RESUMEN
Soft robotic gloves have attracted significant interest in hand rehabilitation in the past decade. However, current solutions are still heavy and lack finger-state monitoring and versatile treatment options. To address this, we present a lightweight soft robotic glove actuated by twisted string actuators (TSA) that provides whole-hand finger motion tracking. We have developed a virtual reality environment for hand rehabilitation training, allowing users to interact with various virtual objects. Fifteen small inertial measurement units are placed on the glove to predict finger joint angles and track whole-hand finger motion. We performed TSA experiments to identify design and control rules, by understanding how their response varies with input load and voltages. Grasping experiments were conducted to determine the grasping force and range of motion. Finally, we showcase an application of the rehabilitation glove in a Unity-based VR interface, which can actuate the operator's fingers to grasp different virtual objects.
RESUMEN
Many diseases, such as stroke, arthritis, and spinal cord injury, can cause severe hand impairment. Treatment options for these patients are limited by expensive hand rehabilitation devices and dull treatment procedures. In this study, we present an inexpensive soft robotic glove for hand rehabilitation in virtual reality (VR). Fifteen inertial measurement units are placed on the glove for finger motion tracking, and a motor-tendon actuation system is mounted onto the arm and exerts forces on fingertips via finger-anchoring points, providing force feedback to fingers so that the users can feel the force of a virtual object. A static threshold correction and complementary filter are used to calculate the finger attitude angles, hence computing the postures of five fingers simultaneously. Both static and dynamic tests are performed to validate the accuracy of the finger-motion-tracking algorithm. A field-oriented-control-based angular closed-loop torque control algorithm is adopted to control the force applied to the fingers. It is found that each motor can provide a maximum force of 3.14 N within the tested current limit. Finally, we present an application of the haptic glove in a Unity-based VR interface to provide the operator with haptic feedback while squeezing a soft virtual ball.
RESUMEN
Hfq is a RNA chaperone and participates in a wide range of cellular processes and pathways. In this study, mutation of hfq gene from Pectobacterium carotovorum subsp. carotovorum PccS1 led to significantly reduced virulence and plant cell wall-degrading enzyme (PCWDE) activities. In addition, the mutant exhibited decreased biofilm formation and motility and greatly attenuated carbapenem production as well as secretion of hemolysin coregulated protein (Hcp) as compared with wild-type strain PccS1. Moreover, a higher level of callose deposition was induced in Nicotiana benthamiana leaves when infiltrated with the mutant. A total of 26 small (s)RNA deletion mutants were obtained among a predicted 27 sRNAs, and three mutants exhibited reduced virulence in the host plant. These results suggest that hfq plays a key role in Pectobacterium virulence by positively impacting PCWDE production, secretion of the type VI secretion system, bacterial competition, and suppression of host plant responses.