A Kinematic Model to Predict a Continuous Range of Human-Like Walking Speed Transitions.

While constant speed gait is well understood, far less is known about how humans change walking speed. It is also unknown if the transition steps smoothly morph between speeds, or if they are unique. Using data from a prior study in which subjects transitioned between five speeds while walking on a treadmill, joint kinematic data were decomposed into trend and periodic components. The trend captured the time-varying nature of the gait, and the periodic component captured the cyclic nature of a stride. The start and end of the transition were found by detecting where the trend diverged from a ±2 standard deviation band around the mean of the pre- and post-transition trend. On average, the transition started within half a step of when the treadmill changed speed ( p << 0.001 for equivalence test). The transition length was 2 to 3 steps long. A predictive kinematic model was fit to the experimental data using Bezier polynomials for the trend and Fourier series for the periodic component. The model was fit using 1) only constant speed walking, 2) only speed transition steps, and 3) a random sample of five step types and then validated using the complement of the training data. Regardless of the training set, the model accurately predicted untrained gaits (normalized RMSE , normalized maximum error generally ). Because the errors were similar for all training sets, this implies that joint kinematics smoothly morph between gaits when humans change speed.

Comparison of Design Approaches for Low-Cost Sampling Mechanisms in Open-Source Chemical Instrumentation.

Robotic positioning systems are used in a variety of chemical instruments, primarily for liquid handling purposes, such as autosamplers from vials or well plates. Here, two approaches to the design of open-source autosampler positioning systems for use with 96-well plates are described and compared. The first system, a 3-axis design similar to many low-cost 3D printers that are available on the market, is constructed using an aluminum design and stepper motors. The other system relies upon a series of 3D printed parts to achieve movement with a series of linker arms based on Selective Compliance Assembly Robot Arm (SCARA) design principles. Full printer design files, assembly instructions, software, and user directions are included for both samplers. The positioning precision of the 3-axis system is better than the SCARA mechanism due to finer motor control, albeit with a slightly higher cost of materials. Based on the improved precision of this approach, the 3-axis autosampler system was used to demonstrate the generation of a segmented flow droplet stream from adjacent wells within a 96-well plate.

Utility of low-cost, miniaturized peristaltic and Venturi pumps in droplet microfluidics.

Many laboratory applications utilizing droplet microfluidics rely on precision syringe pumps for flow generation. In this study, the use of an open-source peristaltic pump primarily composed of 3D printed parts and a low-cost commercial Venturi pump are explored for their use as an alternative to syringe pumps for droplet microfluidics. Both devices provided stable flow (<2% RSD) over a range of 1-7 µL/min and high reproducibility in signal intensity at a droplet generation rate around 0.25 Hz (<3% RSD), which are comparable in performance to similar measurements on standard syringe pumps. As a novel flow generation source for microfluidic applications, the use of the miniaturized Venturi pump was also applied to droplet signal monitoring studies used to measure changes in concentration over time, with average signal reproducibility <4% RSD for both single-stream fluorometric and reagent addition colorimetric applications. These low-cost flow methods provide stable flow sufficient for common droplet microfluidic approaches and can be implemented in a wide variety of simple, and potentially portable, analytical measurement devices.