Artificial neural network-based modeling of Malachite green adsorption onto baru fruit endocarp: insights into equilibrium, kinetic, and thermodynamic behavior.

In this study, artificial neural network (ANN) tools were employed to forecast the adsorption capacity of Malachite green (MG) by baru fruit endocarp waste (B@FE) under diverse conditions, including pH, adsorbent dosage, initial dye concentration, contact time, and temperature. Enhanced adsorption efficiency was notably observed under alkaline pH conditions (pH 10). Kinetic analysis indicated that the adsorption process closely followed a pseudo-second-order model, while equilibrium studies revealed the Langmuir isotherm as the most suitable model, estimating a maximum adsorption capacity of 57.85 mg g-1. Furthermore, the chemical adsorption of MG by B@FE was confirmed using the Dubinin-Radushkevich isotherm. Thermodynamic analysis suggested that the adsorption is spontaneous and endothermic. Various ANN architectures were explored, employing different activation functions such as identity, logistic, tanh, and exponential. Based on evaluation metrics like the coefficient of determination (R2) and root mean square error (RMSE), the optimal network configuration was identified as a 5-11-1 architecture, consisting of five input neurons, eleven hidden neurons, and one output neuron. Notably, the logistic activation function was applied in both the hidden and output layers for this configuration. This study highlights the efficacy of B@FE as an efficient adsorbent for MG removal from aqueous solutions and demonstrates the potential of ANN models in predicting adsorption behavior across varying environmental conditions, emphasizing their utility in this field.

The innovative aspect of this study lies in the utilization of a new and effective adsorbent for the removal of Malachite Green (MG), derived from the fruit endocarp of baru (Dipteryx alata Vog.). The baru fruit endocarp, typically discarded as solid waste during processing, was found to possess favorable characteristics for adsorption processes and provides an adsorption capacity that exceeds that of most other similar adsorbents. Additionally, integrating Artificial Neural Networks (ANNs) enables accurate modeling of the adsorption process, eliminating the need for extensive laboratory experiments. This contributes significantly to wastewater treatment research, enhancing effectiveness and sustainability in unwanted dye removal.

Exploring Human-Exoskeleton Interaction Dynamics: An In-Depth Analysis of Knee Flexion-Extension Performance across Varied Robot Assistance-Resistance Configurations.

Knee rehabilitation therapy after trauma or neuromotor diseases is fundamental to restore the joint functions as best as possible, exoskeleton robots being an important resource in this context, since they optimize therapy by applying tailored forces to assist or resist movements, contributing to improved patient outcomes and treatment efficiency. One of the points that must be taken into account when using robots in rehabilitation is their interaction with the patient, which must be safe for both and guarantee the effectiveness of the treatment. Therefore, the objective of this study was to assess the interaction between humans and an exoskeleton during the execution of knee flexion-extension movements under various configurations of robot assistance and resistance. The evaluation encompassed considerations of myoelectric activity, muscle recruitment, robot torque, and performed movement. To achieve this, an experimental protocol was implemented, involving an individual wearing the exoskeleton and executing knee flexion-extension motions while seated, with the robot configured in five distinct modes: passive (P), assistance on flexion (FA), assistance on extension (EA), assistance on flexion and extension (CA), and resistance on flexion and extension (CR). Results revealed distinctive patterns of movement and muscle recruitment for each mode, highlighting the complex interplay between human and robot; for example, the largest RMS tracking errors were for the EA mode (13.72 degrees) while the smallest for the CR mode (4.47 degrees), a non-obvious result; in addition, myoelectric activity was demonstrated to be greater for the completely assisted mode than without the robot (the maximum activation levels for the vastus medialis and vastus lateralis muscles were more than double those when the user had assistance from the robot). Tracking errors, muscle activations, and torque values varied across modes, emphasizing the need for careful consideration in configuring exoskeleton assistance and resistance to ensure effective and safe rehabilitation. Understanding these human-robot interactions is essential for developing precise rehabilitation programs, optimizing treatment effectiveness, and enhancing patient safety.

Predictive Simulations with OpenSim Moco to Investigate the Interaction Between Human and Assistive Exoskeleton.

The purpose of this work was to investigate the interaction between human and lower limbs assistive exoskeleton under different levels of assistance, by using computational simulations. To this, a human-exoskeleton interaction model was used and three predictive simulations were carried out with the OpenSim Moco. The results proved that the increase in the level of robot assistance causes a reduction in human effort. In addition, it was possible to verify the RMS torque of both the robot and the human, as well as the muscle activations, for the different levels of assistance simulated. For future work, we intend to run predictive simulations with more complex movements, such as gait free and with obstacles, in addition to using models that can represent a human being with muscle weakness on one side of the body (hemiparesis).

Can in vitro embryo production be estimated from semen variables in Senepol breed by using artificial intelligence?

Thoroughly analyzing the sperm and exploring the information obtained using artificial intelligence (AI) could be the key to improving fertility estimation. Artificial neural networks have already been applied to calculate zootechnical indices in animals and predict fertility in humans. This method of estimating the results of reproductive biotechnologies, such as in vitro embryo production (IVEP) in cattle, could be valuable for livestock production. This study was developed to model IVEP estimates in Senepol animals based on various sperm attributes, through retrospective data from 290 IVEP routines performed using 38 commercial doses of semen from Senepol bulls. All sperm samples that had undergone the same procedure during sperm selection for in vitro fertilization were evaluated using a computer-assisted sperm analysis (CASA) system to define sperm subpopulations. Sperm morphology was also analyzed in a wet preparation, and the integrity of the plasma and acrosomal membranes, mitochondrial potential, oxidative status, and chromatin resistance were evaluated using flow cytometry. A previous study identified three sperm subpopulations in such samples and the information used in tandem with other sperm quality variables to perform an AI analysis. AI analysis generated models that estimated IVEP based on the season, donor, percentage of viable oocytes, and 18 other sperm predictor variables. The accuracy of the results obtained for the three best AI models for predicting the IVEP was 90.7, 75.3, and 79.6%, respectively. Therefore, applying this AI technique would enable the estimation of high or low embryo production for individual bulls based on the sperm analysis information.

Kinetic modelling of total organic carbon degradation in dairy wastewater.

Several treatment strategies have been proposed to minimize the environmental impact of dairy wastewaters. However, their complex and variable composition makes it difficult to predict the degradation kinetics of organic compounds. In this study, we used a mathematical approach to describe the kinetics of total organic carbon degradation in real dairy wastewater by photo-Fenton oxidation. The reactions were conducted under different ultraviolet light intensities, pH, temperature and Fenton reagent concentrations, obtaining a maximum TOC removal of 90.84%. The kinetic model was developed based on well-established photo-Fenton reactions. The present approach considers that account that small and large molecules of unknown contaminants are present in the effluent, and the smaller molecules are consumed first. The specific degradation rate (kd) was considered as an exponential function of total organic carbon conversion, comprising this effect of molecular size distribution on the treatment process. Fitting of experimental data to model predictions provided mean R2 values of 0.843-0.953.

Carbon quantum dots: An environmentally friendly and valued approach to sludge disposal.

Sewage sludge, produced daily and inherent to urban development, presents problems of disposal that are still challenging today. Its disposal still offers palliative solutions, where the final destination is generally in landfills or, restrictively, to use in agriculture. The synthesis of carbon quantum dots (CQDs) from sewage sludge is a better alternative to use the stock of organic material present in the sludge. The present work aims to produce Carbon quantum dots (CQDs) using principles of green chemistry and to use an alternative raw material intrinsic stock of carbon present in sewage sludge, making its final disposal more sustainable. The material obtained has a core structure mainly composed of sp2 carbon and nitrogen. The surface functional groups containing sulfur, nitrogen, and oxygen of CQDs were investigated using FTIR and TG/DSC coupled FTIR techniques. The CQDs showed a luminescence decay time equivalent to fluorescent compounds and with satisfying quantum yield since no passive/oxidizing agent or material purification process was used. The photoluminescence spectroscopy analysis showed that the CDQs excitation λmax was at 360 nm and caused a λmax emission at 437 nm (CQDsa) and 430 nm (CQDsb). The CQDs obtained showed sizes of 9.69 ± 2.64 nm (CQDsa) and 10.92 ± 2.69 nm (CQDsb). In vitro experiments demonstrated the uptake of CQDs by the endothelial cell line EAhy 926 and their nontoxicity. However, the production of CQDs can be used for the sustainable disposal of sewage sludge.

Sperm function and oxidative status: Effect on fertility in Bos taurus and Bos indicus bulls when semen is used for fixed-time artificial insemination.

Semen quality is one of the criteria used for the selection of bulls with relatively greater fertility. In addition, bull fertility depends on the integrity and function of all sperm structures. The aim of this study, therefore, was to determine associations when there was conducting of conventional and functional techniques for the evaluation of sperm samples from bulls with known fertility history as determined when semen from these bulls was used for fixed-time artificial insemination programs. The study was designed in a 2 × 2 factorial arrangement, with one factor being breed (Angus x Nellore) and the other fertility (greater x lesser). Greater fertility groups were composed of ten Angus and 11 Nellore bulls, while lesser fertility groups were composed of ten Angus and seven Nellore bulls. Sperm were analyzed, in four cryopreserved distinct batches for each animal, for morphology, kinetics, plasma and acrosomal membrane integrity, mitochondrial activity and mitochondrial membrane potential, DNA integrity and oxidative status. There was no difference in characteristics commonly used in sperm quality conventional analysis. The results from functional analysis indicated an important association between mitochondrial dysfunctions, oxidative stress, and damage to sperm structures in lesser fertility bulls. Greater fertility bulls had greater sperm quality and indicators of functional cell structures. The associations, when there were evaluations using different techniques, indicate the importance of evaluation and correlation between different sperm functions to understand effects of distinct parameters on sperm fertilization capacity.

Solar photo-Fenton oxidation of mature landfill leachate: empirical model and chemical inferences.

In this study, a stochastic model was applied to investigate the degradation of landfill leachate by solar photo-Fenton processes. The coefficient of determination (R2) between experimental and predicted data ranged from 0.9958-0.9995. The optimal conditions for the initial phase (lasting 5-22 min) were high Fe2+ level, low pH level, and intermediate H2O2 level. For the second phase, optimal leachate degradation percentages were obtained by maintaining the pH, increasing H2O2, and decreasing Fe2+ to the lowest level. Determination of optimal reaction conditions (such as pH, Fe2+, and H2O2 values) for both degradation phases is of paramount importance for process scale-up. The major contribution of this study was the development of a tool that considers the effects of one or more reactions on organic carbon degradation. This was achieved by assessing the significance of the effects of experimental conditions on model parameters for the fast and slow steps of leachate degradation by advanced oxidation processes.

Paternal effect does not affect in vitro embryo morphokinetics but modulates molecular profile.

The use of different sires influences in vitro embryo production (IVP) outcome. Paternal effects are observed from the first cleavages until after embryonic genome activation (EGA). Little is known about the mechanisms that promote in vitro fertility differences, even less about the consequences on embryo development. Therefore, this study aimed to evaluate the paternal effect at fertilization, embryo developmental kinetics, gene expression and quality from high and low in vitro fertility bulls. A retrospective analysis for bull selection was performed using the In vitro Brazil company database from 2012 to 2015. The dataset was edited employing cleavage and blastocyst rates ranking a total of 140 bulls. Subsequently, the dataset was restricted by embryo development rate (blastocyst/cleaved rate) and ten bulls were selected as high (HF; n = 5) and low (LF; n = 5) in vitro fertility groups. IVP embryos derived from high and low fertility bulls were classified according to their stage of development (2 cells, 3-4 cells, 6 cells, 8-16 cells), at 24, 36, 48, 60, 72 hpi, respectively, to evaluate embryo kinetics. Pronuclei formation (24 hpi), cleavage rate (Day 3), development rate, and blastocyst morphology (Grade I and II - Day 7) were also assessed, as well as the abundance of 96 transcripts at 8-16 cell stage and blastocysts. There was no difference in early embryo kinetics (P > 0.05), and cleavage rate (HF = 86.7%; LF = 84.9%; P = 0.25). Nevertheless, the fertilization rate was higher on HF (72%) than LF (62%) and the polyspermy rate was lower on HF compared to LF (HF:16.2% LF:29.2%). As expected, blastocyst rate (HF = 29.4%; LF = 16.0%; P < 0.0001) and development rate (HF = 33.9% LF = 18.9%; P < 0.0001) were higher in HF than LF. At the 8-16 cell stage, 22 transcripts were differentially represented (P ≤ 0.05) between the two groups. Only PGK1 and TFAM levels were higher in HF while transcripts related to stress (6/22, ∼27%), cell proliferation (6/22, ∼27%), lipid metabolism genes (5/22, ∼23%), and other cellular functions (5/22, ∼23%) were higher on LF embryos. Blastocysts had 9 differentially represented transcripts (P ≤ 0.05); being only ACSL3 and ELOV1 higher in the HF group. Lipid metabolism genes (3/9, 33%) and other cellular functions (6/9, 67%) were higher in the LF group. In conclusion, the timing of the first cleavages is not affected by in vitro bull fertility. However, low in vitro fertility bulls presented higher polyspermy rates and produced 8-16 cells embryos with higher levels of transcripts related to apoptosis and cell damage pathways compared to high in vitro fertility ones. Evidence such as polyspermy and increase in apoptotic and oxidative stress genes at the EGA stage suggest that embryo development is impaired in the LF group leading to the reduction of blastocyst rate.

Simulation of impedance control applied to lower limb exoskeletons: assessment of its effectiveness in assisting disabled people during gait swing phase.

In this work we are interested in to assess the effectiveness of a impedance control applied to a lower limb exoskeleton that assists a individual with weakness to perform the swing movement of gait. To this, we carried out simulations using a human-exoskeleton interaction model from OpenSim, a forward dynamics-based simulation algorithm from MATLAB and experimental data from a subject walking on a treadmill. The results proved that the control is efficient and capable of providing the necessary complementary torque so that the person can complete the movement with dexterity.

Assessing different liquid-storage temperatures for rooster spermatozoa.

Although liquid-storage is extensively used in poultry, there are still questions on how sperm physiology is affected and to what extent sperm functions are disrupted by storage temperature and time. There, therefore, was investigation of storage temperature and durations on multiple semen variables. The storage at 37 °C was the most damaging, affecting values for several variables within 4 h of storage, whereas most differences occurred between 5 and 25 °C after 8 h. Progressive motility and mitochondrial function started to decrease within 2 h at 25 and 37 °C, and within 4 h at 5 °C. Acrosomal damage only occurred in samples at 37 °C. Eosin-negrosin staining indicated there was damage to the plasma membrane at 37 °C, however, with use of propidium iodide there were differences between 5 and 25 °C following 24 h. Temperatures of 5 and 25 °C resulted in similar curves for chromatin dispersion although chromatin integrities differed with storage for periods longer than 4 h. At 37 °C, results using both chromatin evaluations indicated there was damage after 2 h of incubation. Oxidative stress at 5 and 25 °C was similar when there was 24 h of storage. Intriguingly, there were no interaction between temperature and storage duration for peroxidized sperm membrane and total peroxidation status. These findings indicated that with a prolonged storage at 5 °C there were not marked changes in chicken spermatozoa, whereas at 25 °C there did not appear to be sperm damage occurring as a result of short-term storage.

Lipid peroxidation in bull semen influences sperm traits and oxidative potential of Percoll®-selected sperm.

Although bovine embryo in vitro production (IVP) is a common assisted reproductive technology, critical points warrant further study, including sperm traits and oxidative status of sperm for in vitro fertilization (IVF). Our aim was to evaluate whether the lipid peroxidation index of commercial bull semen is influenced by sperm traits and oxidative status of sperm populations selected using Percoll® gradient. Semen straws from 48 batches from 14 Nelore bulls were thawed individually, analyzed for motility and subjected to Percoll selection. After Percoll, the lipid peroxidation index of the extender was evaluated, whereas selected sperm were analyzed for motility, acrosome and membrane integrity, mitochondrial membrane potential, chromatin resistance and oxidative potential under IVF conditions. Batches were divided retrospectively in four groups according to lipid peroxidation index. Sperm from Group 4 with the lowest index of lipid peroxidation had, after Percoll selection, greater plasma membrane integrity (81.3%; P = 0.004), higher mitochondrial potential (81.1%; P = 0.009) and lower oxidative potential (135.3 ng thiobarbituric acid reactive substances (TBARS)/ml; P = 0.026) compared with Group 1 with highest lipid peroxidation index (74.3%, 73% and 213.1 ng TBARS/ml, respectively). Furthermore, we observed negative correlations for the lipid peroxidation index with motility, membrane integrity and mitochondrial potential, and positive correlations with oxidative potential. In conclusion, oxidative stress in semen straws, as determined using lipid peroxidation in the extender, is associated with sperm traits and their oxidative potential under IVF conditions. These results provided further insights regarding the importance of preventing oxidative stress during semen handling and cryopreservation, as this could affect sperm selected for IVF. Finally, Percoll selection did not completely remove sperm with oxidative markers.

Influence of seminal plasma during different stages of bovine sperm cryopreservation.

This study aimed to evaluate the effect of seminal plasma on bovine sperm cryopreservation and to assess the integrity of plasma and acrosomal membranes, mitochondrial potential, remodelling of F-actin cytoskeleton and sperm chromatin fragmentation during the cooling, equilibrium and freezing/thawing stages. Six ejaculates collected from seven Nelore bulls (n = 42) were used in this study. Each ejaculate was divided into two aliquots (with seminal plasma = SP group; without seminal plasma = NSP group) and packed to a final concentration of 50 × 106 sperm per straw. Statistical analyses were performed using SAS software (version 9.3), and p ≤ .05 was considered significant. A time effect was observed for all sperm characteristics (p < .05), except for chromatin fragmentation (p > .05). The presence of seminal plasma better preserved the acrosomal integrity (SP = 75.2% and NSP = 71.7%; p < .05) and also provided lower F-actin remodelling during cryopreservation process (SP = 29.9% and NSP = 32.4%; p < .05). Regarding to the cryopreservation stages, it was observed that cooling step induced higher remodelling of F-actin than the equilibrium and freezing/thawing stages (56.3%, 32.2% and 23.9%, respectively; p < .05). The equilibrium step had minor influence on overall sperm characteristics while the freezing/thawing stage was responsible for the highest percentage of damage in plasma membrane (-65.2%), acrosomal membrane (-34.0%) and mitochondrial potential (-48.1%). On the other hand, none of the cryopreservation stages affected chromatin integrity. It was concluded that the presence of seminal plasma provides increased acrosomal integrity and reduced remodelling of F-actin cytoskeleton. Higher F-actin remodelling is observed after the cooling step while the freezing/thawing step is most damaging to sperm membranes and mitochondrial potential during bovine sperm cryopreservation.

Bone morphogenetic protein 15 supplementation enhances cumulus expansion, nuclear maturation and progesterone production of in vitro-matured bovine cumulus-oocyte complexes.

In vitro embryo production (IVP) efficiency is reduced when compared to in vivo. The basic knowledge of bovine in vitro oocyte maturation (IVM) mechanisms provides support to improve in vitro embryo production yields. The present study assessed the effects of bone morphogenetic protein 15 (BMP15), fibroblast growth factor 16 (FGF16) and their combined action on cumulus cells (CC) expansion, oocyte and CC DNA fragmentation, oocyte nuclear maturation, energetic metabolism and progesterone production in bovine IVM. Cumulus-oocyte complexes (COC) were matured in control or supplemented media containing BMP15 (100 ng/ml), FGF16 (10 ng/ml) or BMP15 combined with FGF16; and assessed at 0 and 22 hr of IVM. BMP15 alone or its association with FGF16 enhanced cumulus expansion. BMP15 decreased DNA fragmentation in both CC and oocytes, and improved oocyte nuclear maturation rate. In addition, BMP15 increased CC progesterone production, an effect not previously reported. The present study reinforces previous data pointing to a beneficial influence of BMP15 during IVM, while providing novel evidence that the underlying mechanisms involve increased progesterone production.

Applications of an electronic nose in the prediction of oxidative stability of stored biodiesel derived from soybean and waste cooking oil.

Waste cooking oil (WCO) is a valuable feedstock for the synthesis of biodiesel but the product exhibits poor oxidative stability. Techniques available for assessing this parameter are generally expensive and time-consuming, hence the purpose of this study was to develop and validate a rapid and reliable predictive system based on signals from the sensors of a commercial hand-held e-nose instrument. Biodiesels were synthesized from soybean oil and six samples of WCO, and their physicochemical characteristics and oxidative stabilities determined before and after storage in different types of containers for 30 or 60 days at room temperature or 43 °C. Linear regression models were constructed based on principal component analysis of the signals generated by all 32 e-nose sensors and stochastic modeling of signal profiles from individual sensors. The regression model with principal components as predictors was unable to explain the oxidative stability of biodiesels, while the regression model with stochastic parameters (combining signals from 11 sensors) as predictors showed an excellent goodness of fit (R2 = 0.91) with a 45-sample training set and a good quality of prediction (R2 = 0.84) with a 18-sample validation set. The proposed e-nose system was shown to be accurate and efficient and could be used to advantage by producers/distributors of biodiesel in the assessment fuel quality.

Estimate of in vitro embryo production based on sperm subpopulations in Senepol bulls.

In cattle, in vitro embryo production (IVEP) is an important reproductive biotechnology responsible for the rapid expansion of the Senepol breed in our country. This breed has shown important results when used in crossbreeding and estimate IVEP in Senepol based on seminal analysis would be valuable for the semen cryopreservation industry, research institutes and breeders. Combining the evaluation of sperm subpopulations with analysis of other sperm attributes may help to improve fertility predictions in cattle. Therefore, the objectives of the present study were to: 1) identify and characterize motile sperm subpopulations in cryopreserved Senepol semen following the washing process carried out before in vitro fertilization, and 2) to determine an model for estimate IVEP based on sperm subpopulations in conjunction with other sperm quality analyzes. Samples of 38 cryopreserved semen from 28 Senepol bulls, chosen based on retrospective data from 386 IVEP routines, underwent the semen washing and were evaluated by the computer-assisted sperm analysis system. Sperm morphology was evaluated by wet preparation technique, and plasma and acrosomal membranes integrity, mitochondrial potential, oxidative status and chromatin resistance were analyzed by flow cytometry. After multivariate analysis of principal components and grouping, three sperm subpopulations were identified: SBP1 (fast and progressive motility), SBP2 (hyperactivated motility) and SBP3 (slow non-progressive motility). After categorization of IVEP in high, medium and low embryo yield, logistic regression analysis was applied to associate the results of subpopulations and other sperm quality variables with IVEP. The SBP1 and SBP2 variables affected embryo production, and an IVEP estimation model was generated for Senepol bulls based on these two subpopulations: embryo yield = 0.1563 + 0.0328 (SBP1) + 0.0173 (SBP2). SBP1 and SBP2 represents the absolute value of the percentage of subpopulations in semen. If the calculated value (by this equation) is close to 1, the embryo yield will be low; if is close to 2, will be medium; if is close to 3, will be high. In conclusion, three subpopulations were found for Senepol semen and, despite all analyzed variables, only SBP1 and SBP2 were included in the model to estimate IVEP in this breed.

Identification of Gait Events in Healthy Subjects and With Parkinson's Disease Using Inertial Sensors: An Adaptive Unsupervised Learning Approach.

Automatic identification of gait events is an essential component of the control scheme of assistive robotic devices. Many available techniques suffer limitations for real-time implementations and in guaranteeing high performances when identifying events in subjects with gait impairments. Machine learning algorithms offer a solution by enabling the training of different models to represent the gait patterns of different subjects. Here our aim is twofold: to remove the need for training stages using unsupervised learning, and to modify the parameters according to the changes within a walking trial using adaptive procedures. We developed two adaptive unsupervised algorithms for real-time detection of four gait events, using only signals from two single-IMU foot-mounted wearable devices. We evaluated the algorithms using data collected from five healthy adults and seven subjects with Parkinson's disease (PD) walking overground and on a treadmill. Both algorithms obtained high performance in terms of accuracy ( F1 -score ≥ 0.95 for both groups), and timing agreement using a force-sensitive resistors as reference (mean absolute differences of 66 ± 53 msec for the healthy group, and 58 ± 63 msec for the PD group). The proposed algorithms demonstrated the potential to learn optimal parameters for a particular participant and for detecting gait events without additional sensors, external labeling, or long training stages.

Polymer Optical Fiber-Based Integrated Instrumentation in a Robot-Assisted Rehabilitation Smart Environment: A Proof of Concept.

Advances in robotic systems for rehabilitation purposes have led to the development of specialized robot-assisted rehabilitation clinics. In addition, advantageous features of polymer optical fiber (POF) sensors such as light weight, multiplexing capabilities, electromagnetic field immunity and flexibility have resulted in the widespread use of POF sensors in many areas. Considering this background, this paper presents an integrated POF intensity variation-based sensor system for the instrumentation of different devices. We consider different scenarios for physical rehabilitation, resembling a clinic for robot-assisted rehabilitation. Thus, a multiplexing technique for POF intensity variation-based sensors was applied in which an orthosis for flexion/extension movement, a modular exoskeleton for gait assistance and a treadmill were instrumented with POF angle and force sensors, where all the sensors were integrated in the same POF system. In addition, wearable sensors for gait analysis and physiological parameter monitoring were also proposed and applied in gait exercises. The results show the feasibility of the sensors and methods proposed, where, after the characterization of each sensor, the system was implemented with three volunteers: one for the orthosis on the flexion/extension movements, one for the exoskeleton for gait assistance and the other for the free gait analysis using the proposed wearable POF sensors. To the authors' best knowledge, this is the first time that optical fiber sensors have been used as a multiplexed and integrated solution for the simultaneous assessment of different robotic devices and rehabilitation protocols, where such an approach results in a compact, fully integrated and low-cost system, which can be readily employed in any clinical environment.

Evaluation of Motor Primitive-Based Adaptive Control for Lower Limb Exoskeletons.

In order to assist after-stroke individuals to rehabilitate their movements, research centers have developed lower limbs exoskeletons and control strategies for them. Robot-assisted therapy can help not only by providing support, accuracy, and precision while performing exercises, but also by being able to adapt to different patient needs, according to their impairments. As a consequence, different control strategies have been employed and evaluated, although with limited effectiveness. This work presents a bio-inspired controller, based on the concept of motor primitives. The proposed approach was evaluated on a lower limbs exoskeleton, in which the knee joint was driven by a series elastic actuator. First, to extract the motor primitives, the user torques were estimated by means of a generalized momentum-based disturbance observer combined with an extended Kalman filter. These data were provided to the control algorithm, which, at every swing phase, assisted the subject to perform the desired movement, based on the analysis of his previous step. Tests are performed in order to evaluate the controller performance for a subject walking actively, passively, and at a combination of these two conditions. Results suggest that the robot assistance is capable of compensating the motor primitive weight deficiency when the subject exerts less torque than expected. Furthermore, though only the knee joint was actuated, the motor primitive weights with respect to the hip joint were influenced by the robot torque applied at the knee. The robot also generated torque to compensate for eventual asynchronous movements of the subject, and adapted to a change in the gait characteristics within three to four steps.