Terrestrial locomotion characteristics of climbing perch (Anabas testudineus).

The evolution and utilization of limbs facilitated terrestrial vertebrate movement on land, but little is known about how other lateral structures enhance terrestrial locomotion in amphibian fishes without terrestrialized limb structures. Climbing perch (Anabas testudineus) exhibit sustained terrestrial locomotion using uniaxial rotating gill covers instead of appendages. To investigate the role of such simple lateral structures in terrestrial locomotion and the motion-generating mechanism of the corresponding locomotor structure configuration (gill covers and body undulation), we measured the terrestrial kinematics of climbing perch and quantitatively analysed its motion characteristics. The digitized locomotor kinematics showed a unique body postural adjustment ability that enables the regulation of the posture of the caudal peduncle for converting lateral bending force into propulsion. An analysis of the coordination characteristics demonstrated that the motion of the gill cover is kinematically independent of axial undulation, suggesting that the gill cover functions as an anchored simple support pole while axial undulation actively mediates body posture and produces propulsive force. The two identified feature shapes explained more than 87% of the complex lateral undulation in multistage locomotion. The kinematic characteristics enhance our understanding of the underlying coordinating mechanism corresponding to locomotor configurations. Our work provides quantitative insight into the terrestrial locomotor adaptation of climbing perch and sheds light on terrestrial motion potential of locomotor configurations containing a typical aquatic body and restricted lateral structure.

Exoskeleton-Assisted Anthropomorphic Movement Training for the Upper Limb After Stroke: The EAMT Randomized Trial.

BACKGROUND: Robot-assisted arm training is generally delivered in the robot-like manner of planar or mechanical 3-dimensional movements. It remains unclear whether integrating upper extremity (UE) natural coordinated patterns into a robotic exoskeleton can improve outcomes. The study aimed to compare conventional therapist-mediated training to the practice of human-like gross movements derived from 5 typical UE functional activities managed with exoskeletal assistance as needed for patients after stroke. METHODS: In this randomized, single-blind, noninferiority trial, patients with moderate-to-severe UE motor impairment due to subacute stroke were randomly assigned (1:1) to receive 20 sessions of 45-minute exoskeleton-assisted anthropomorphic movement training or conventional therapy. Treatment allocation was masked from independent assessors, but not from patients or investigators. The primary outcome was the change in the Fugl-Meyer Assessment for Upper Extremity from baseline to 4 weeks against a prespecified noninferiority margin of 4 points. Superiority would be tested if noninferiority was demonstrated. Post hoc subgroup analyses of baseline characteristics were performed for the primary outcome. RESULTS: Between June 2020 and August 2021, totally 80 inpatients (67 [83.8%] males; age, 51.9±9.9 years; days since stroke onset, 54.6±38.0) were enrolled, randomly assigned to the intervention, and included in the intention-to-treat analysis. The mean Fugl-Meyer Assessment for Upper Extremity change in exoskeleton-assisted anthropomorphic movement training (14.73 points; [95% CI, 11.43-18.02]) was higher than that of conventional therapy (9.90 points; [95% CI, 8.15-11.65]) at 4 weeks (adjusted difference, 4.51 points [95% CI, 1.13-7.90]). Moreover, post hoc analysis favored the patient subgroup (Fugl-Meyer Assessment for Upper Extremity score, 23-38 points) with moderately severe motor impairment. CONCLUSIONS: Exoskeleton-assisted anthropomorphic movement training appears to be effective for patients with subacute stroke through repetitive practice of human-like movements. Although the results indicate a positive sign for exoskeleton-assisted anthropomorphic movement training, further investigations into the long-term effects and paradigm optimization are warranted. REGISTRATION: URL: https://www.chictr.org.cn; Unique identifier: ChiCTR2100044078.

Working out the bipedal walking expenditure of energy based on foot morphology of different hominid genera: Implications for foot evolution.

Among the Hominidae family of primates, Homo is characterized by more economical bipedal walking. Over the course of evolution towards bipedalism, the foot becomes the only organ directly interacting with substrate and likely influence the bipedal walking economy. However, working out the energy expenditure in bipedal walking from the specific aspect of foot morphology is still challenging, which hinders the understanding of the evolution of both hominid feet and economical bipedal walking. Here we present a functional model to quantitatively assess bipedal walking expenditure of energy from hominid foot morphology. According to our results, the feet of Homo are most suited to economical bipedal walking among hominids. However, the genus whose feet possess second best ability for economical bipedal walking is not our closest relative Pan, but is Gorilla. Using phylogenetically informed morphometric analyses, we further infer the evolutionary changes of hominid foot morphology and investigate the corresponding variation of bipedal walking expenditure. Our results reveal the economical bipedal walking benefits from the morphological changes of human foot after descending from the last common ancestor of hominids. Conversely, the foot morphologies of great apes reflect selections for other locomotor modes, at cost of larger energy expenditure in bipedal walking.

Exoskeleton-Assisted Anthropomorphic Movement Training (EAMT) for Poststroke Upper Limb Rehabilitation: A Pilot Randomized Controlled Trial.

OBJECTIVE: To investigate the feasibility of exoskeleton-assisted anthropomorphic movement training (EAMT) and its effects on upper extremity motor impairment, function, and kinematics after stroke. DESIGN: A single-blind pilot randomized controlled trial. SETTING: Stroke rehabilitation inpatient unit. PARTICIPANTS: Participants with a hemiplegia (N=20) due to a first-ever, unilateral, subacute stroke who had a score of 8-47 on the Fugl-Meyer Assessment for Upper Extremity (FMA-UE). INTERVENTIONS: The exoskeleton group received EAMT therapy that provided task-specific training under anthropomorphic trajectories and postures. The control group received conventional upper limb therapy. For both groups, therapy was delivered at the same intensity, frequency, and duration: 45 minutes daily, 5 days per week, for 4 weeks. MAIN OUTCOME MEASURES: Primary outcome: feasibility analysis. SECONDARY OUTCOMES: FMA-UE, Action Research Arm Test (ARAT), modified Barthel Index (MBI), and kinematic metrics during exoskeleton therapy. RESULTS: Twenty participants with subacute stroke were recruited and completed all therapy sessions. EAMT therapy was feasible and acceptable for the participants. The recruitment rate, retention rate, and number of therapists required for EAMT therapy were acceptable compared with other robotic trials. EAMT was determined to be safe, as no adverse event occurred except tolerable muscle fatigue in 2 participants. There were significant between-group differences in the change scores of FMA-UE (difference, 4.30 points; P=.04) and MBI (difference, 8.70 points; P=.03) in favor of EAMT therapy. No significant between-group difference was demonstrated for the change scores of ARAT (P=.18). Participants receiving EAMT showed significant improvements in kinematic metrics after treatment (P<.01). CONCLUSIONS: Our results indicate that EAMT is a feasible approach and may improve upper extremity motor impairment, activities of daily living, and kinematics after stroke. However, fully powered randomized controlled trials are warranted to confirm the results of this pilot study and explore the underlying mechanisms by which EAMT therapy might work.

Reducing the metabolic energy of walking and running using an unpowered hip exoskeleton.

BACKGROUND: Walking and running are the most common means of locomotion in human daily life. People have made advances in developing separate exoskeletons to reduce the metabolic rate of walking or running. However, the combined requirements of overcoming the fundamental biomechanical differences between the two gaits and minimizing the metabolic penalty of the exoskeleton mass make it challenging to develop an exoskeleton that can reduce the metabolic energy during both gaits. Here we show that the metabolic energy of both walking and running can be reduced by regulating the metabolic energy of hip flexion during the common energy consumption period of the two gaits using an unpowered hip exoskeleton. METHODS: We analyzed the metabolic rates, muscle activities and spatiotemporal parameters of 9 healthy subjects (mean ± s.t.d; 24.9 ± 3.7 years, 66.9 ± 8.7 kg, 1.76 ± 0.05 m) walking on a treadmill at a speed of 1.5 m s-1 and running at a speed of 2.5 m s-1 with different spring stiffnesses. After obtaining the optimal spring stiffness, we recruited the participants to walk and run with the assistance from a spring with optimal stiffness at different speeds to demonstrate the generality of the proposed approach. RESULTS: We found that the common optimal exoskeleton spring stiffness for walking and running was 83 Nm Rad-1, corresponding to 7.2% ± 1.2% (mean ± s.e.m, paired t-test p < 0.01) and 6.8% ± 1.0% (p < 0.01) metabolic reductions compared to walking and running without exoskeleton. The metabolic energy within the tested speed range can be reduced with the assistance except for low-speed walking (1.0 m s-1). Participants showed different changes in muscle activities with the assistance of the proposed exoskeleton. CONCLUSIONS: This paper first demonstrates that the metabolic cost of walking and running can be reduced using an unpowered hip exoskeleton to regulate the metabolic energy of hip flexion. The design method based on analyzing the common energy consumption characteristics between gaits may inspire future exoskeletons that assist multiple gaits. The results of different changes in muscle activities provide new insight into human response to the same assistive principle for different gaits (walking and running).

The effects of compression stockings on the energetics and biomechanics during walking.

PURPOSE: The purpose of this study was to explore how compression stockings affect the energetics and biomechanics during walking. METHODS: Sixteen male adults participated in this study. Participants completed walking trials on the treadmill and force plates, wearing compression stockings (CS) or nothing as a control condition (CON). The data obtained included metabolic rate, muscle activation, step frequency and step length as well as their variability, joint kinematics and joint kinetics. RESULTS: The effect of compression stockings on metabolic rate was trivial (CS: 3.81 ± 0.44 W kg-1, CON: 3.83 ± 0.46 W kg-1, p = 0.84, d = 0.05). Activation of calf muscles, step frequency and step length as well as their variability, joint range of motion and joint powers did not show a significant difference between conditions (p = 0.09-0.90, d = 0.01-0.34). The peak knee extension moment during the early stance phase had a tendency to increase (CS: 0.57 ± 0.27 N m kg-1, CON: 0.51 ± 0.28 N m kg-1, p = 0.05, d = 0.19) while the peak knee flexion moment during the late swing phase had a tendency to decrease (CS: 0.16 ± 0.10 N m kg-1, CON: 0.19 ± 0.12 N m kg-1, p = 0.10, d = 0.21). The peak ankle dorsiflexion moment during the early stance phase significantly increased (CS: 0.11 ± 0.06 N m kg-1, CON: 0.08 ± 0.05 N m kg-1, p = 0.02, d = 0.58) while the peak ankle plantar flexion moment during the late swing phase significantly decreased (CS: 1.41 ± 0.12 N m kg-1, CON: 1.47 ± 0.14 N m kg-1, p = 0.02, d = 0.45). CONCLUSIONS: Compression stockings have a limited effect on improving energetics of walking, but they may play a role in improving biomechanics by altering the relative contribution of knee and ankle moments to propulsion.

Exploring the existence of better hands for manipulation than the human hand based on hand proportions.

Human exhibits the most dexterous manual manipulation among the anthropoids. The sophisticated dexterity of human hand has been linked to its distinctive morphology compared to the nonhuman anthropoids. The human hand is derived from the ancestral hands after longtime evolution. However, there are more possible morphologies that the hands could take during the evolutionary process. It remains unknown whether better hands for manipulation than the human hand exist among these possible hands. To answer the question, the relationship between the manipulative capability and hand morphology need to be investigated in the region of more possible hands. Here we employ a kinematic model to quantitatively assess the manipulative ability of the possible hands from the aspect of hand proportions. The segment length proportions of each possible hand are reconstructed by the major evolutionary patterns of the anthropoid hands. Our results reveal that too long and too short thumbs relative to fingers both hamper the manual dexterity, though the long thumb of human hand is traditionally thought to be beneficial to manipulation. The results promote the understanding of the link between hand morphology and function. Furthermore, we find out the optimal hand for dexterous manipulation within the region reconstructed by the major evolutionary patterns of the anthropoid hands. The optimal hand is more dexterous than the human hand. Compared to the optimal hand, the human hand has shorter metacarpals relative to phalanges, which is thought to be advantageous to the prehensility. It suggests that the human hand is not an organ exclusive for the dexterous manipulation, but a trade-off between multiple functions.

Assessing the manipulative potentials of monkeys, apes and humans from hand proportions: implications for hand evolution.

The hand structure possesses a greater potential for performing manipulative skills than is typically observed, whether in humans or non-human anthropoids. However, a precise assessment of the potential manipulative skills of hands has been challenging, which hampers our understanding of the evolution of manipulative abilities in anthropoid hands. Here, we establish a functional model to quantitatively infer the manipulative potentials of anthropoid hands based on hand proportions. Our results reveal a large disparity of manipulative potentials among anthropoid hands. From the aspect of hand proportions, the human hand has the best manipulative potential among anthropoids. However, the species with a manipulative potential closer to that of humans are not our nearest relatives, chimpanzees, but rather, are certain monkey species. In combination with the phylogenetically informed morphometric analyses, our results suggest that the morphological changes of non-human anthropoid hands did not coevolve with the brain to facilitate the manipulative ability during the evolutionary process, although the manipulative ability is a survival skill. The changes in non-human anthropoid hands may have more likely evolved under selective pressure for locomotion than manipulation.

Self-healing and adhesive MXene-polypyrrole/silk fibroin/polyvinyl alcohol conductive hydrogels as wearable sensor.

Conductive hydrogels become increasing attractive for flexible electronic devices and biosensors. However, challenges still remain in fabrication of flexible hydrogels with high electrical conductivity, self-healing capability and adhesion property. Herein, a conductive hydrogel (PSDM) was prepared by solution-gel method using MXene and dopamine modified polypyrrole as conductive enhanced materials, polyvinyl alcohol and silk fibroin as gel networks, and borax as cross-linking agent. Notably, the PSDM hydrogels not only showed high permeability (13.82 mg∙cm-2∙h-1), excellent stretch ability (1235 %), high electrical conductivity (11.3 S/m) and long-term stability, but also exhibited high adhesion performance and self-healing properties. PSDM hydrogels displayed outstanding sensing performance and durability for monitoring human activities including writing, finger bending and wrist bending. The PSDM hydrogel was made into wearable flexible electrodes and realized accurate, sensitive and reliable detection of human electromyographic and electrocardiographic signals. The sensor was also applied in human-computer interaction by collecting electromyography signals of different gestures for machine learning and gesture recognition. According to 480 groups of data collected, the recognition accuracy of gestures by the electrodes was close to 100 %, indicating that the PSDM hydrogel electrodes possessed excellent sensing performance for high precision data acquisition and human-computer interaction interface.

Influences of dynamic load phase shifts on the energetics and biomechanics of humans.

Using load-suspended backpacks to reduce vertical peak dynamic load exerted on humans can reduce metabolic costs. However, is it possible to further reduce metabolic cost by modulating dynamic load phase shift? If so, is anti-phase better than the others? In this study, we investigated the biomechanics, energetics and trunk response under phase shifts. Nine subjects wearing an active backpack with 19.4 kg loads walked on a treadmill at 5 km h-1 with four phase shift trials (T1-T4) and a load-locked trial (LK). Our results show that anti-phase trial (T3) assists ankle more and reduces the moment and gastrocnemius medialis activity, while T4 assists knee more and reduces the moment and rectus femoris activity. Due to the load injecting more mechanical energy into human in T3 and T4, the positive centre-of-mass work is significantly reduced. However, the gross metabolic rate is lowest in T4 and 4.43% lower than in T2, which may be because the activations of erector spinae and gluteus maximus are reduced in T4. In addition, T3 increases trunk extensor effort, which may weaken the metabolic advantage. This study provides guidance for improving assistance strategies and human-load interfaces and deepens the understanding of the energetics and biomechanics of human loaded walking.

Decomposition and Reconstruction of Human Palm Movements.

OBJECTIVE: The human hand is known to have excellent manipulation ability compared to other primate hands. Without the palm movements, the human hand would lose more than 40% of its functions. However, uncovering the constitution of palm movements is still a challenging problem involving kinesiology, physiology, and engineering science. METHODS: By recording the palm joint angles during common grasping, gesturing, and manipulation tasks, we built a palm kinematic dataset. Then, a method for extracting the eigen-movements to characterize the common motion correlation relationships of palm joints was proposed to explore the palm movement constitution. RESULTS: This study revealed a palm kinematic characteristic that we named the joint motion grouping coupling characteristic. During natural palm movements, there are several joint groups with a high degree of motor independence, while the movements of joints within each joint group are interdependent. Based on these characteristics, the palm movements can be decomposed into seven eigen-movements. The linear combinations of these eigen-movements can reconstruct more than 90% of palm movement ability. Moreover, combined with the palm musculoskeletal structures, we found that the revealed eigen-movements are associated with joint groups that are defined by muscular functions, which provided a meaningful context for palm movement decomposition. CONCLUSION: This paper suggests that some invariable characteristics underlie the variable palm motor behaviors and can be used to simplify palm movement generation. SIGNIFICANCE: This paper provides important insights into palm kinematics, and helps facilitate motor function assessment and the development of better artificial hands.

In pursuit of reconstructing missing human hands.

Exploring bio-intelligence of human limbs could provide a new perspective for reconstructing missing limbs.

FSG-based divinable time-varying formation tracking of multiple Lagrangian agents with unknown disturbances and directed graphs.

In this paper, a flexible shape generator (FSG) is designed to achieve the divinable transformation process of the time-varying formation, and consider the FSG-based time-varying formation tracking (TVFT) problem of multiple Lagrangian agents with unknown disturbances and directed graphs. A hierarchical control algorithm is newly designed to achieve the control goal without using the prior information of the system model and bounded disturbances, and the specific implementation of the proposed hierarchical algorithms is also provided. By using the Hurwitz criterion and adaptive system theory, the sufficient conditions are derived and the stability analysis show that the formation tracking errors of the considered system are uniform ultimate bounded. Several simulation examples are performed on five two-degree-of-freedom mechanical arms to show the effectiveness of theoretical results.

Exploring the effects of skeletal architecture and muscle properties on bipedal standing in the common chimpanzee (Pan troglodytes) from the perspective of biomechanics.

Introduction: It is well known that the common chimpanzee, as both the closest living relative to humans and a facultative bipedal, has the capability of bipedal standing but cannot do so fully upright. Accordingly, they have been of exceeding significance in elucidating the evolution of human bipedalism. There are many reasons why the common chimpanzee can only stand with its hips-knees bent, such as the distally oriented long ischial tubercle and the almost absent lumbar lordosis. However, it is unknown how the relative positions of their shoulder-hip-knee-ankle joints are coordinated. Similarly, the distribution of the biomechanical characteristics of the lower-limb muscles and the factors that affect the erectness of standing as well as the muscle fatigue of the lower limbs remain a mystery. The answers are bound to light up the evolutional mechanism of hominin bipedality, but these conundrums have not been shed much light upon, because few studies have comprehensively explored the effects of skeletal architecture and muscle properties on bipedal standing in common chimpanzees. Methods: Thus, we first built a musculoskeletal model comprising the head-arms-trunk (HAT), thighs, shanks, and feet segments of the common chimpanzee, and then, the mechanical relationships of the Hill-type muscle-tendon units (MTUs) in bipedal standing were deduced. Thereafter, the equilibrium constraints were established, and a constrained optimization problem was formulated where the optimization objective was defined. Finally, thousands of simulations of bipedal standing experiments were performed to determine the optimal posture and its corresponding MTU parameters including muscle lengths, muscle activation, and muscle forces. Moreover, to quantify the relationship between each pair of the parameters from all the experimental simulation outcomes, the Pearson correlation analysis was employed. Results: Our results demonstrate that in the pursuit of the optimal bipedal standing posture, the common chimpanzee cannot simultaneously achieve maximum erectness and minimum muscle fatigue of the lower limbs. For uni-articular MTUs, the relationship between muscle activation, relative muscle lengths, together with relative muscle forces, and the corresponding joint angle is generally negatively correlated for extensors and positively correlated for flexors. For bi-articular MTUs, the relationship between muscle activation, coupled with relative muscle forces, and the corresponding joint angles does not show the same pattern as in the uni-articular MTUs. Discussion: The results of this study bridge the gap between skeletal architecture, along with muscle properties, and biomechanical performance of the common chimpanzee during bipedal standing, which enhances existing biomechanical theories and advances the comprehension of bipedal evolution in humans.

Exoskeleton-Assisted Sit-to-Stand Training Improves Lower-Limb Function Through Modifications of Muscle Synergies in Subacute Stroke Survivors.

Abnormal muscle synergies during sit-to-stand (STS) transitions have been observed post-stroke, which are associated with deteriorated lower-limb function and mobility. Although exoskeletons have been used in restoring lower-limb function, their effects on muscle synergies and lower-limb motor recovery remain unclear. Here, we characterized normal muscle synergy patterns during STS activity in ten healthy adults as a reference, comparing with pathological muscle synergy patterns in ten participants with subacute stroke. Moreover, we assessed the effects of a 3-week exoskeleton-assisted STS training intervention on muscle synergies and clinical scores in seven stroke survivors. We also investigated correlations between neuromuscular complexity of muscle synergies and clinical scores. Our results showed that the STS task involved three motor modules representing distinct biomechanical functions among healthy subjects. In contrast, stroke participants showed 3 abnormal modules for the paretic leg and 2 modules for the non-paretic leg. After the intervention, muscle synergies partially shifted towards the normal pattern observed in healthy subjects on the paretic side. On the non-paretic side, the synergy modules increased to three and neuromuscular coordination improved. Furthermore, the significant intervention-induced increases in Fugl-Meyer Assessment of Lower Extremity and Berg Balance Scale scores were associated with improved muscle synergies on the non-paretic side. These results indicate that the paretic side demonstrates abnormal changes in muscle synergies post-stroke, while the non-paretic side can synergistically adapt to post-stroke biomechanical deviations. Our data show that exoskeleton-based training improved lower-limb function post-stroke by inducing modifications in muscle synergies.

Modulating Energy Among Foot-Ankle Complex With an Unpowered Exoskeleton Improves Human Walking Economy.

Over the course of both evolution and development, the human musculoskeletal system has been well shaped for the cushion function of the foot during foot-strike and the impulsive function of the ankle joint during push-off. Nevertheless, an efficient energy interaction between foot structure and ankle joint is still lacking in the human body itself, which may limit the further potential of economical walking. Here we showed the metabolic expenditure of walking can be lessened by an unpowered exoskeleton robot that modulates energy among the foot-ankle complex towards a more effective direction. The unpowered exoskeleton recycles negative mechanical energy of the foot that is normally dissipated in heel-strike, retains the stored energy before mid-stance, and then transfers the energy to the ankle joint to assist the push-off. The modulation process of the exoskeleton consumes no input energy, yet reduces the metabolic cost of walking by 8.19 ± 0.96 % (mean ± s.e.m) for healthy subjects. The electromyography measurements demonstrate the activities of target ankle plantarflexors decreased significantly without added effort for the antagonistic muscle, suggesting the exoskeleton enhanced the subjects' energy efficiency of the foot-ankle complex in a natural manner. Furthermore, the exoskeleton also provides cushion assistance for walking, which leads to significantly decreased activity of the quadriceps muscle during heel-strike. Rather than strengthening the functions of existing biological structures, developing the complementary energy loop that does not exist in the human body itself also shows its potential for gait assistance.

pH-Switchable Antimicrobial Supramolecular Hydrogels for Synergistically Eliminating Biofilm and Promoting Wound Healing.

Biofilm infection will cause chronic inflammation and hinder the normal healing process of wound. Here, based on the self-assembly of three designed amphiphilic pentapeptides named EK, GG, and DR, pH-switchable antibacterial hydrogels with amphiphilic fiber network are used for the eradication of biofilms and the rescue of delayed healing in infected wounds. These pentapeptides-based hydrogels exhibit an acidic pH-switchable antimicrobial effect and are biocompatible at neutral pH. Additionally, supramolecular nanofiber networks with physical cross-linking with thermosensitive polymers (PNIPAm) and loaded antibacterial oregano oil are further developed. In vitro experiments indicate that the antimicrobial activity of hydrogels comes from the disassembly of acidic pH-dependent nanofiber network and activated release of pentapeptides and oregano oil, which achieves synergistic biofilm eradication. Remarkably, DR-based supramolecular hydrogel improves the healing efficiency of the full-thickness wound of skin in vivo, which is manifested by increased wound closure rate, reduced inflammatory response, faster angiogenesis, and collagen deposition in the wound, exhibiting great potential as wound dressing. The proposed synergistic strategy of inhibiting biofilm formation and activating healing may provide an efficient method for the treatment of clinically infected wounds.

Muscle-Effort-Minimization-Inspired Kinematic Redundancy Resolution for Replicating Natural Posture of Human Arm.

Replicating natural postures of human arms is essential to generate human-like behaviors in robotic applications for humans nearby. However, how to realize this requirement in interactive scenarios remains a challenge due to the kinematic redundancy and unknown postural control strategy of human arms. Inspired by the physiological characteristics that the musculoskeletal system is coordinated to minimize muscle effort in human behaviors, this paper aims to address the issue by solving a muscle effort minimization problem. It adopts a high-fidelity human arm musculoskeletal model (HAMM) and considers the implicit constraint (desired hand pose) and the inequality constraints (range of joint motion). The constrained minimization is in general nonconvex, consequently sensitive to initial guesses in iterative procedures. So, it is impracticable to solve it directly with existing gradient-based deterministic approaches or standard evolutionary algorithms. As the main contribution, a hybrid inverse kinematics algorithm was proposed for the HAMM with 7 independent and 13 mimic joints to obtain the feasible arm postures satisfying the minimization constraints. Using the arm swivel angle that parametrizes the kinematic redundancy of the HAMM, geometrically equidistant initial guess candidates can be generated over the 1-dimension feasible posture manifold. As another contribution, we present a two-phase global minimization algorithm to handle the nonconvexity of the constrained minimization. It consists of a local-search phase on the null-space of the geometric Jacobian matrix and a global-search phase with an initial guess resampling strategy. The proposed approach was validated by replicating the natural arm postures of 5 right-handed subjects in daily tasks.

Fermentation-Inspired Gelatin Hydrogels with a Controllable Supermacroporous Structure and High Ductility for Wearable Flexible Sensors.

Supermacroporous hydrogels have attracted wide concern due to their comfort and breathability in wearable health-monitoring applications. Size controllable supermacroporous structure and excellent mechanical properties are the most important for its application. However, they are normally fabricated by the cryogelation method, which is difficult to control pore size and maintain flexibility. Here, yeast fermentation-inspired gelatin hydrogels with a controllable supermacroporous structure and excellent mechanical properties were fabricated for the first time. The pore size can be controlled by adjusting the content of glucose and yeast, the ratio of glucose to yeast, fermentation time, and gelatin content during fermentation. The hydrogels demonstrated a controllable pore size range from 100 to 400 µm and rapid swelling characteristics. The mechanical properties were maintained by soaking ammonium sulfate solution for 12 h, showing maximum tensile and compressive strains over 300 and 99%, respectively. This novel approach can be easily applied to the preparation of supermacroporous and high ductility hydrogels under mild conditions. Furthermore, conductive hydrogels combined supermacroporous structures with conductive polyaniline and reduced oxidized graphene, and silver nanowires were prepared as wearable flexible sensors. The obtained sensors maintain well-distributed porosity, breathability, and mechanical flexibility, also showing excellent conductivity of 2.4 S m-1. Finally, the sensors were successfully applied to detect physiological signals and human-computer interaction.

Flexible porous Gelatin/Polypyrrole/Reduction graphene oxide organohydrogel for wearable electronics.

Conductive hydrogel-based flexible electronics have attracted immense interest in wearable sensor, soft robot and human-machine interface. However, the application of hydrogels in flexible electronics is limited by the deterioration of mechanical and electrical properties due to freezing at low temperature and desiccation after long-term use. Meanwhile, flexible electronics based on hydrogel are usually not breathable, which has a great impact on wearing comfort and signal stability in long-term sensing. In this work, an adjustable porous gelatin/polypyrrole/reduction graphene oxide (Gel/PPy/rGO) organohydrogel with high breathability (14 g∙cm-2∙h-1), conductivity (5.25 S/m), mechanical flexibility, anti-freezing and long-term stability is prepared via the combination method of biological fermentation and salt-out toughening crosslinking. The sensor fabricated from the prepared porous organohydrogel exhibits excellent sensing sensitivity, fast response ability, and good endurance, which monitors both weak and intense human activities effectively like finger bending, elbow bending, walking and running, and tiny pulse beating. A pressure sensor array prepared from the porous organohydrogel detects pressure variation in 2D sensitively. Furthermore, the porous organohydrogel is utilized as flexible electrodes for the accurate collection and recognition of human physiological signals (EMG, ECG) and as an interface between human and machine.