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.

Fecal multi-omics analysis reveals diverse molecular alterations of gut ecosystem in COVID-19 patients.

Gut ecosystem has profound effects on host physiology and health. Gastrointestinal (GI) symptoms were frequently observed in patients with COVID-19. Compared with other organs, gut antiviral response can result in more complicated immune responses because of the interactions between the gut microbiota and host immunity. However, there are still large knowledge gaps in the impact of COVID-19 on gut molecular profiles and commensal microbiome, hindering our comprehensive understanding of the pathogenesis of SARS-CoV-2 and the treatment of COVID-19. We performed longitudinal stool multi-omics profiling to systemically investigate the molecular phenomics alterations of gut ecosystem in COVID-19. Gut proteomes of COVID-19 were characterized by disturbed immune, proteolysis and redox homeostasis. The expression and glycosylation of proteins involved in neutrophil degranulation and migration were suppressed, while those of proteases were upregulated. The variable domains of Ig heavy chains were downregulated and the overall glycosylation of IgA heavy chain constant regions, IgGFc-binding protein, and J chain were suppressed with glycan-specific variations. There was a reduction of beneficial gut bacteria and an enrichment of bacteria derived deleterious metabolites potentially associated with multiple types of diseases (such as ethyl glucuronide). The reduction of Ig heave chain variable domains may contribute to the increase of some Bacteroidetes species. Many bacteria ceramide lipids with a C17-sphingoid based were downregulated in COVID-19. In many cases, the gut phenome did not restore two months after symptom onset. Our study indicates widely disturbed gut molecular profiles which may play a role in the development of symptoms in COVID-19. Our findings also emphasis the need for ongoing investigation of the long-term gut molecular and microbial alterations during COVID-19 recovery process. Considering the gut ecosystem as a potential target could offer a valuable approach in managing the disease.

Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot System.

The ultrasonic phased array as an emerging interactive tool is increasingly used for aerial tactile interaction. However, there is almost no method to achieve remote variable force feedback through the ultrasonic phased array as far as we know. This article presents a force tactile feedback method for teleoperating robot systems that tracks the five fingers and forms a focus on the fingertips. First, the perceived size of the focus depends on the input parameters. The influence of the parameters on the physical output pressure intensity was obtained through physical test experiments. Then, the absolute threshold and difference threshold of human perception were studied through psychophysical experimental methods. Finally, the input parameters were selected according to the experimental results. According to the collected data, the construction of the force regression model was completed, and different parameters were mapped to the perceived intensity. The contact force generated in the actual operation is fed back to the haptic system, and the constructed model automatically adjusts the control parameters to ensure that the user's hand presents a sensory output corresponding to the intensity change. The entire force feedback system is evaluated, and results show that the system shows good perceptual quality.

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.

A semi-tryptic peptide centric metaproteomic mining approach and its potential utility in capturing signatures of gut microbial proteolysis.

BACKGROUND: Proteolysis regulation allows gut microbes to respond rapidly to dynamic intestinal environments by fast degradation of misfolded proteins and activation of regulatory proteins. However, alterations of gut microbial proteolytic signatures under complex disease status such as inflammatory bowel disease (IBD, including Crohn's disease (CD) and ulcerative colitis (UC)), have not been investigated. Metaproteomics holds the potential to investigate gut microbial proteolysis because semi-tryptic peptides mainly derive from endogenous proteolysis. RESULTS: We have developed a semi-tryptic peptide centric metaproteomic mining approach to obtain a snapshot of human gut microbial proteolysis signatures. This approach employed a comprehensive meta-database, two-step multiengine database search, and datasets with high-resolution fragmentation spectra to increase the confidence of semi-tryptic peptide identification. The approach was validated by discovering altered proteolysis signatures of Escherichia coli heat shock response. Utilizing two published large-scale metaproteomics datasets containing 623 metaproteomes from 447 fecal and 176 mucosal luminal interface (MLI) samples from IBD patients and healthy individuals, we obtain potential signatures of altered gut microbial proteolysis at taxonomic, functional, and cleavage site motif levels. The functional alterations mainly involved microbial carbohydrate transport and metabolism, oxidative stress, cell motility, protein synthesis, and maturation. Altered microbial proteolysis signatures of CD and UC mainly occurred in terminal ileum and descending colon, respectively. Microbial proteolysis patterns exhibited low correlations with ß-diversity and moderate correlations with microbial protease and chaperones levels, respectively. Human protease inhibitors and immunoglobulins were mainly negatively associated with microbial proteolysis patterns, probably because of the inhibitory effects of these host factors on gut microbial proteolysis events. CONCLUSIONS: This semi-tryptic peptide centric mining strategy offers a label-free approach to discover signatures of in vivo gut microbial proteolysis events if experimental conditions are well controlled. It can also capture in vitro proteolysis signatures to facilitate the evaluation and optimization of experimental conditions. Our findings highlight the complex and diverse proteolytic events of gut microbiome, providing a unique layer of information beyond taxonomic and proteomic abundance. Video abstract.