A hinge-free, non-restrictive, lightweight tethered exosuit for knee extension assistance during walking.

In individuals with motor impairments such as those post-stroke or with cerebral palsy, the function of the knee extensors may be affected during walking, resulting in decreased mobility. We have designed a lightweight, hinge-free wearable robot combining soft textile exosuit components with integrated rigid components, which assists knee extension when needed but is otherwise highly transparent to the wearer. The exosuit can apply a wide range of assistance profiles using a flexible multi-point reference trajectory generator. Additionally, we implemented a controller safety limit to address the risk of hyperextension stemming from the hinge-free design. The exosuit was evaluated on six healthy participants walking uphill and downhill on a treadmill at a 10° slope with a set of joint power-inspired assistance profiles. A comparison of sagittal plane joint angles between no exosuit and exosuit unpowered conditions validated the device transparency. With positive power assistance, we observed reduction in average positive knee biological power during uphill walking (left: 17.5 ± 3.21%, p = 0.005; right: 23.2 ± 3.54%, p = 0.008). These initial findings show promise for the assistive capability of the device and its potential to improve the quality of gait and increase mobility in clinical populations.

Design and preliminary evaluation of a multi-robotic system with pelvic and hip assistance for pediatric gait rehabilitation.

This paper presents a modular, computationally-distributed "multi-robot" cyberphysical system designed to assist children with developmental delays in learning to walk. The system consists of two modules, each assisting a different aspect of gait: a tethered cable pelvic module with up to 6 degrees of freedom (DOF), which can modulate the motion of the pelvis in three dimensions, and a two DOF wearable hip module assisting lower limb motion, specifically hip flexion. Both modules are designed to be lightweight and minimally restrictive to the user, and the modules can operate independently or in cooperation with each other, allowing flexible system configuration to provide highly customized and adaptable assistance. Motion tracking performance of approximately 2 mm root mean square (RMS) error for the pelvic module and less than 0.1 mm RMS error for the hip module was achieved. We demonstrate coordinated operation of the two modules on a mannequin test platform with articulated and instrumented lower limbs.

Profiling the thermodynamic softness of adenoviral promoters.

We showed previously that anharmonic DNA dynamical features correlate with transcriptional activity in selected viral promoters, and hypothesized that areas of DNA softness may represent loci of functional significance. The nine known promoters from human adenovirus type 5 were analyzed for inherent DNA softness using the Peyrard-Bishop-Dauxois model and a statistical mechanics approach, using a transfer integral operator. We found a loosely defined pattern of softness peaks distributed both upstream and downstream of the transcriptional start sites, and that early transcriptional regions tended to be softer than late promoter regions. When reported transcription factor binding sites were superimposed on our calculated softness profiles, we observed a close correspondence in many cases, which suggests that DNA duplex breathing dynamics may play a role in protein recognition of specific nucleotide sequences and protein-DNA binding. These results suggest that genetic information is stored not only in explicit codon sequences, but also may be encoded into local dynamic and structural features, and that it may be possible to access this obscured information using DNA dynamics calculations.