tracking responses ofEigenmannia virescens, a species of weakly electric fish.Eigenmanniarely on both the visual and electrosensory cues to track the position of a moving refuge. The datasets include experiments that varied the strength of visual and electrosensory signals. Our analyses show that increasing the salience (perceptibility) of visual or electrosensory signals resulted in more robust and precise behavioral responses. Further, we find that robust performance was enhanced by multisensory integration of simultaneous visual and electrosensory cues. These findings suggest that engineers may achieve better system performance by improving the salience of multisensory feedback rather than solely focusing on precisely tuned controllers.

Knockout of zebrafish desmin genes does not cause skeletal muscle degeneration but alters calcium flux.

Desmin is a muscle-specific intermediate filament protein that has fundamental role in muscle structure and force transmission. Whereas human desmin protein is encoded by a single gene, two desmin paralogs (desma and desmb) exist in zebrafish. Desma and desmb show differential spatiotemporal expression during zebrafish embryonic and larval development, being similarly expressed in skeletal muscle until hatching, after which expression of desmb shifts to gut smooth muscle. We generated knockout (KO) mutant lines carrying loss-of-function mutations for each gene by using CRISPR/Cas9. Mutants are viable and fertile, and lack obvious skeletal muscle, heart or intestinal defects. In contrast to morphants, knockout of each gene did not cause any overt muscular phenotype, but did alter calcium flux in myofibres. These results point to a possible compensation mechanism in these mutant lines generated by targeting nonsense mutations to the first coding exon.

Variability in locomotor dynamics reveals the critical role of feedback in task control.

Animals vary considerably in size, shape, and physiological features across individuals, but yet achieve remarkably similar behavioral performances. We examined how animals compensate for morphophysiological variation by measuring the system dynamics of individual knifefish (Eigenmannia virescens) in a refuge tracking task. Kinematic measurements of Eigenmannia were used to generate individualized estimates of each fish's locomotor plant and controller, revealing substantial variability between fish. To test the impact of this variability on behavioral performance, these models were used to perform simulated 'brain transplants'-computationally swapping controllers and plants between individuals. We found that simulated closed-loop performance was robust to mismatch between plant and controller. This suggests that animals rely on feedback rather than precisely tuned neural controllers to compensate for morphophysiological variability.

People come in different shapes and sizes, but most will perform similarly well if asked to complete a task requiring fine manual dexterity ­ such as holding a pen or picking up a single grape. How can different individuals, with different sized hands and muscles, produce such similar movements? One explanation is that an individual's brain and nervous system become precisely tuned to mechanics of the body's muscles and skeleton. An alternative explanation is that brain and nervous system use a more "robust" control policy that can compensate for differences in the body by relying on feedback from the senses to guide the movements. To distinguish between these two explanations, Uyanik et al. turned to weakly electric freshwater fish known as glass knifefish. These fish seek refuge within root systems, reed grass and among other objects in the water. They swim backwards and forwards to stay hidden despite constantly changing currents. Each fish shuttles back and forth by moving a long ribbon-like fin on the underside of its body. Uyanik et al. measured the movements of the ribbon fin under controlled conditions in the laboratory, and then used the data to create computer models of the brain and body of each fish. The models of each fish's brain and body were quite different. To study how the brain interacts with the body, Uyanik et al. then conducted experiments reminiscent of those described in the story of Frankenstein and transplanted the brain from each computer model into the body of different model fish. These "brain swaps" had almost no effect on the model's simulated swimming behavior. Instead, these "Frankenfish" used sensory feedback to compensate for any mismatch between their brain and body. This suggests that, for some behaviors, an animal's brain does not need to be precisely tuned to the specific characteristics of its body. Instead, robust control of movement relies on many seemingly redundant systems that provide sensory feedback. This has implications for the field of robotics. It further suggests that when designing robots, engineers should prioritize enabling the robots to use sensory feedback to cope with unexpected events, a well-known idea in control engineering.

Sensory Cues Modulate Smooth Pursuit and Active Sensing Movements.

Animals routinely use autogenous movement to regulate the information encoded by their sensory systems. Weakly electric fish use fore-aft movements to regulate visual and electrosensory feedback as they maintain position within a moving refuge. During refuge tracking, fish produce two categories of movements: smooth pursuit that is approximately linear in its relation to the movement of the refuge and ancillary active sensing movements that are nonlinear. We identified four categories of nonlinear movements which we termed scanning, wiggle, drift, and reset. To examine the relations between sensory cues and production of both linear smooth pursuit and nonlinear active sensing movements, we altered visual and electrosensory cues for refuge tracking and measured the fore-aft movements of the fish. Specifically, we altered the length and structure of the refuge and performed experiments with light and in complete darkness. Linear measures of tracking performance were better for shorter refuges (less than a body length) than longer ones (>1.5 body lengths). The magnitude of nonlinear active sensing movements was strongly modulated by light cues but also increased as a function of both longer refuge length and decreased features. Specifically, fish shifted swimming movements from smooth pursuit to scanning when tracking in dark conditions. Finally, fish appear to use nonlinear movements as an alternate tracking strategy in longer refuges: the fish may use more drifts and resets to avoid exiting the ends of the refuge.