IMU Motion Capture Method with Adaptive Tremor Attenuation in Teleoperation Robot System.

Teleoperation robot systems can help humans perform tasks in unstructured environments. However, non-intuitive control interfaces using only a keyboard or joystick and physiological tremor reduce the performance of teleoperation. This paper presents an intuitive control interface based on the wearable device gForcePro+ armband. Two gForcePro+ armbands are worn at the centroid of the upper arm and forearm, respectively. Firstly, the kinematics model of the human arm is established, and the inertial measurement units (IMUs) are used to capture the position and orientation information of the end of the arm. Then, a regression model of angular transformation is developed for the phenomenon that the rotation axis of the torsion joint is not perfectly aligned with the limb segment during motion, which can be applied to different individuals. Finally, to attenuate the physiological tremor, a variable gain extended Kalman filter (EKF) fusing sEMG signals is developed. The described control interface shows good attitude estimation accuracy compared to the VICON optical capture system, with an average angular RMSE of 4.837° ± 1.433°. The performance of the described filtering method is tested using the xMate3 Pro robot, and the results show it can improve the tracking performance of the robot and reduce the tremor.

Excessive Immune Activation and the Correlation with Decreased Expression of PD-1 at the Maternal-Fetal Interface in Preeclampsia.

The etiology of preeclampsia (PE) is still unknown, and excessive immune activation is an important component of its pathogenesis. Programmed cell death protein 1 (PD-1) is one of immune checkpoints which may prevent overactivated immune attack and lead to a tolerant immune microenvironment. Little is known about the involvement of PD-1-mediated immunoregulation at the maternal-fetal interface in PE. To investigate the inflammatory pattern and the involvement of PD-1 in the decidua of women with PE, decidual tissues were obtained from PE and control pregnant women. Quantitative RT-PCR analysis of the mRNA levels of the inflammatory cytokines was performed. PD-1 expression was detected by immunohistochemistry, western blot analysis, and flow cytometry. To prove the role of PD-1, decidual immune cells were incubated with blocking antibodies, and the inflammatory cytokines were detected by ELISA. We observed that the mRNA levels of IL-1ß, IL-6, TNF-α, and IFN-γ were higher in the decidua of the PE group than in the decidua of the control group. The mRNA levels of IL-4 and IL-10 were lower in PE. The expression level of PD-1 was significantly downregulated, and the proportion (%) of PD-1 + CD45 + cells was significantly lower in PE. There was a significant linear correlation between PD-1 expression and common proinflammatory cytokines in the decidua. Anti-PD-1 blocking antibody significantly increased the secretion of proinflammatory cytokines. Our data suggested that the inflammatory pattern and decreased PD-1 expression in the decidua might play an active role in the local immunoregulatory mechanisms of PE. The PD-1 pathway in the maternal-fetal interface possibly function to break the tolerant immune microenvironment in PE via inflammatory cytokines.

BCAA insufficiency leads to premature ovarian insufficiency via ceramide-induced elevation of ROS.

Premature ovarian insufficiency (POI) is a disease featured by early menopause before 40 years of age, accompanied by an elevation of follicle-stimulating hormone. Though POI affects many aspects of women's health, its major causes remain unknown. Many clinical studies have shown that POI patients are generally underweight, indicating a potential correlation between POI and metabolic disorders. To understand the pathogenesis of POI, we performed metabolomics analysis on serum and identified branch-chain amino acid (BCAA) insufficiency-related metabolic disorders in two independent cohorts from two clinics. A low BCAA diet phenotypically reproduced the metabolic, endocrine, ovarian, and reproductive changes of POI in young C57BL/6J mice. A mechanism study revealed that the BCAA insufficiency-induced POI is associated with abnormal activation of the ceramide-reactive oxygen species (ROS) axis and consequent impairment of ovarian granulosa cell function. Significantly, the dietary supplement of BCAA prevented the development of ROS-induced POI in female mice. The results of this pathogenic study will lead to the development of specific therapies for POI.

Long noncoding RNA maternally expressed gene 3 improves trophoblast dysfunction and inflammation in preeclampsia through the Wnt/ß-Catenin/nod-like receptor pyrin domain-containing 3 axis.

Inadequate trophoblastic infiltration and resulting placental hypoxia and inflammation comprise the core pathological basis of preeclampsia (PE). Maternally expressed gene 3 (MEG3) is known to be involved in the pathogenesis of preeclampsia by inhibiting the migration and invasion of trophoblasts and promoting their apoptosis. Nevertheless, the specific underlying downstream molecular mechanism of MEG3 is less well characterized. In this study, we detected lower expression levels of MEG3 and ß-Catenin and higher expression of nod-like receptor pyrin domain-containing 3 (NLRP3) in placental tissues of pregnant women with severe preeclampsia (sPE) than in normal pregnancies. Elevated serum levels of IL-1ß and TNF-α were also observed in the sPE group. Then, we established a hypoxia/reoxygenation (H/R) model to mimic preeclampsia. Similar results with sPE group were found in the H/R group compared with the control group. In addition, suppressive trophoblast proliferation, migration and invasion and increases in the apoptotic rate and inflammation were also detected in the H/R group. Notably, overexpressing MEG3 markedly improved trophoblast dysfunction and inflammation caused by H/R. However, the effects of MEG3 on trophoblasts, whether upregulated or downregulated, can be reversed by DKK-1 (Wnt/ß-Catenin inhibitor) and MCC950 (NLRP3 inhibitor). The current study revealed that MEG3 regulates trophoblast function and inflammation through the Wnt/ß-Catenin/NLRP3 axis and provided new insights into the pathogenesis of preeclampsia.

The Effects of a Passive Exoskeleton on Human Thermal Responses in Temperate and Cold Environments.

The exoskeleton as functional wearable equipment has been increasingly used in working environments. However, the effects of wearing an exoskeleton on human thermal responses are still unknown. In this study, 10 male package handlers were exposed to 10 °C (COLD) and 25 °C (TEMP) ambient temperatures while performing a 10 kg lifting task (LIFTING) and sedentary (REST) both with (EXO) and without the exoskeleton (WEXO). Thermal responses, including the metabolic rate and mean skin temperature (MST), were continuously measured. Thermal comfort, thermal sensation and sweat feeling were also recorded. For LIFTING, metabolic heat production is significant decrease with the exoskeleton support. The MST and thermal sensation significantly increase when wearing the exoskeleton, but thermal discomfort and sweating are only aggravated in TEMP. For REST, MST and thermal sensation are also increased by the exoskeleton, and there is no significant difference in the metabolic rate between EXO and WEXO. The thermal comfort is significantly improved by wearing the exoskeleton only in COLD. The results suggest that the passive exoskeleton increases the local clothing insulation, and the way of wearing reduces the "pumping effect", which makes a difference in the thermal response between COLD and TEMP. Designers need to develop appropriate usage strategies according to the operative temperature.