Thermomorphogenesis of the Arabidopsis thaliana root: Flexible cell division, constrained elongation, and the role of cryptochrome.

Understanding how plants respond to temperature is relevant for agriculture in a warming world. Responses to temperature of the shoot have been characterized more fully than those of the root. Previous work on thermomorphogenesis in roots established that for Arabidopsis thaliana (Columbia) seedlings grown continuously at a given temperature, the root meristem produces cells at the same rate at 15 as at 25ºC and the root's growth zone is the same length. To uncover the pathway(s) underlying this constancy, we screened 34 A. thaliana genotypes for parameters related to growth and division. No line failed to respond to temperature. Behavior was little affected by mutations in phytochrome or other genes that underly thermomorphogenesis in shoots. However, a mutant in cryptochrome2 was disrupted substantially in both cell division and elongation, specifically at 15ºC. Among the 34 lines, cell production rate varied extensively and was associated only weakly with root growth rate; in contrast, parameters relating to elongation were stable. Our data are consistent with models of root growth that invoke cell non-autonomous regulation for establishing boundaries between meristem, elongation zone, and mature zone.

Plant chromosome polytenization contributes to suppression of the root growth in high-polyploids.

Autopolyploidization, which refers to a polyploidization via genome duplication without a hybridization, promotes growth in autotetraploids, but suppresses growth in high-polyploids (autohexaploids or autooctoploids). The mechanism underlying this growth suppression (i.e., "high-ploidy syndrome") has not been comprehensively characterized. In this study, we conducted a kinematic analysis of the root apical meristem cells in Arabidopsis thaliana autopolyploids (diploid, tetraploid, hexaploid, and octoploid) to determine the effects of the progression of genome duplication on root growth. The results of the root growth analysis showed that tetraploidization increases the cell volume, but decreases cell proliferation. However, cell proliferation and volume growth are suppressed in high-polyploids. The whole-mount fluorescence in situ hybridization analysis revealed extensive chromosome polytenization in the region where cell proliferation does not usually occur in the high-polyploid roots, which is likely at least partly correlated with the suppression of endoreduplication. The study findings suggest that chromosome polytenization is important for the suppressed growth of high-polyploids.

The Role of Cerebellum and Basal Ganglia Functional Connectivity in Altered Voluntary Movement Execution in Essential Tremor.

Substantial evidence highlights the role of the cerebellum in the pathophysiology of tremor in essential tremor (ET), although its potential involvement in altered movement execution in this condition remains unclear. This study aims to explore potential correlations between the cerebellum and basal ganglia functional connectivity and voluntary movement execution abnormalities in ET, objectively assessed with kinematic techniques. A total of 20 patients diagnosed with ET and 18 healthy subjects were enrolled in this study. Tremor and repetitive finger tapping were recorded using an optoelectronic kinematic system. All participants underwent comprehensive 3T-MRI examinations, including 3D-T1 and blood-oxygen-level dependent (BOLD) sequences during resting state. Morphometric analysis was conducted on the 3D-T1 images, while a seed-based analysis was performed to investigate the resting-state functional connectivity (rsFC) of dorsal and ventral portions of the dentate nucleus and the external and internal segments of the globus pallidus. Finally, potential correlations between rsFC alterations in patients and clinical as well as kinematic scores were assessed. Finger tapping movements were slower in ET than in healthy subjects. Compared to healthy subjects, patients with ET exhibited altered FC of both dentate and globus pallidus with cerebellar, basal ganglia, and cortical areas. Interestingly, both dentate and pallidal FC exhibited positive correlations with movement velocity in patients, differently from that we observed in healthy subjects, indicating the higher the FC, the faster the finger tapping. The findings of this study indicate the possible role of both cerebellum and basal ganglia in the pathophysiology of altered voluntary movement execution in patients with ET.

Cellular dynamics in the maize leaf growth zone during recovery from chilling depends on the leaf developmental stage.

KEY MESSAGE: A novel non-steady-state kinematic analysis shows differences in cell division and expansion determining a better recovery from a 3-day cold spell in emerged compared to non-emerged maize leaves. Zea mays is highly sensitive to chilling which frequently occurs during its seedling stage. Although the direct effect of chilling is well studied, the mechanisms determining the subsequent recovery are still unknown. Our goal is to determine the cellular basis of the leaf growth response to chilling and during recovery of leaves exposed before or after their emergence. We first studied the effect of a 3-day cold spell on leaf growth at the plant level. Then, we performed a kinematic analysis to analyse the dynamics of cell division and elongation during recovery of the 4th leaf after exposure to cold before or after emergence. Our results demonstrated cold more strongly reduced the final length of non-emerged than emerged leaves (- 13 vs. - 18%). This was not related to growth differences during cold, but a faster and more complete recovery of the growth of emerged leaves. This difference was due to a higher cell division rate on the 1st and a higher cell elongation rate on the 2nd day of recovery, respectively. The dynamics of cell division and expansion during recovery determines developmental stage-specific differences in cold tolerance of maize leaves.

Objective assessment of the effects of opicapone in Parkinson's disease through kinematic analysis.

BACKGROUND: Opicapone (OPC) is a third-generation, selective peripheral COMT inhibitor that improves peripheral L-DOPA bioavailability and reduces OFF time and end-of-dose motor fluctuations in Parkinson's disease (PD) patients. OBJECTIVES: In this study, we objectively assessed the effects of adding OPC to L-DOPA on bradykinesia in PD through kinematic analysis of finger movements. METHODS: We enrolled 20 treated patients with PD and motor fluctuations. Patients underwent two experimental sessions (L-DOPA, L-DOPA + OPC), separated by at least 1 week. In each session, patients were clinically evaluated and underwent kinematic movement analysis of repetitive finger movements at four time points: (i) before their usual morning dose of L-DOPA (T0), (ii) 30 min (T1), (iii) 1 h and 30 min (T2), and (iv) 3 h and 30 min after the L-DOPA intake (T3). RESULTS: Movement velocity and amplitude of finger movements were higher in PD patients during the session with OPC compared to the session without OPC at all the time points tested. Importantly, the variability of finger movement velocity and amplitude across T0-T3 was significantly lower in the L-DOPA + OPC than L-DOPA session. CONCLUSIONS: This study is the first objective assessment of the effects of adding OPC to L-DOPA on bradykinesia in patients with PD and motor fluctuations. OPC, in addition to the standard dopaminergic therapy, leads to significant improvements in bradykinesia during clinically relevant periods associated with peripheral L-DOPA dynamics, i.e., the OFF state in the morning, delayed-ON, and wearing-OFF periods.

Deep learning-based video-analysis of instrument motion in microvascular anastomosis training.

PURPOSE: Attaining sufficient microsurgical skills is paramount for neurosurgical trainees. Kinematic analysis of surgical instruments using video offers the potential for an objective assessment of microsurgical proficiency, thereby enhancing surgical training and patient safety. The purposes of this study were to develop a deep-learning-based automated instrument tip-detection algorithm, and to validate its performance in microvascular anastomosis training. METHODS: An automated instrument tip-tracking algorithm was developed and trained using YOLOv2, based on clinical microsurgical videos and microvascular anastomosis practice videos. With this model, we measured motion economy (procedural time and path distance) and motion smoothness (normalized jerk index) during the task of suturing artificial blood vessels for end-to-side anastomosis. These parameters were validated using traditional criteria-based rating scales and were compared across surgeons with varying microsurgical experience (novice, intermediate, and expert). The suturing task was deconstructed into four distinct phases, and parameters within each phase were compared between novice and expert surgeons. RESULTS: The high accuracy of the developed model was indicated by a mean Dice similarity coefficient of 0.87. Deep learning-based parameters (procedural time, path distance, and normalized jerk index) exhibited correlations with traditional criteria-based rating scales and surgeons' years of experience. Experts completed the suturing task faster than novices. The total path distance for the right (dominant) side instrument movement was shorter for experts compared to novices. However, for the left (non-dominant) side, differences between the two groups were observed only in specific phases. The normalized jerk index for both the right and left sides was significantly lower in the expert than in the novice groups, and receiver operating characteristic analysis showed strong discriminative ability. CONCLUSION: The deep learning-based kinematic analytic approach for surgical instruments proves beneficial in assessing performance in microvascular anastomosis. Moreover, this methodology can be adapted for use in clinical settings.

Design and Validation of a Novel Robotic Neck Brace for Cervical Traction.

Cervical traction is a common and effective treatment for degenerative disk diseases and pain in the cervical spine. However, the manual or mechanical methods of applying traction to the head-neck are limited due to variability in the applied forces and orientation of the head-neck relative to the shoulder during the procedure. Current robotic neck braces are not designed to provide independent rotation angles and independent vertical translation, or traction, to the brace end-effector connected to the head, making them unsuitable for traction application. This work proposes a novel architecture of a robotic neck brace, which can provide vertical traction to the head while keeping the head in a prescribed orientation, with flexion and lateral bending angles. In this paper, the kinematics of the end-effector attached to the head relative to a coordinate frame on the shoulders are described as well as the velocity kinematics and force control. The paper also describes benchtop experiments designed to validate the position control and the ability of the brace to provide a vertical traction force. It was shown that the maximum achievable end-effector orientations are 16° in flexion, 13.9° in extension, and ± 6.5° in lateral bending. The kinematic model of the active brace was validated using an independent motion capture system with a maximum root mean square error of 2.41°. In three different orientations of the end-effector, neutral, flexed, and laterally bent, the brace was able to provide a consistent upward traction force during intermittent force application. In these configurations, the force error has standard deviations of 0.55, 0.29, and 0.07N, respectively. This work validates the mechanism's ability to achieve a range of head orientations and provide consistent upward traction force in these orientations, making it a promising intervention tool in cases of cervical disk degeneration.

TAT-HUM: Trajectory analysis toolkit for human movements in Python.

Human movement trajectories can reveal useful insights regarding the underlying mechanisms of human behaviors. Extracting information from movement trajectories, however, can be challenging because of their complex and dynamic nature. The current paper presents a Python toolkit developed to help users analyze and extract meaningful information from the trajectories of discrete rapid aiming movements executed by humans. This toolkit uses various open-source Python libraries, such as NumPy and SciPy, and offers a collection of common functionalities to analyze movement trajectory data. To ensure flexibility and ease of use, the toolkit offers two approaches: an automated approach that processes raw data and generates relevant measures automatically, and a manual approach that allows users to selectively use different functions based on their specific needs. A behavioral experiment based on the spatial cueing paradigm was conducted to illustrate how one can use this toolkit in practice. Readers are encouraged to access the publicly available data and relevant analysis scripts as an opportunity to learn about kinematic analysis for human movements.

A violation of Fitts' Law occurs when a target range is presented before and during movement.

According to Fitts' Law, the time to reach a target (movement time, MT) increases with distance. A violation of Fitts' Law occurs when target positions are outlined before and during movement, as MTs are not different when reaching to the farthest and penultimate targets. One hypothesis posits that performers cognitively process the edges of a target array before the center, allowing for corrective movements to be completed more quickly when moving to edge targets compared to middle targets. The objective of this study was to test this hypothesis by displaying a target range rather than outlines of individual targets in an effort to identify the effects of array edges. Using a touch-screen laptop, participants (N = 24) were asked to reach to one of three targets which would appear within a presented range. Separately, targets were also presented without a range to determine if the display protocol could evoke Fitts' Law. Movements were assessed with the touch screen and optical position measurement. A main effect was found for relative position within a range (touch: F2,44 = 15.4, p < 0.001, η2p = 0.412; position: F2,40 = 15.6, p < 0.001, η2p = 0.439). As hypothesised, MT to the farthest target in a range was not significantly different than MT to the middle target (touch: p = 0.638, position: p = 0.449). No violation was found when a target range was not presented (touch: p = 0.003, position: p = 0.001). Thus, a target range reproduces the Fitts' Law violation previously documented with individually outlined targets, which supports and extends the discussed hypothesis.

Anticipatory postural adjustments and kinematic analysis of step ascent and descent in adults with Down syndrome.

BACKGROUND: Step ascent and descent is one of the most common daily tasks. Although it is generally considered a rather simple movement, it may not be so easy for participants with Down syndrome. METHODS: A kinematic analysis of step ascent and descent was conducted, and a comparison between 11 adult participants with Down syndrome and 23 healthy participants was carried out. This analysis was accompanied by a posturographic analysis with the aim of evaluating aspects relating to balance. The principal aim of postural control was to investigate the trajectory of the centre of pressure, while the kinematic analysis of movement included the following: (1) the analysis of anticipatory postural adjustments, (2) the calculation of spatiotemporal parameters and (3) the evaluation of articular range of motion. RESULTS: A general instability for participants with Down syndrome, highlighted in the postural control by an increased anteroposterior and mediolateral excursion, when the test was conducted with both open and closed eyes, was found out. Regarding anticipatory postural adjustments, this deficit in balance control was revealed by the execution of small steps before completing the movement and by a much longer preparation time anticipating the movement. In addition, the kinematic analysis reported a longer ascent and descent time and a lower velocity, accompanied by a greater rising of both limbs in ascent, which indicates an increased perception of the obstacle. Finally, a wider trunk range of motion in both the sagittal and frontal planes was revealed. CONCLUSIONS: All the data confirm a compromised balance control that could be associated with damage to the sensorimotor centre.

Longitudinal Analysis of Dysphagia and Factors Related to Postoperative Pneumonia in Patients Undergoing Esophagectomy for Esophageal Cancer.

Few studies have quantified longitudinal changes in swallowing in patients undergoing esophagectomy for esophageal cancer. This study longitudinally analyzed the changes in the Modified Barium Swallow Study Impairment Profile (MBSImP™) scores, swallowing kinematic measurements, and swallowing-related symptoms in patients undergoing esophagectomy. We also examined the association between identified swallowing impairment and aspiration pneumonia after surgery. We included consecutive patients who underwent esophagectomy and completed laryngoscopy and videofluoroscopy before, two weeks, and three months after surgery. We analyzed physiological impairments using the MBSImP. We also assessed the swallowing kinematics on a 5 mL thickened liquid bolus at three time points. Vocal fold mobility was assessed using a laryngoscope. Repeated measures were statistically examined for longitudinal changes in swallowing function. The association between the significant changes identified after esophagectomy and aspiration pneumonia was tested. Twenty-nine patients were included in this study. Preoperative swallowing function was intact in all participants. The timing of swallowing initiation and opening of the pharyngoesophageal segment remained unchanged after surgery. Tongue base retraction and pharyngeal constriction ratio worsened two weeks after surgery but returned to baseline levels three months after surgery. Three months after surgery, hyoid displacement and vocal fold immobility did not fully recover. Aspiration pneumonia occurred in nine patients after surgery and was associated with postoperative MBSImP pharyngeal residue scores. Decreased hyoid displacement and vocal fold immobility were observed postoperatively and persisted for a long time. The postoperative pharyngeal residue was associated with pneumonia and thus should be appropriately managed after surgery.

Movement Prototypes in a Complex Teamgym Gymnastics Technique on the Vaulting Table and Their Relationship with Judges' Scores.

A successful high-level gymnastics performance is the result of the coordination and inter-relation of body segments to produce movement prototypes. In this context, the exploration of different movement prototypes, as well as their relations with judges' scores, can aid coaches to design better learning and practice methodologies. Therefore, we investigate if there are different movement prototypes of the technique of the handspring tucked somersault with a half twist (HTB) on a mini trampoline with a vaulting table and its relations with judges' scores. We assessed flexion/extension angles of five joints during fifty trials, using an inertial measurement unit system. All trials were scored by international judges for execution. A multivariate time series cluster analysis was performed to identify movement prototypes and their differential association with judges' scores was statistically assessed. Nine different movement prototypes were identified for the HTB technique, with two of them associated with higher scores. Statistically strong associations were found between scores and movement phases one (i.e., from the last step on the carpet to the initial contact of both feet with the mini trampoline), two (i.e., from the initial contact to the take-off on the mini trampoline) and four (i.e., from the initial contact of both hands with the vaulting table to take-off on the vaulting table) and moderate associations with movement phase six (i.e., from the tucked body position to landing with both feet on the landing mat). Our findings suggest (a) the presence of multiple movement prototypes yielding successful scoring and (b) the moderate-to-strong association of movement variations along phases one, two, four and six with judges' scores. We suggest and provide guidelines for coaches to encourage movement variability that can lead their gymnasts to functionally adapt their performance and succeed when facing different constraints.

Design and Control of a Single-Leg Exoskeleton with Gravity Compensation for Children with Unilateral Cerebral Palsy.

Children with cerebral palsy (CP) experience reduced quality of life due to limited mobility and independence. Recent studies have shown that lower-limb exoskeletons (LLEs) have significant potential to improve the walking ability of children with CP. However, the number of prototyped LLEs for children with CP is very limited, while no single-leg exoskeleton (SLE) has been developed specifically for children with CP. This study aims to fill this gap by designing the first size-adjustable SLE for children with CP aged 8 to 12, covering Gross Motor Function Classification System (GMFCS) levels I to IV. The exoskeleton incorporates three active joints at the hip, knee, and ankle, actuated by brushless DC motors and harmonic drive gears. Individuals with CP have higher metabolic consumption than their typically developed (TD) peers, with gravity being a significant contributing factor. To address this, the study designed a model-based gravity-compensator impedance controller for the SLE. A dynamic model of user and exoskeleton interaction based on the Euler-Lagrange formulation and following Denavit-Hartenberg rules was derived and validated in Simscape™ and Simulink® with remarkable precision. Additionally, a novel systematic simplification method was developed to facilitate dynamic modelling. The simulation results demonstrate that the controlled SLE can improve the walking functionality of children with CP, enabling them to follow predefined target trajectories with high accuracy.

What Are We Aiming for in Eccentric Hamstring Training: Angle-Specific Control or Supramaximal Stimulus?

CONTEXT: Different resistance exercise determinants modulate the musculotendinous adaptations following eccentric hamstring training. The Nordic Hamstring Exercise (NHE) can be performed 2-fold: the movement velocity irreversibly increases toward the end of the range of motion or it is kept constant. DESIGN: This cross-sectional study aimed to investigate if the downward acceleration angle (DWAangle) can be used as a classification parameter to distinguish between increasing and constant velocity NHE execution. Furthermore, the kinetic and kinematic differences of these 2 NHE execution conditions were examined by analyzing the DWAangle in relation to the angle of peak moment. METHODS: A total of 613 unassisted NHE repetitions of 12 trained male sprinters (22 y, 181 cm, 76 kg) were analyzed. RESULTS: The majority of analyzed parameters demonstrated large effects. NHEs with constant velocity  (n = 285) revealed significantly higher impulses (P < .001; d = 2.34; + 61%) and fractional time under tension (P < .001; d = 1.29; +143%). Although the generated peak moments were significantly higher for constant velocity (P = .003; d = 0.29; +4%), they emerged at similar knee flexion angles (P = .167; d = 0.28) and revealed on average just low relationships to the DWAangle (Rmean2=22.4%). DWAangle highly correlated with the impulse (Rmean2=60.8%) and δ (DWAangle-angle of peak moment; Rmean2=83.6%). CONCLUSIONS: Relating DWAangle to angle of peak moment assists to distinguish between significantly different NHE execution, which will potentially elicit different musculotendinous adaptations. These insights are essential for coaches and athletes to understand how to manipulate eccentric hamstring training to change its purpose.

Distinct gait dimensions are modulated by physical activity in Parkinson's disease patients.

Parkinson's disease (PD) is the fastest growing neurodegenerative disease, but disease-modifying or preventive treatments are lacking. Physical activity is a modifiable factor that decreases the PD risk and improves motor symptoms in PD. Understanding which dimensions of gait performance correlate with physical activity in PD can have important pathophysiological and therapeutic implications. Clinical/demographic data together with physical activity levels were collected from thirty-nine PD patients. Gait analysis was performed wearing seven inertial measurement units on the lower body, reconstructing the subjects' lower body motion using 3D kinematic biomechanical models. Higher physical activity scores were significantly correlated with MDS-UPDRS part III scores (r = - 0.58, p value = 9.2 × 10-5), age (r = - 0.39, p value = 1.5 × 10-2) and quality-of-life (r = - 0.47, p value = 5.9 × 10-3). Physical activity was negatively associated with MDS-UPDRS part III scores after adjusting for age and disease duration (ß = - 0.08530, p value = 0.0010). The effect of physical activity on quality-of-life was mediated by the MDS-UPDRS part III (62.10%, 95% CI = 0.0758-1.78, p value = 0.022). The level of physical activity was correlated primarily with spatiotemporal performance. While spatiotemporal performance displays the strongest association with physical activity, other quality-of-movement dimensions of clinical relevance (e.g., smoothness, rhythmicity) fail to do so. Interventions targeting these ought to be leveraged for performance enhancement in PD through neuroprotective and brain network connectivity strengthening. It remains to be ascertained to which extent these are amenable to modulation.

Kinematic analysis of activities of daily living performance in frail elderly.

BACKGROUND: Frailty is accompanied by limitations of activities of daily living (ADL) and frequently associated with reduced quality of life, institutionalization, and higher health care costs. Despite the importance of ADL performance for the consequence of frailty, movement analyses based on kinematic markers during the performance of complex upper extremity-based manual ADL tasks in frail elderly is still pending. The main objective of this study was to evaluate if ADL task performance of two different tasks in frail elderlies can be assessed by an activity measurement based on an acceleration sensor integrated into a smartwatch, and further to what degree kinematic parameters would be task independent. METHODS: ADL data was obtained from twenty-seven elderly participants (mean age 81.6 ± 7.0 years) who performed two ADL tasks. Acceleration data of the dominant hand was collected using a smartwatch. Participants were split up in three groups, F (frail, n = 6), P (pre-frail, n = 13) and R (robust, n = 8) according to a frailty screening. A variety of kinematic measures were calculated from the vector product reflecting activity, agility, smoothness, energy, and intensity. RESULTS: Measures of agility, smoothness, and intensity revealed significant differences between the groups (effect sizes combined over tasks η2p = 0.18 - 0.26). Smoothness was particularly affected by frailty in the tea making task, while activity, agility, a different smoothness parameter and two intensity measures were related to frailty in the gardening task. Four of nine parameters revealed good reliability over both tasks (r = 0.44 - 0.69). Multiple linear regression for the data combined across tasks showed that only the variability of the magnitude of acceleration peaks (agility) contributed to the prediction of the frailty score (R2 = 0.25). CONCLUSION: The results demonstrate that ADL task performance can be assessed by smartwatch-based measures and further shows task-independent differences between the three levels of frailty. From the pattern of impaired and preserved performance parameters across the tested tasks, we concluded that in persons with frailty ADL performance was more impaired by physiological deficiencies, i.e., physical power and endurance, than by cognitive functioning or sensorimotor control.

Home office versus ergonomic workstation - is the ergonomic risk increased when working at the dining table? An inertial motion capture based pilot study.

BACKGROUND: In order to reduce the risk of infection with Sars-Cov-2, work practices have been shifted to the home office in many industries. The first surveys concerning this shift indicate an increase in musculoskeletal complaints of many employees. The aim of this study was to compare the ergonomic risk in the upper extremities and trunk of working in a home office with that of working in an ergonomically optimized workplace. METHODS: For this purpose, 20 subjects (13w/7m) aged 18-31 years each performed a 20-minute workplace simulation (10 min writing a text, 10 min editing a questionnaire) in the following set up: on a dining table with dining chair and laptop (home office) and on an ergonomically adjusted workstation (ergonomically optimized workplace). The subjects were investigated using a combined application of a motion capture kinematic analysis and the rapid upper limb assessment (RULA) in order to identify differences in the ergonomic risk. RESULTS: Significantly reduced risk values for both shoulders (left: p < 0.001; right: p = 0.02) were found for the ergonomically optimized workstations. In contrast, the left wrist (p = 0.025) showed a significantly reduced ergonomic risk value for the home office workstation. CONCLUSION: This study is the first study to compare the ergonomic risk between an ergonomically optimized workplace and a home office workstation. The results indicate minor differences in the upper extremities in favor of the ergonomically optimized workstation. Since work-related musculoskeletal complaints of the upper extremities are common among office workers, the use of an ergonomically optimized workstation for home use is recommended based on the results.

Design and Research of an Underactuated Manipulator Based on the Metamorphic Mechanism.

Robot hands play an important role in the interaction between robots and the environment, and the precision and complexity of their tasks in work production are becoming higher and higher. However, because the traditional manipulator has too many driving components, complex control, and a lack of versatility, it is difficult to solve the contradiction between the degrees of freedom, weight, flexibility, and grasping ability. The existing manipulator has difficulty meeting the diversified requirements of a simple structure, a large grasping force, and the ability to automatically adapt to shape when grasping an object. To solve this problem, we designed a kind of underactuated manipulator with a simple structure and strong generality based on the metamorphic mechanism principle. First, the mechanism of the manipulator was designed on the basis of the metamorphic mechanism principle, and a kinematics analysis was carried out. Then, the genetic algorithm was used to optimize the size parameters of the manipulator finger structure. Finally, for different shapes of objects, the design of the control circuit binding force feedback control was carried out with a grasping experiment. The experimental results show that the manipulator has simple control and can grasp objects of different sizes, positions, and shapes.

Parkinson's Disease Wearable Gait Analysis: Kinematic and Dynamic Markers for Diagnosis.

Introduction: Gait features differ between Parkinson's disease (PD) and healthy subjects (HS). Kinematic alterations of gait include reduced gait speed, swing time, and stride length between PD patients and HS. Stride time and swing time variability are increased in PD patients with respect to HS. Additionally, dynamic parameters of asymmetry of gait are significantly different among the two groups. The aim of the present study is to evaluate which kind of gait analysis (dynamic or kinematic) is more informative to discriminate PD and HS gait features. Methods: In the present study, we analyzed gait dynamic and kinematic features of 108 PD patients and 88 HS from four cohorts of two datasets. Results: Kinematic features showed statistically significant differences among PD patients and HS for gait speed and time Up and Go test and for selected kinematic dispersion indices (standard deviation and interquartile range of swing, stance, and double support time). Dynamic features did not show any statistically significant difference between PD patients and HS. Discussion: Despite kinematics features like acceleration being directly proportional to dynamic features like ground reaction force, the results of this study showed the so-called force/rhythm dichotomy since kinematic features were more informative than dynamic ones.

Estimation of the Kinematics and Workspace of a Robot Using Artificial Neural Networks.

At present, in specific and complex industrial operations, robots have to respect certain requirements and criteria as high kinematic or dynamic performance, specific dimensions of the workspace, or limitation of the dimensions of the mobile elements of the robot. In order to respect these criteria, a proper design of the robots has to be achieved, which requires years of practice and a proper knowledge and experience of a human designer. In order to assist the human designer in the process of designing the robots, several methods (including optimization methods) have been developed. The scientific problem addressed in this paper is the development of an artificial intelligence method to estimate the size of the workspace and the kinematics of a robot using a feedforward neural network. The method is applied on a parallel robot composed of a base platform, a mobile platform and six kinematic rotational-universal-spherical open loops. The numerical results show that, with proper training and topology, a feedforward neural network is able to estimate properly values of the volume of the workspace and the values of the generalized coordinates based on the pose of the end effector.