Perturbation-Based Balance Exercise Using a Wearable Device to Improve Reactive Postural Control.

Reactive postural control is an important component of the balance function for fall prevention. Perturbation-based balance exercises improve reactive postural control; however, these exercises require large, complex instruments and expert medical guidance. This study investigates the effects of unexpected perturbation-based balance exercises using a wearable balance exercise device (WBED) on reactive postural control. Eighteen healthy adult males participated in this study. Participants were assigned to the WBED and Sham groups. In the intervention session, participants in the WBED group randomly underwent unexpected perturbation in the mediolateral direction, while the Sham group performed the same exercises without perturbation. Before and after the intervention session, all participants underwent evaluation of reactive balance function using air cylinders. Peak displacement (D), time at peak displacement (T), peak velocity (V), and root mean square (RMS) of center of pressure (COP) data were measured. For mediolateral and anteroposterior COP (COPML and COP[Formula: see text]), the main effects of group and time factors (pre/post) were investigated through the analysis of variance for split-plot factorial design. In the WBED group, the D-COPML and V-COPML of the post-test significantly decreased compared to those of the pre-test (p = 0.017 and p = 0.003, respectively). Furthermore, the D-COPAP and RMSAP of the post-test significantly decreased compared to those of the pre-test (p = 0.036 and p = 0.015, respectively). This study proved that the perturbation-based balance exercise using WBED immediately improved reactive postural control. Therefore, wearable exercise devices, such as WBED, may contribute to the prevention of falls and fall-related injuries.

STP4: spatio temporal path planning based on pedestrian trajectory prediction in dense crowds.

This article proposes a means of autonomous mobile robot navigation in dense crowds based on predicting pedestrians' future trajectories. The method includes a pedestrian trajectory prediction for a running mobile robot and spatiotemporal path planning for when the path crosses with pedestrians. The predicted trajectories are converted into a time series of cost maps, and the robot achieves smooth navigation without dodging to the right or left in crowds; the path planner does not require a long-term prediction. The results of an evaluation implementing this method in a real robot in a science museum show that the trajectory prediction works. Moreover, the proposed planning's arrival times is 26.4% faster than conventional 2D path planning's arrival time in a simulation of navigation in a crowd of 50 people.

Evaluating the identification of the extent of gastric cancer by over-1000 nm near-infrared hyperspectral imaging using surgical specimens.

Significance: Determining the extent of gastric cancer (GC) is necessary for evaluating the gastrectomy margin for GC. Additionally, determining the extent of the GC that is not exposed to the mucosal surface remains difficult. However, near-infrared (NIR) can penetrate mucosal tissues highly efficiently. Aim: We investigated the ability of near-infrared hyperspectral imaging (NIR-HSI) to identify GC areas, including exposed and unexposed using surgical specimens, and explored the identifiable characteristics of the GC. Approach: Our study examined 10 patients with diagnosed GC who underwent surgery between 2020 and 2021. Specimen images were captured using NIR-HSI. For the specimens, the exposed area was defined as an area wherein the cancer was exposed on the surface, the unexposed area as an area wherein the cancer was present although the surface was covered by normal tissue, and the normal area as an area wherein the cancer was absent. We estimated the GC (including the exposed and unexposed areas) and normal areas using a support vector machine, which is a machine-learning method for classification. The prediction accuracy of the GC region in every area and normal region was evaluated. Additionally, the tumor thicknesses of the GC were pathologically measured, and their differences in identifiable and unidentifiable areas were compared using NIR-HSI. Results: The average prediction accuracy of the GC regions combined with both areas was 77.2%; with exposed and unexposed areas was 79.7% and 68.5%, respectively; and with normal regions was 79.7%. Additionally, the areas identified as cancerous had a tumor thickness of >2 mm. Conclusions: NIR-HSI identified the GC regions with high rates. As a feature, the exposed and unexposed areas with tumor thicknesses of >2 mm were identified using NIR-HSI.

Robotic endoscope with double-balloon and double-bend tube for colonoscopy.

The insertion of conventional colonoscopes can sometimes cause patients to experience pain during the procedure owing to the stretching of the mesentery. In this study, a prototype of a robotic colonoscope with a double-balloon and double-bend tube based on the conventional double-balloon endoscope was developed to simplify insertion and prevent the overstretching of the colon. Both the outer and inner tubes were confirmed to be free from interference from wires and sheaths. Additionally, all functions such as tip bending, inflation and deflation of the balloons, and actuator-driven pulling and pushing of the inner tube were operated properly. During the insertion test, the device could be reached the cecum of a colon model in approximately 442 s when operated by a non-medical operator. In addition, the device did not overstretch the colon model, thereby suggesting that the insertion mechanism can follow the shape of the colon model. As a result, the developed mechanism has the potential to navigate through a highly-bent colon without overstretching.

Mechanical analysis of the improved superelastic Ni-Ti alloy wire using the orthodontic simulator with high-precision sensors.

PURPOSE: The authors have been using improved superelastic Nickel-Titanium alloy wire (ISW) to close and align extraction spaces simultaneously, instead of separately using rigid wires for closing extraction spaces and Ni-Ti alloy wires for leveling and aligning. ISW has a low stiffness, which makes it challenging to generate sufficient moments. This study aimed to demonstrate the forces and moments exerted on adjacent brackets using an orthodontic simulator (OSIM) attached to a high-precision 6-axis sensor. MATERIALS AND METHODS: In experiment 1, a 0.016 × 0.022-inch ISW, stainless steel (SS) wire, and ß-titanium wires were ligatured into the two brackets. The 0.018 × 0.025-inch slot self-ligating brackets were bonded to two simulated teeth at the same height, and the experiment was conducted using the high-precision OSIM. The distance between the brackets was 10 mm, the V-bend angles of the installed wires were 10°, 20°, 30°, and 40°, and the apex position was set at the center of the bracket. In experiment 2, 6.0- and 9.0-mm long elastomeric chains were placed on the same brackets as in Experiment 1 to measure forces and moments. The distance between the brackets was increased by 1.0 mm from 6.0 to 15.0 mm. Both experiments were conducted in a 37 °C thermostatic chamber similar to the oral environment. RESULTS AND DISCUSSION: In experiment 1, we measured moments on both sides for all the wires. As the V-bend angle increased, the absolute values of the moments also increased. With a V-bend angle of 10°, there was a significant (p < 0.05) difference in the moment generated in the left and right brackets among the three wire types. In the ISW, -1.67 ± 0.38 N・mm was generated in the left bracket, while 0.38 ± 0.26 N・mm was generated in the right bracket at 10°. At 20°, -1.77 ± 0.69 N・mm was generated in the left bracket, while 2.37 ± 0.94 N・mm was generated in the right bracket. At 30°, -2.98 ± 0.49 N・mm was generated in the left bracket, while 3.25 ± 0.32 N・mm was generated in the right bracket. Moreover, at 40°, -3.96 ± 0.58 N・mm was generated in the left bracket, while 3.55 ± 0.53 N・mm was generated in the right bracket. Furthermore, in experiment 2, the moments increased in proportion to the increase in distance between the centers of the two brackets. Absolute values of the moments were approximately equal for the left and right brackets. The 6.0-mm elastomeric chain generated a minimum force of -0.09 ± 0.05 N in the left direction when the distance between brackets was 6.0 mm, while a maximum of 1.24 ± 0.3 N when the distance between brackets was 12 mm in the right bracket. In the left bracket, minimum and maximum forces of -0.09 ± 0.07 and 1.3 ± 0.4 N were generated in the right direction, respectively. The 9.0-mm elastomeric chain generated a minimum force of 0.03 ± 0.07 N in the left direction when the distance between brackets was 9.0 mm, while a maximum of 1.3 ± 0.1 N when the distance between brackets was 15 mm in the right bracket. In the left bracket, minimum and maximum forces of 0.05 ± 0.06 and 0.98 ± 0.2 N were generated in the right direction, respectively. CONCLUSION: Mechanical data of the ISW have been collected in the study, which was previously difficult to perform owing to the low stiffness of the wire. It is suggested that the ISW can provide sufficient moments with the addition of V-bends to close the space by bodily movement.

Neurotypicals with higher autistic traits have delayed visual processing of an approaching life-sized avatar's gait: an event-related potentials study.

Introduction: Autism spectrum disorder (ASD) is a neurodevelopmental disorder, which is reportedly related to difficulties in the visual processing of human motion, such as biological motion and gestures. Moreover, neurotypical (here, we mention it as individuals without a diagnosis) adults with autistic traits are clumsier than those without autistic traits when passing by others. It is still unclear whether the clumsiness derived from atypical visual processing of another's approaching gait motion. We aim to address this question by investigating the association between autistic traits in neurotypical adults and the visual processing of an approaching life-sized avatar's gait. Methods: We clarified a typical visual motion processing and autistic traits in daily life in 26 neurotypical adults by analyzing the subthreshold autism trait questionnaire (SATQ) score, a 24-item self-report scale of ASD, and event-related potentials (ERPs) in response to walking motion of a passing avatar. Videos of walking life-sized virtual avatars approaching and retreating were presented as visual stimuli. Results and discussion: The association between the participants' SATQ scores and the latencies and amplitudes of the ERPs was examined. ERP components (N170 and P200) components were identified at T5 and T6 electrodes. Participants reporting higher SATQ scores had longer latencies of P200 at T6 and lower amplitudes of P200 at T5 and T6 electrodes for the approaching avatar than those reporting lower SATQ scores. These findings indicate that adults with autistic traits have delayed and less sensitive visual processing of the approaching avatar. It suggests that while passing another person, these individuals have atypical visual processing of their approach. This study may contribute to elucidating autistic traits from the perspective of visual processing in an environment simulating daily life.

Verification of gait analysis method fusing camera-based pose estimation and an IMU sensor in various gait conditions.

A markerless gait analysis system can measure useful gait metrics to determine effective clinical treatment. Although this gait analysis system does not require a large space, several markers, or time constraints, it inaccurately measure lower limb joint kinematics during gait. In particular, it has a substantial ankle joint angle error. In this study, we investigated the markerless gait analysis method capability using single RGB camera-based pose estimation by OpenPose (OP) and an inertial measurement unit (IMU) sensor on the foot segment to measure ankle joint kinematics under various gait conditions. Sixteen healthy young adult males participated in the study. We compared temporo-spatial parameters and lower limb joint angles during four gait conditions with varying gait speeds and foot progression angles. These were measured by optoelectronic motion capture, markerless gait analysis method using OP, and proposed method using OP and IMU. We found that the proposed method using OP and an IMU significantly decreased the mean absolute errors of peak ankle joint angles compared with OP in the four gait conditions. The proposed method has the potential to measure temporo-spatial gait parameters and lower limb joint angles, including ankle angles, in various gait conditions as a clinical settings gait assessment tool.

Gait Perception of Life-Size Point-Light Walker is Associated with Autistic Traits: Evidence from Event-Related Evoked Potentials.

Autism spectrum disorder (ASD) is a neurodevelopmental disorder characterized by a combination of atypicalities in social cognition. Previous studies showed that people with autistic traits have atypicality in motion perception on a point-light display by measuring visual event-related potentials (ERPs). Although some studies have focused on the association between motion perception and autistic traits, visual ERPs to biological motion as large as actual person have not been investigated. Measuring brain activity in a real-life environment help us to understand the difficulties showed in daily life by people with autistic traits. In this study, we investigated the association between gait perception and autistic traits by measuring ERPs during video observation of approaching and receding life-sized point-light walkers (PLW s). ERPs were measured using an 8-channel EEG system in 22 adults. The multiple regression analyses were conducted to assess association between the Subthreshold Autism Trait Questionnaire (SATQ) score and the ERP amplitude or latency. As the results, we found that the higher SATQ score could be explained by the longer latency of N1 on the occipitotemporal area. These findings suggested that people with autistic traits have difficulty in perceiving the approach of others in daily life.

Evaluation of Subtalar Joint's Compensatory Function in Varus Ankle Osteoarthritis Using Globally Optimal Iterative Closest Points (Go-ICP).

Background: A previous study on 2-dimensional evaluation of the subtalar joint functioning in varus ankle osteoarthritis concluded that varus deformity was compensated for by the subtalar joint during early stages but not in the advanced stages. Although compensatory function is expected both along the axial and coronal planes, compensatory function in all 3 dimensions (3D) remains unevaluated. This study evaluated the 3D-compensatory function of a varus subtalar joint using Globally Optimal Iterative Closest Points (Go-ICP), a 3D-shape registration algorithm, after 3D-bone shape reconstruction using computed tomography. Methods: This study included 22 ankles: 4 stage 2 ankles, 5 stage 3a ankles, 6 stage 3b ankles, and 4 stage 4 ankles, categorized according to the Takakura-Tanaka classification. As the control group, 3 ankles without prior ankle injuries and disorders and 4 stage 2 ankles were included. One control ankle was used as a reference. Relative values compared with the reference ankle were evaluated in each group using Go-ICP. Each axis was set so that dorsiflexion, valgus, and abduction were positive on the X axis, Y axis, and Z axis, respectively. Results: Rotation angles of the talus (Rotation T) and calcaneus (Rotation C) on the Y axis in the control and stage 3b were -7.6, -28, -2.1, and -13 degrees, respectively, indicating significant differences. Value of Rotation T-Rotation C (Rotation T-C) represents compensatory function of the subtalar joint. In all ankles, there was a correlation between Rotation T and Rotation T-C on the Y axis and Z axis (P < .01, r = 0.84; P < .01, r = -0.84, respectively). There was a correlation between Rotation T values on the on Y and Z axes (P = .01, r = 0.53). Conclusion: In varus ankle osteoarthritis, the talus had varus deformity with adduction. Compensatory function in the coronal plane persisted, even in the advanced stages; however, it was not sufficiently maintained in stage 3b. Furthermore, compensatory function in the axial plane was relatively sustained. Level of Evidence: Level III, retrospective comparative study.

Influence of different ligation methods on force and moment generation in a simulated condition of the maxillary crowded anterior dentition with linguo-version and rotation.

BACKGROUND: Most orthodontic cases consist of varying degrees of crowding. To manage crowded dentitions, nickel-titanium archwires with various ligation methods are often used. OBJECTIVE: We aimed to investigate the effect of different ligation methods with respect to force and moment and suggest the efficient ligation method for treating rotation and displacement simultaneously. METHODS: We built a model that simulated the three anterior teeth of the maxilla. The teeth on the two ends were fixed, and the middle tooth was set in several different positions by manipulating the amount of displacement in bucco-lingual direction and rotation angle. The measurements were taken with three different ligation methods of self-ligation (SL), elastomeric o-ring ligation on both side wings (EB), and on one side wings (EO). RESULTS: The magnitude of linguo-buccal force exceeded the standard optimal force in each condition examined and was significantly larger in EB than in other ligation methods. Moreover, the magnitude of moment generation with SL was suitable in the 0.0 mm linguo-version, whereas it was suitable with EO in the linguo-version ranging 1.0-3.0 mm. CONCLUSIONS: The ligation method significantly affected the force and moment. SL and EO are recommended in dentitions with light and deep lingual displacements, respectively.

Accuracy of Temporo-Spatial and Lower Limb Joint Kinematics Parameters Using OpenPose for Various Gait Patterns With Orthosis.

A cost-effective gait analysis system without attachments and specialized large environments can provide useful information to determine effective treatment in clinical sites. This study investigates the capability of a single camera-based pose estimation system using OpenPose (OP) to measure the temporo-spatial and joint kinematics parameters during gait with orthosis. Eleven healthy adult males walked under different conditions of speed and foot progression angle (FPA). Temporo-spatial and joint kinematics parameters were measured using a single camera-based system with OP and a three-dimensional motion capture system. The limit of agreement, mean absolute error, absolute agreement (ICC2, 1), and relative consistency (ICC3, 1) between the systems under each condition were assessed for reliability and validity. The results demonstrated that most of the ICC for temporo-spatial parameters and hip and knee kinematics parameters were good to excellent (0.60 - 0.98). Conversely, most of the ICC for ankle kinematics in all conditions were poor to fair (< 0.60). Thus, the gait analysis using OP can be used as a clinical assessment tool for determining the temporo-spatial, hip, and knee sagittal plane angles during gait.

3D Body Parts Tracking of Mouse Based on RGB-D Video from Under an Open Field.

The mouse is a valuable animal model to address the neural mechanism of higher brain function and test the pharmacodynamics of new drugs. The development of novel behavioral analysis to detect subtleties of emotion is valuable for the evolution of neuroscience research and drug discovery. 3D pose estimation is expected to contribute significantly to them. Several methods for 3D pose estimation of the mouse using optical motion capture with markers and multiple cameras have been proposed, but these methods have problems such as preparing marker sets and the influence of the markers on mouse behavior. A low-cost and simple method for markerless 3D pose estimation of the mouse using a single RGB-D (Depth) camera is proposed. As a result, the proposed method improved the accuracy of limbs tracking compared to existing limbs tracking methods. In addition, this method could track other body parts (nose, base of tail) and the center of gravity.Clinical Relevance-This study could contribute to the development of neuroscience research and drug discovery by clarifying the relationship between subtle changes in mouse behavior and emotional movements.

Over 1000 nm Near-Infrared Multispectral Imaging System for Laparoscopic In Vivo Imaging.

In this study, a laparoscopic imaging device and a light source able to select wavelengths by bandpass filters were developed to perform multispectral imaging (MSI) using over 1000 nm near-infrared (OTN-NIR) on regions under a laparoscope. Subsequently, MSI (wavelengths: 1000-1400 nm) was performed using the built device on nine live mice before and after tumor implantation. The normal and tumor pixels captured within the mice were used as teaching data sets, and the tumor-implanted mice data were classified using a neural network applied following a leave-one-out cross-validation procedure. The system provided a specificity of 89.5%, a sensitivity of 53.5%, and an accuracy of 87.8% for subcutaneous tumor discrimination. Aggregated true-positive (TP) pixels were confirmed in all tumor-implanted mice, which indicated that the laparoscopic OTN-NIR MSI could potentially be applied in vivo for classifying target lesions such as cancer in deep tissues.

Inter-limb weight transfer strategy during walking after unilateral transfemoral amputation.

Although weight transfer is an important component of gait rehabilitation, the biomechanical strategy underlying the vertical ground reaction force loading/unloading in individuals with unilateral transfemoral amputation between intact and prosthetic limbs remains unclear. We investigated weight transfer between limbs at different walking speeds in 15 individuals with unilateral transfemoral amputation and 15 individuals without amputation as controls, who walked on an instrumented treadmill. The normalized unloading and loading rates were calculated as the slope of decay and rise phase of the vertical ground reaction force, respectively. We performed linear regression analyses for trailing limb's unloading rate and leading limb's loading rate between the prosthetic, intact, and control limbs. While loading rate increased with walking speed in all three limbs, the greatest increase was observed in the intact limb. In contrast to the other limbs, the prosthetic limb unloading rate was relatively insensitive to speed changes. Consequently, the regression line between trailing prosthetic and leading intact limbs deviated from other relationships. These results suggest that weight transfer is varied whether the leading or trailing limb is the prosthetic or intact side, and the loading rate of the leading limb is partially affected by the unloading rate of the contralateral trailing limb.

External Mechanical Work in Runners With Unilateral Transfemoral Amputation.

Carbon-fiber running-specific prostheses have enabled individuals with lower extremity amputation to run by providing a spring-like leg function in their affected limb. When individuals without amputation run at a constant speed on level ground, the net external mechanical work is zero at each step to maintain a symmetrical bouncing gait. Although the spring-like "bouncing step" using running-specific prostheses is considered a prerequisite for running, little is known about the underlying mechanisms for unilateral transfemoral amputees. The aim of this study was to investigate external mechanical work at different running speeds for unilateral transfemoral amputees wearing running-specific prostheses. Eight unilateral transfemoral amputees ran on a force-instrumented treadmill at a range of speeds (30, 40, 50, 60, 70, and 80% of the average speed of their 100-m personal records). We calculated the mechanical energy of the body center of mass (COM) by conducting a time-integration of the ground reaction forces in the sagittal plane. Then, the net external mechanical work was calculated as the difference between the mechanical energy at the initial and end of the stance phase. We found that the net external work in the affected limb tended to be greater than that in the unaffected limb across the six running speeds. Moreover, the net external work of the affected limb was found to be positive, while that of the unaffected limb was negative across the range of speeds. These results suggest that the COM of unilateral transfemoral amputees would be accelerated in the affected limb's step and decelerated in the unaffected limb's step at each bouncing step across different constant speeds. Therefore, unilateral transfemoral amputees with passive prostheses maintain their bouncing steps using a limb-specific strategy during running.

Plaque-removal effect of ultrafine bubble water: Oral application in patients undergoing orthodontic treatment.

During orthodontic treatment, plaque tends to form around fixed orthodontic appliances, which increases the risk of dental caries. It has been reported that ultarafine bubble with a diameter <1 µm water (UFBW) effectively removes organic matter. In addition, UFBW is harmless and stable for at least one month with refrigeration. The aim of this study was to examine the plaque-removal effect of ultrafine bubble water (UFBW) to establish a new method to prevent dental caries in patients during orthodontic treatment procedures. The in vitro study examined different concentrations of UFBW and compared the cleaning effect to that of existing mouthwashes. High-concentration UFBW (HUFBW) was most effective in cleaning. In the subsequent clinical study, HUFBW showed a significantly higher plaque-removal effect compared to distilled water (p<0.01). Thus, supplementary use of HUFBW could decrease the incidence of dental caries during orthodontic treatment.

Distinction of surgically resected gastrointestinal stromal tumor by near-infrared hyperspectral imaging.

The diagnosis of gastrointestinal stromal tumor (GIST) using conventional endoscopy is difficult because submucosal tumor (SMT) lesions like GIST are covered by a mucosal layer. Near-infrared hyperspectral imaging (NIR-HSI) can obtain optical information from deep inside tissues. However, far less progress has been made in the development of techniques for distinguishing deep lesions like GIST. This study aimed to investigate whether NIR-HSI is suitable for distinguishing deep SMT lesions. In this study, 12 gastric GIST lesions were surgically resected and imaged with an NIR hyperspectral camera from the aspect of the mucosal surface. Thus, the images were obtained ex-vivo. The site of the GIST was defined by a pathologist using the NIR image to prepare training data for normal and GIST regions. A machine learning algorithm, support vector machine, was then used to predict normal and GIST regions. Results were displayed using color-coded regions. Although 7 specimens had a mucosal layer (thickness 0.4-2.5 mm) covering the GIST lesion, NIR-HSI analysis by machine learning showed normal and GIST regions as color-coded areas. The specificity, sensitivity, and accuracy of the results were 73.0%, 91.3%, and 86.1%, respectively. The study suggests that NIR-HSI analysis may potentially help distinguish deep lesions.

Anterior-posterior ground reaction forces across a range of running speeds in unilateral transfemoral amputees.

As a fundamental motor pattern, the ability to run at a range of constant speeds is a prerequisite for participating in competitive games and recreational sports. However, it remains unclear how unilateral transfemoral amputees modulate anterior and posterior ground reaction force impulses (GRFIs) in order to maintain constant running speeds. The purpose of this study was to investigate anterior and posterior GRFIs across a wide range of constant running speeds in unilateral transfemoral amputees wearing a running-specific prosthesis. Eleven runners with unilateral transfemoral amputation ran on an instrumented treadmill at 5 different speeds (30%, 40%, 50%, 60%, and 70% of the average velocity of their 100-m personal records). Anterior-posterior ground reaction forces (GRFs) were measured at 1000 Hz over 14 consecutive steps. Impulse, magnitude, and duration of anterior and posterior GRFs were compared between the affected and unaffected limbs at each speed. The net anterior-posterior GRFI, reflecting the changes in horizontal running velocity, was consistently positive (propulsion) in the affected limb and negative (braking) in the unaffected limb at all speeds. Regardless of running speed, unilateral transfemoral amputees maintain constant running speeds not over each step, but over 2 consecutive steps (i.e., one stride).