Kinematic coordinations capture learning during human-exoskeleton interaction.

Human-exoskeleton interactions have the potential to bring about changes in human behavior for physical rehabilitation or skill augmentation. Despite significant advances in the design and control of these robots, their application to human training remains limited. The key obstacles to the design of such training paradigms are the prediction of human-exoskeleton interaction effects and the selection of interaction control to affect human behavior. In this article, we present a method to elucidate behavioral changes in the human-exoskeleton system and identify expert behaviors correlated with a task goal. Specifically, we observe the joint coordinations of the robot, also referred to as kinematic coordination behaviors, that emerge from human-exoskeleton interaction during learning. We demonstrate the use of kinematic coordination behaviors with two task domains through a set of three human-subject studies. We find that participants (1) learn novel tasks within the exoskeleton environment, (2) demonstrate similarity of coordination during successful movements within participants, (3) learn to leverage these coordination behaviors to maximize success within participants, and (4) tend to converge to similar coordinations for a given task strategy across participants. At a high level, we identify task-specific joint coordinations that are used by different experts for a given task goal. These coordinations can be quantified by observing experts and the similarity to these coordinations can act as a measure of learning over the course of training for novices. The observed expert coordinations may further be used in the design of adaptive robot interactions aimed at teaching a participant the expert behaviors.

Chemical ecology of Himalayan eggplant variety's antixenosis: identification of geraniol as an oviposition deterrent against the eggplant shoot and fruit borer.

Eggplant (Solanum melongena) suffers severe losses due to a multi-insecticide-resistant lepidopteran pest, shoot and fruit borer (SFB, Leucinodes orbonalis). Heavy and combinatorial application of pesticides for SFB control renders eggplant risky for human consumption. We observed that gravid SFB females do not oviposit on Himalayan eggplant variety RC-RL-22 (RL22). We hypothesized that RL22 contained an antixenosis factor. Females' behavior indicated that the RL22 cue they perceived was olfactory. To identify it, leaf volatile blends of seven eggplant varieties were profiled using solid phase microextraction and gas chromatography mass spectrometry. Seven RL22-specific compounds were detected in the plant headspace. In choice assays, oviposition deterrence efficacies of these candidate compounds were independently tested by their foliar application on SFB-susceptible varieties. Complementation of geraniol, which was exclusively found in RL22, reduced oviposition (> 90%). To validate geraniol's role in RL22's SFB-deterrence, we characterized RL22's geraniol synthase and silenced its gene in planta, using virus-induced gene silencing. Geraniol biosynthesis suppression rendered RL22 SFB-susceptible; foliar geraniol application on the geraniol synthase-silenced plants restored oviposition deterrence. We infer that geraniol is RL22's SFB oviposition deterrent. The use of natural compounds like geraniol, which influence the chemical ecology of oviposition, can reduce the load of hazardous synthetic larvicides.

Has the first year of the COVID-19 pandemic reversed the trends in CV mortality between 1999 and 2019 in the United States?

AIMS: Although cardiovascular (CV) mortality increased during the COVID-19 pandemic, little is known about how these patterns varied across key subgroups, including age, sex, and race and ethnicity, as well as by specific cause of CV death. METHODS AND RESULTS: The Centers for Disease Control WONDER database was used to evaluate trends in age-adjusted CV mortality between 1999 and 2020 among US adults aged 18 and older. Overall, there was a 4.6% excess CV mortality in 2020 compared to 2019, which represents an absolute excess of 62 802 deaths. The relative CV mortality increase between 2019 and 2020 was higher for adults under 55 years of age (11.9% relative increase), vs. adults aged 55-74 (7.9% increase), and adults 75 and older (2.2% increase). Hispanic adults experienced a 9.4% increase in CV mortality (7400 excess deaths) vs. 4.3% for non-Hispanic adults (56 760 excess deaths). Black adults experienced the largest % increase in CV mortality at 10.6% (15 477 excess deaths) vs. 3.5% increase (42 907 excess deaths) for White adults. Among individual causes of CV mortality, there was an increase between 2019 and 2020 of 4.3% for ischaemic heart disease (32 293 excess deaths), 15.9% for hypertensive disease (13 800 excess deaths), 4.9% for cerebrovascular disease (11 218 excess deaths), but a decline of 1.4% for heart failure mortality. CONCLUSION: The first year of the COVID pandemic in the United States was associated with a reversal in prior trends of improved CV mortality. Increases in CV mortality were most pronounced among Black and Hispanic adults.

Impact of Gravity Compensation on Upper Extremity Movements in Harmony Exoskeleton.

Robots have been used to offset the limb weight through gravity compensation in upper body rehabilitation to delineate the effects of loss of strength and loss of dexterity, which are two common forms of post-stroke impairments. In this paper, we explored the impact of this anti-gravity support on the quality of movement during reaching and coordinated arm movements in a pilot study with two participants with chronic stroke. The subjects donned the Harmony exoskeleton which supported proper shoulder coordination in addition to providing gravity compensation. Participants had previously taken part in seven one-hour sessions with the Harmony exoskeleton, performing six sets of passive-stretching and active exercises. Pre- and post-training sessions included assessments of two separate tasks, planar reaching and a set of six coordinated arm movements, in two conditions, outside of and supported by the exoskeleton. The movements were recorded using an optical motion capture system and analyzed using spectral arc length (SPARC) and straight line deviation to quantify movement smoothness and quality. We observed that gravity compensation resulted in an increased smoothness for the subject with high level of impairment whereas compensation resulted in a reduction in smoothness for the subject with low level of impairment in the reaching task. Both participants demonstrated better coordination of the shoulder-arm joint with gravity compensation. This result motivates further studies into the role of gravity compensation during coordinated movement training and rehabilitation interventions.

Human-Like Endtip Stiffness Modulation Inspires Dexterous Manipulation With Robotic Hands.

We present a novel method for biomechanically inspired mechanical and control design by quantifying stable manipulation regions in 3D space for tendon-driven systems. Using this method, we present an analysis of the stiffness properties for a human-like index finger and thumb. Although some studies have previously evaluated biomechanical stiffness for grasping and manipulation, no prior works have evaluated the effect of anatomical stiffness parameters throughout the reachable workspace of the index finger or thumb. The passive stiffness model of biomechanically accurate tendon-driven human-like fingers enables analysis of conservatively passive stable regions. The passive stiffness model of the index finger shows that the greatest stiffness ellipsoid volume is aligned to efficiently oppose the anatomical thumb. The thumb model reveals that the greatest stiffness aligns with abduction/adduction near the index finger and shifts to align with the flexion axes for more efficient opposition of the ring or little fingers. Based on these models, biomechanically inspired stiffness controllers that efficiently utilize the underlying stiffness properties while maximizing task criteria can be developed. Trajectory tracking tasks are experimentally tested on the index finger to show the effect of stiffness and stability boundaries on performance.

The Effects of EMG-Based Classification and Robot Control Method on User's Neuromuscular Effort during Real-Time Assistive Hand Exoskeleton Operation.

EMG-based intention recognition and assistive device control are often developed separately, which can lead to the unintended consequence of requiring excessive muscular effort and fatigue during operation. In this paper, we address two important aspects of the performance of an integrated EMG-based assistive system. Firstly, we investigate the effects of muscular effort on EMG-based classification and robot control. Secondly, we propose a robot control solution that reduces muscular effort required in assisted dynamic daily tasks compared to the state-of-the-art control methods.

Assessment of Upper-Extremity Joint Angles Using Harmony Exoskeleton.

The biomechanical complexity of the human shoulder, while critical for functionality, poses a challenge for objective assessment during sensorimotor rehabilitation. With built-in sensing capabilities, robotic exoskeletons have the potential to serve as tools for both intervention and assessment. The bilateral upper-extremity Harmony exoskeleton is capable of full shoulder articulation, forearm flexion-extension, and wrist pronation-supination motions. The goal of this paper is to characterize Harmony's anatomical joint angle tracking accuracy towards its use as an assessment tool. We evaluated the agreement between anatomical joint angles estimated from the robot's sensor data and optical motion capture markers attached to the human user. In 9 healthy participants we examined 6 upper-extremity joint angles, including shoulder girdle angles, across 4 different motions, varying active/passive motion of the user and physical constraint of the trunk. We observed mostly good to excellent levels of agreement between measurement systems with for shoulder and distal joints, magnitudes of average discrepancies varying from 0.43° to 16.03° and width of LoAs ranging between 9.44° and 41.91°. Slopes were between 1.03 and 1.43 with r > 0.9 for shoulder and distal joints. Regression analysis suggested that discrepancies observed between measured robot and human motions were primarily due to relative motion associated with soft tissue deformation. The results suggest that the Harmony exoskeleton is capable of providing accurate measurements of arm and shoulder joint kinematics. These findings may lead to robot-assisted assessment and intervention of one of the most complex joint structures in the human body.

A Modular Design for Distributed Measurement of Human-Robot Interaction Forces in Wearable Devices.

Measurement of interaction forces distributed across the attachment interface in wearable devices is critical for understanding ergonomic physical human-robot interaction (pHRI). The main challenges in sensorization of pHRI interfaces are (i) capturing the fine nature of force transmission from compliant human tissue onto rigid surfaces in the wearable device and (ii) utilizing a low-cost and easily implementable design that can be adapted for a variety of human interfaces. This paper addresses both challenges and presents a modular sensing panel that uses force-sensing resistors (FSRs) combined with robust electrical and mechanical integration principles that result in a reliable solution for distributed load measurement. The design is demonstrated through an upper-arm cuff, which uses 24 sensing panels, in conjunction with the Harmony exoskeleton. Validation of the design with controlled loading of the sensorized cuff proves the viability of FSRs in an interface sensing solution. Preliminary experiments with a human subject highlight the value of distributed interface force measurement in recognizing the factors that influence ergonomic pHRI and elucidating their effects. The modular design and low cost of the sensing panel lend themselves to extension of this approach for studying ergonomics in a variety of wearable applications with the goal of achieving safe, comfortable, and effective human-robot interaction.

Using a System-Based Monitoring Paradigm to Assess Fatigue during Submaximal Static Exercise of the Elbow Extensor Muscles.

Current methods for evaluating fatigue separately assess intramuscular changes in individual muscles from corresponding alterations in movement output. The purpose of this study is to investigate if a system-based monitoring paradigm, which quantifies how the dynamic relationship between the activity from multiple muscles and force changes over time, produces a viable metric for assessing fatigue. Improvements made to the paradigm to facilitate online fatigue assessment are also discussed. Eight participants performed a static elbow extension task until exhaustion, while surface electromyography (sEMG) and force data were recorded. A dynamic time-series model mapped instantaneous features extracted from sEMG signals of multiple synergistic muscles to extension force. A metric, called the Freshness Similarity Index (FSI), was calculated using statistical analysis of modeling errors to reveal time-dependent changes in the dynamic model indicative of performance degradation. The FSI revealed strong, significant within-individual associations with two well-accepted measures of fatigue, maximum voluntary contraction (MVC) force (rrm=-0.86) and ratings of perceived exertion (RPE) (rrm=0.87), substantiating the viability of a system-based monitoring paradigm for assessing fatigue. These findings provide the first direct and quantitative link between a system-based performance degradation metric and traditional measures of fatigue.

Designing Physical Human-Robot Interaction Interfaces: A Scalable Method for Simulation Based Design.

Designing the physical coupling between the human body and the wearable robot is a challenging endeavor. The typical approach of tightening the wearable robot against the body, and softening the interface materials does not work well. It makes the task of simultaneously improving comfort, and anchoring the robot to the body at the physical human robot interaction interface (PHRII), difficult. Characterizing this behavior experimentally with sensors at the interface is challenging due to the soft-soft interactions between the PHRII materials and the human tissue. Therefore, modeling the interaction between the wearable robot and the hand is a necessary step to improve design. In this paper, we introduce a methodology to systematically improve the design of the PHRII by combining experimentally measured characteristics of the biological tissue with a novel dynamic modeling tool. Using a novel and scalable simulation framework, HuRoSim, we quantified the interaction between the human hand and an exoskeleton. In the first of our experiments, we use HuRoSim to predict complex interactions between the hand and the coupled exoskeleton. In our second experiment, we then demonstrate how HuRoSim can be coupled with experimental measurements of the stiffness of the dorsal surface of the hand to optimize the design of the PHRII. This approach of data-driven modeling of the interaction between the body and a wearable robot, such as a hand exoskeleton, can be generalized to other forms of wearable devices as well, demonstrating a scalable and systematic method for improving the design of the PHRII for future devices coupled to the body.

Analytical Design of a Pneumatic Elastomer Robot with Deterministically Adjusted Stiffness.

This paper presents a novel Pneumatic Elastomer Robot (PER), called Deterministically Adjusted Stiffness-Pneumatic Elasotmer Robot (DAS-PER), that can concurrently display preprogrammed elongation and bending behaviors. Our design methodology integrates a comprehensive analytical modeling and additive manufacturing-based fabrication to (i) address current ad-hoc and arduous PERs' fabrication limitations, and (ii) enable deterministic stiffness and deformation behavior tuning based on the desired application. To thoroughly evaluate the efficacy of the presented modeling and fabrication approaches, based on the developed model, we first designed and fabricated two DAS-PERs with different bending and elongation stiffnesses. Next, we performed experimental studies to thoroughly evaluate and compare the expected and obtained deformation behaviors. Results demonstrated the efficacy of the fabrication procedure and model fidelity for successful tunability of DAS-PERs solely based on adjusting two internal structure diameter parameters.

Metabolomic Dynamics Reveals Oxidative Stress in Spongy Tissue Disorder During Ripening of Mangifera indica L. Fruit.

Spongy tissue disorder, a mesocarp specific malady, severely affects the flavor and pulp characters of Alphonso mango fruit reducing its consumer acceptability. Here, we investigated comparative metabolomic changes that occur during ripening in healthy and spongy tissue-affected fruits using high resolution mass spectrometric analysis. During the spongy tissue formation, 46 metabolites were identified to be differentially accumulated. These putative metabolites belong to various primary and secondary metabolic pathways potentially involved in maintaining the quality of the fruit. Analysis revealed metabolic variations in tricarboxylic acid cycle and gamma amino butyric acid shunt generating reactive oxygen species, which causes stressed conditions inside the mesocarp. Further, reduced levels of antioxidants and enzymes dissipating reactive oxygen species in mesocarp deteriorate the fruit physiology. This oxidative stress all along affects the level of amino acids, sugars and enzymes responsible for flavor generation in the fruit. Our results provide metabolic insights into spongy tissue development in ripening Alphonso mango fruit.

Exploring the Capabilities of Harmony for Upper-Limb Stroke Therapy.

Harmony is a bimanual upper-limb exoskeleton designed for post-stroke rehabilitation. It moves the subject's shoulders and arms through their entire ranges of motion while maintaining natural coordination, is capable of force/torque control of each joint, and is equipped with sensors to measure motions and interaction forces. With these capabilities Harmony has the potential to assess motor function and create individualized therapy regimens. As a first step, five stroke survivors underwent rehabilitation sessions practicing multijoint movements with the device. Each participant performed a total of 1130 motions over seven hours of therapy with no adverse effects reported by participants or the attending therapist, supporting the suitability of Harmony for use in a clinical setting. Donning and doffing time averaged 3.5 minutes and decreased with therapist experience. Reported levels of stress, anxiety, and pain indicate that the Harmony safely assisted in the completion of the trained movements and has great potential to motivate and engage patients. We developed a novel methodology for assessing coordination capability and results from the study indicate that Harmony can enable therapists to identify neuromuscular weakness and maladaptive coordination patterns and develop targeted interventions to address these aspects of upper-limb function. The results suggest Harmony's feasibility and show promising improvements, motivating future study to gain statistical support.

Data on metabolic profiling of spongy tissue disorder in Mangifera indica cv. Alphonso.

Data in this article presents aroma volatiles and fatty acids composition of mesocarp specific malady namely spongy tissue disorder in Mangifera indica cv. Alphonso. Quantitative changes in various aroma volatile compound classes as well as saturated and unsaturated fatty acids in spongy tissue vis-à-vis healthy mesocarp have been analyzed throughout the development of the disorder. Statistical data analysis correlates the dynamic changes in the aroma volatiles composition to that of the modulation in the fatty acids profile.

Assessing Wrist Movement With Robotic Devices.

Robotic devices have been proposed to meet the rising need for high intensity, long duration, and goal-oriented therapy required to regain motor function after neurological injury. Complementing this application, exoskeletons can augment traditional clinical assessments through precise, repeatable measurements of joint angles and movement quality. These measures assume that exoskeletons are making accurate joint measurements with a negligible effect on movement. For the coupled and coordinated joints of the wrist and hand, the validity of these two assumptions cannot be established by characterizing the device in isolation. To examine these assumptions, we conducted three user-in-the-loop experiments with able-bodied participants. First, we compared robotic measurements to an accepted modality to determine the validity of joint- and trajectory-level measurements. Then, we compared those movements to movements without the device to investigate the effects of device dynamic properties on wrist movement characteristics. Last, we investigated the effect of the device on coordination with a redundant, coordinated pointing task with the wrist and hand. For all experiments, smoothness characteristics were preserved in the robotic kinematic measurement and only marginally impacted by robot dynamics, validating the exoskeletons for use as assessment devices. Stemming from these results, we propose design guidelines for exoskeletal assessment devices.

Transcriptional transitions in Alphonso mango (Mangifera indica L.) during fruit development and ripening explain its distinct aroma and shelf life characteristics.

Alphonso is known as the "King of mangos" due to its unique flavor, attractive color, low fiber pulp and long shelf life. We analyzed the transcriptome of Alphonso mango through Illumina sequencing from seven stages of fruit development and ripening as well as flower. Total transcriptome data from these stages ranged between 65 and 143 Mb. Importantly, 20,755 unique transcripts were annotated and 4,611 were assigned enzyme commission numbers, which encoded 142 biological pathways. These included ethylene and flavor related secondary metabolite biosynthesis pathways, as well as those involved in metabolism of starch, sucrose, amino acids and fatty acids. Differential regulation (p-value ≤ 0.05) of thousands of transcripts was evident in various stages of fruit development and ripening. Novel transcripts for biosynthesis of mono-terpenes, sesqui-terpenes, di-terpenes, lactones and furanones involved in flavor formation were identified. Large number of transcripts encoding cell wall modifying enzymes was found to be steady in their expression, while few were differentially regulated through these stages. Novel 79 transcripts of inhibitors of cell wall modifying enzymes were simultaneously detected throughout Alphonso fruit development and ripening, suggesting controlled activity of these enzymes involved in fruit softening.

Design and characterization of the OpenWrist: A robotic wrist exoskeleton for coordinated hand-wrist rehabilitation.

Robotic devices have been clinically verified for use in long duration and high intensity rehabilitation needed for motor recovery after neurological injury. Targeted and coordinated hand and wrist therapy, often overlooked in rehabilitation robotics, is required to regain the ability to perform activities of daily living. To this end, a new coupled hand-wrist exoskeleton has been designed. This paper details the design of the wrist module and several human-related considerations made to maximize its potential as a coordinated hand-wrist device. The serial wrist mechanism has been engineered to facilitate donning and doffing for impaired subjects and to insure compatibility with the hand module in virtual and assisted grasping tasks. Several other practical requirements have also been addressed, including device ergonomics, clinician-friendliness, and ambidextrous reconfigurability. The wrist module's capabilities as a rehabilitation device are quantified experimentally in terms of functional workspace and dynamic properties. Specifically, the device possesses favorable performance in terms of range of motion, torque output, friction, and closed-loop position bandwidth when compared with existing devices. The presented wrist module's performance and operational considerations support its use in a wide range of future clinical investigations.

Methodologies for determining minimal grasping requirements and sensor locations for sEMG-based assistive hand orthosis for SCI patients.

In this paper, we address two of the most important challenges in development and control of assistive hand orthosis. First, supported by experimental results, we present a method to determine an optimal set of grasping poses, essential for grasping daily objects. Second, we present a method for determining the minimal number of surface EMG sensors and their locations to carry out EMG-based intention recognition and to control the assistive device by differentiating between the hand poses.

Estimating anatomical wrist joint motion with a robotic exoskeleton.

Robotic exoskeletons can provide the high intensity, long duration targeted therapeutic interventions required for regaining motor function lost as a result of neurological injury. Quantitative measurements by exoskeletons have been proposed as measures of rehabilitative outcomes. Exoskeletons, in contrast to end effector designs, have the potential to provide a direct mapping between human and robot joints. This mapping rests on the assumption that anatomical axes and robot axes are aligned well, and that movement within the exoskeleton is negligible. These assumptions hold well for simple one degree-of-freedom joints, but may not be valid for multi-articular joints with unique musculoskeletal properties such as the wrist. This paper presents an experiment comparing robot joint kinematic measurements from an exoskeleton to anatomical joint angles measured with a motion capture system. Joint-space position measurements and task-space smoothness metrics were compared between the two measurement modalities. The experimental results quantify the error between joint-level position measurements, and show that exoskeleton kinematic measurements preserve smoothness characteristics found in anatomical measures of wrist movements.

Variable Thumb Moment Arm Modeling and Thumb-Tip Force Production of a Human-Like Robotic Hand.

The anatomically correct testbed (ACT) hand mechanically simulates the musculoskeletal structure of the fingers and thumb of the human hand. In this work, we analyze the muscle moment arms (MAs) and thumb-tip force vectors in the ACT thumb in order to compare the ACT thumb's mechanical structure to the human thumb. Motion data are used to determine joint angle-dependent MA models, and thumb-tip three-dimensional (3D) force vectors are experimentally analyzed when forces are applied to individual muscles. Results are presented for both a nominal ACT thumb model designed to match human MAs and an adjusted model that more closely replicates human-like thumb-tip forces. The results confirm that the ACT thumb is capable of faithfully representing human musculoskeletal structure and muscle functionality. Using the ACT hand as a physical simulation platform allows us to gain a better understanding of the underlying biomechanical and neuromuscular properties of the human hand to ultimately inform the design and control of robotic and prosthetic hands.