ROBOGait: A Mobile Robotic Platform for Human Gait Analysis in Clinical Environments.

Mobile robotic platforms have made inroads in the rehabilitation area as gait assistance devices. They have rarely been used for human gait monitoring and analysis. The integration of mobile robots in this field offers the potential to develop multiple medical applications and achieve new discoveries. This study proposes the use of a mobile robotic platform based on depth cameras to perform the analysis of human gait in practical scenarios. The aim is to prove the validity of this robot and its applicability in clinical settings. The mechanical and software design of the system is presented, as well as the design of the controllers of the lane-keeping, person-following, and servoing systems. The accuracy of the system for the evaluation of joint kinematics and the main gait descriptors was validated by comparison with a Vicon-certified system. Some tests were performed in practical scenarios, where the effectiveness of the lane-keeping algorithm was evaluated. Clinical tests with patients with multiple sclerosis gave an initial impression of the applicability of the instrument in patients with abnormal walking patterns. The results demonstrate that the system can perform gait analysis with high accuracy. In the curved sections of the paths, the knee joint is affected by occlusion and the deviation of the person in the camera reference system. This issue was greatly improved by adjusting the servoing system and the following distance. The control strategy of this robot was specifically designed for the analysis of human gait from the frontal part of the participant, which allows one to capture the gait properly and represents one of the major contributions of this study in clinical practice.

Femtosecond laser-ablation of gel and water.

We study the expansion dynamics of super-heated material during ultra-fast laser ablation of water and gel, using transient-reflectivity microscopy. We find that the expansion dynamics of water and gel, as observed during the first few nanoseconds, are extremely similar over a large range of ablation energies. We measure the crater topography of the gel after irradiation with a single laser shot, using optical interferometric microscopy, and estimate the mass that is ejected during the ablation. We calculate the laser energy deposited during irradiation by simulating the precise spatial distribution of the electron plasma density and temperature. We link the amount of removed mass obtained experimentally with the simulations of the deposited laser energy.

Optical method for micrometer-scale tracerless visualization of ultrafast laser induced gas flow at a water/air interface.

We study femtosecond-laser-induced flows of air at a water/air interface, at micrometer length scales. To visualize the flow velocity field, we simultaneously induce two flow fronts using two adjacent laser pump spots. Where the flows meet, a stationary shockwave is produced, the length of which is a measure of the local flow velocity at a given radial position. By changing the distance between the spots using a spatial light modulator, we map out the flow velocity around the pump spots. We find gas front velocities near the speed of sound in air vs for two laser excitation energies. We find an energy scaling that is inconsistent with the Sedov-Taylor model. Due to the flexibility offered by spatial beam shaping, our method can be applied to study subsonic laser-induced gas flow fronts in more complicated geometries.

The Accuracy of the Microsoft Kinect V2 Sensor for Human Gait Analysis. A Different Approach for Comparison with the Ground Truth.

Several studies have examined the accuracy of the Kinect V2 sensor during gait analysis. Usually the data retrieved by the Kinect V2 sensor are compared with the ground truth of certified systems using a Euclidean comparison. Due to the Kinect V2 sensor latency, the application of a uniform temporal alignment is not adequate to compare the signals. On that basis, the purpose of this study was to explore the abilities of the dynamic time warping (DTW) algorithm to compensate for sensor latency (3 samples or 90 ms) and develop a proper accuracy estimation. During the experimental stage, six iterations were performed using the a dual Kinect V2 system. The walking tests were developed at a self-selected speed. The sensor accuracy for Euclidean matching was consistent with that reported in previous studies. After latency compensation, the sensor accuracy demonstrated considerably lower error rates for all joints. This demonstrated that the accuracy was underestimated due to the use of inappropriate comparison techniques. On the contrary, DTW is a potential method that compensates for the sensor latency, and works sufficiently in comparison with certified systems.

Differences in the Electromyographic Activity of Lower-Body Muscles in Hip Thrust Variations.

Collazo García, CL, Rueda, J, Suárez Luginick, B, Navarro, E. Differences in the electromyographic activity of lower-body muscles in hip thrust variations. J Strength Cond Res 34(9): 2449-2455, 2020-Coaches often use variations of an exercise to train a specific muscle. The purpose of this study was to analyze motor patterns in 4 variations of one of the most popular strength training exercises for the lower body: the barbell hip thrust. Seven experienced personal trainers performed a series of 8 repetitions of each variation with a load of 40% one repetition maximum. Subjects rested 3' between series. Electromyographic (EMG) muscle activity was measured in the rectus femoris, vastus medialis; vastus lateralis; gluteus maximus; gluteus medius; biceps femoris; and semitendinosus. Variations of the hip thrust exercise were performed by changing the position of the feet (feet were moving away from the body) and the direction of force exerted by subjects (intentional force aimed at hip's external rotation and knee's flexion). Repeated-measures analysis of variance revealed significant differences in EMG in all muscles except for the gluteus medius, where no differences were observed among variations. The results obtained suggest that hip thrust variations have different motor patterns, which can be exploited to adapt an exercise to the individual needs of each athlete.

Transient scattering effects and electron plasma dynamics during ultrafast laser ablation of water.

We study the dynamics of single-shot ultrafast laser ablation of a water-gas interface. We model the extremely nonlinear light-water interaction during the first picosecond by simulating the laser pulse propagation while dynamically calculating the spatial distribution of the dielectric function. We make use of a finite-difference time-domain algorithm to solve Maxwell's equations and Rethfeld's multiple rate equation model to consider the local excitation of a dense electron plasma. We validate our model by comparing the simulated transient reflectivity with experimental results and find excellent agreement.

Ultrafast laser ablation of trapped gold nanoparticles.

We investigate the interaction of femtosecond (fs) laser pulses with single gold nanoparticles, trapped in a linear Paul trap. We study the scattering response of the particles as a function of the polarization angle of a cw laser at three different wavelengths. These measurements provide a value of the visibility that we compare with Mie theory calculations in order to obtain an estimate of the particle radius. We monitor the particle size during ultrafast laser ablation, obtaining an accurate figure for the mass loss as a function of the fs-laser dose. We discuss the particle mass loss induced by a single fs-laser shot and its relation with the number of absorbed photons.

Formulation of Dronedarone Hydrochloride-Loaded Proliposomes: In Vitro and In Vivo Evaluation Using Caco-2 and Rat Model.

The objective of the present study was to develop a proliposomal formulation to increase the oral bioavailability of dronedarone hydrochloride (dronedarone HCl) by enhancing solubility, dissolution, and/or intestinal absorption. Proliposomes were prepared by using solvent evaporation method. In this process, different ratios of drug, phospholipids, such as soy phosphatidylcholine (SPC), Phospholipon 90H, hydrogenated egg phosphatidylcholine (HEPC), and dimyristoyl phosphatidylglycerol (DMPG), and cholesterol were used. Physical characterization and in vitro dissolution studies were evaluated for the prepared formulations. In vitro transport across the membrane was carried out using Caco-2 cells. Among all the formulations, the amount of drug released in dissolution was higher with DPF8 formulation (drug:DMPG Na:cholesterol:::1:2:0.2) compared to the pure drug. Also, Caco-2 cell permeability studies resulted in 2.6-fold increase in apparent permeability. Optimized formulation was evaluated in vivo in male Sprague-Dawley rats. After single oral administration of optimized formulation (DPF8), a relative bioavailability of 148.36% was achieved compared to the pure drug. Improved oral bioavailability of dronedarone could be provided by an optimized proliposomal formulation with enhanced solubility, permeability, and oral absorption.

Dynamics of femtosecond laser-induced shockwaves at a water/air interface using multiple excitation beams.

We investigate the formation, propagation, and interaction of femtosecond laser-induced flows of compressed air at a water/air interface by recording the transient reflectivity of shockwaves. Subsonic fronts of compressed air and weak shockwaves can be hard to detect due to their inherently subtle change of refractive index. Therefore, we study these weak flows by looking at the interaction dynamics of two and four shockwaves simultaneously produced at adjacent locations. An analytic model is used to retrieve the velocity and position of the shockwave from the experimental results. The use of multi-spot excitation opens up a versatile method to further investigate and understand the physical mechanisms contributing to photomechanical tissue damage during femtosecond-laser-based surgery and to study the fluid dynamics of complex systems.

Femtosecond laser-controlled self-assembly of amorphous-crystalline nanogratings in silicon.

Self-assembly (SA) of molecular units to form regular, periodic extended structures is a powerful bottom-up technique for nanopatterning, inspired by nature. SA can be triggered in all classes of solid materials, for instance, by femtosecond laser pulses leading to the formation of laser-induced periodic surface structures (LIPSS) with a period slightly shorter than the laser wavelength. This approach, though, typically involves considerable material ablation, which leads to an unwanted increase of the surface roughness. We present a new strategy to fabricate high-precision nanograting structures in silicon, consisting of alternating amorphous and crystalline lines, with almost no material removal. The strategy can be applied to static irradiation experiments and can be extended into one and two dimensions by scanning the laser beam over the sample surface. We demonstrate that lines and areas with parallel nanofringe patterns can be written by an adequate choice of spot size, repetition rate and scan velocity, keeping a constant effective pulse number (N eff) per area for a given laser wavelength. A deviation from this pulse number leads either to inhomogeneous or ablative structures. Furthermore, we demonstrate that this approach can be used with different laser systems having widely different wavelengths (1030 nm, 800 nm, 400 nm), pulse durations (370 fs, 100 fs) and repetition rates (500 kHz, 100 Hz, single pulse) and that the grating period can also be tuned by changing the angle of laser beam incidence. The grating structures can be erased by irradiation with a single nanosecond laser pulse, triggering recrystallization of the amorphous stripes. Given the large differences in electrical conductivity between the two phases, our structures could find new applications in nanoelectronics.

Design, Characterization, and In Vivo Pharmacokinetics of Tacrolimus Proliposomes.

The objective of this study was to develop proliposomal formulation for a poorly bioavailable drug, tacrolimus. Proliposomes were prepared by thin film hydration method using different lipids such as hydrogenated soy phosphatidylcholine (HEPC), soy phosphatidylcholine (SPC), distearyl phosphatidylcholine (DSPC), dimyristoylphosphatidylcholine (DMPC), and dimyristoylphosphatidylglycerol sodium (DMPG) and cholesterol in various ratios. Proliposomes were evaluated for particle size, zeta potential, in vitro drug release, in vitro permeability, and in vivo pharmacokinetics. In vitro drug release was carried out in purified water using USP type II dissolution apparatus. In vitro drug permeation was studied using parallel artificial membrane permeation assay (PAMPA) and everted rat intestinal perfusion techniques. In vivo pharmacokinetic studies were conducted in male Sprague-Dawley (SD) rats. Among the different formulations, proliposomes with drug/DSPC/cholesterol in the ratio of 1:2:0.5 demonstrated the desired particle size and zeta potential. Enhanced drug release was observed with proliposomes compared to pure tacrolimus in purified water after 1 h. Tacrolimus permeability across PAMPA and everted rat intestinal perfusion models was significantly higher with proliposomes. The optimized formulation of proliposomes indicated a significant improvement in the rate and absorption of tacrolimus. Following a single oral administration, a relative bioavailability of 193.33% was achieved compared to pure tacrolimus suspension.

White and full color upconversion film-on-glass displays driven by a single 978 nm laser.

White and full-color displays based on upconversion (UC) processes in multilayered NaLu1-x-yYbxTmy(WO4)2/NaLu1-x-zYbxHoz(WO4)2 films deposited on 20 × 20 mm² Pyrex glass substrates are demonstrated by scanning with a 978 nm focused beam from a diode laser. Moreover, spatially resolved red, green and blue pixels are selected by focusing the excitation light at different depths on three stacked films with compositions individually optimized for UC emission of each fundamental color. The highest temperature used in synthesis/deposition process was 580 °C allowing the use of glass substrates.

Supervised learning for improving the accuracy of robot-mounted 3D camera applied to human gait analysis.

BACKGROUND AND OBJECTIVE: the use of 3D cameras for gait analysis has been highly questioned due to the low accuracy they have demonstrated in the past. The objective of the study presented in this paper is to improve the accuracy of the estimations made by robot-mounted 3D cameras in human gait analysis by applying a supervised learning stage. METHODS: the 3D camera was mounted in a mobile robot to obtain a longer walking distance. This study shows an improvement in detection of kinematic gait signals and gait descriptors by post-processing the raw estimations of the camera using artificial neural networks trained with the data obtained from a certified Vicon system. To achieve this, 37 healthy participants were recruited and data of 207 gait sequences were collected using an Orbbec Astra 3D camera. There are two basic possible approaches for training and both have been studied in order to see which one achieves a better result. The artificial neural network can be trained either to obtain more accurate kinematic gait signals or to improve the gait descriptors obtained after initial processing. The former seeks to improve the waveforms of kinematic gait signals by reducing the error and increasing the correlation with respect to the Vicon system. The second is a more direct approach, focusing on training the artificial neural networks using gait descriptors directly. RESULTS: the accuracy of the 3D camera to objectify human gait was measured before and after training. In both training approaches, a considerable improvement was observed. Kinematic gait signals showed lower errors and higher correlations with respect to the ground truth. The accuracy of the system to detect gait descriptors also showed a substantial improvement, mostly for kinematic descriptors rather than spatio-temporal. When comparing both training approaches, it was not possible to define which was the absolute best. CONCLUSIONS: supervised learning improves the accuracy of 3D cameras but the selection of the training approach will depend on the purpose of the study to be conducted. This study reveals the great potential of 3D cameras and encourages the research community to continue exploring their use in gait analysis.

Current iliotibial band syndrome alters patterns of running coordination in male and female runners, but not their levels of coordination variability.

The aim of the present study was to compare the coordination patterns and levels of coordination variability of healthy and injured runners with iliotibial band syndrome (ITBS). Sixty runners divided into four groups (15 healthy males, 15 healthy females, 15 males with ITBS and 15 females with ITBS) ran at a steady and freely chosen pace on an over-ground track, and their coordination patterns of the lower limbs were calculated during 10 running stances using the vector coding technique. Both male and female runners with ITBS showed a greater dominance of the pelvis segment and the anti-phase patterns in the frontal plane thigh-pelvis coupling (p = 0.001, η2 = 0.36). In addition, injured female runners showed a greater hip adduction dominance, whereas injured males presented a greater anti-phase pattern in the transverse plane-frontal plane hip coupling (p = 0.003, η2 = 0.08). The levels of coordination variability during running stance did not change between ITBS injured and healthy runners in any of the couplings. Currently injured runners with ITBS appeared to present altered coordination patterns on the hip couplings that were partly dependent on gender but did not lead to changes in the coordination variability levels.

Identification of physically demanding work tasks among cleaners: field study using electromyography.

While chronic forearm pain is a common and debilitating condition among cleaners, the most physically demanding tasks remain unidentified. The present field study examines forearm muscle activity during 9 common cleaning tasks in a real working environment. Seven healthy cleaners participated in this study (age: 35.17 ± 9.62 yr; height: 168.17 ± 8.06 cm; weight: 77.14 ± 13.78 kg; experience: 5.60 ± 3.29 yr). Surface wireless electromyography (EMG) was recorded from 2 muscles on both sides of the upper limb, flexor carpi ulnaris (FCU), and extensor carpi radialis (ECR), and normalized to maximal voluntary isometric contractions (MVIC). Top-3 demanding high-force tasks (90th percentile EMG) were the rough floor, dirty rough floor, and office floor mopping for the FCU, and mopping high walls, ceiling mopping, and baize cleaning for the ECR. Top-3 static work tasks (10th percentile EMG) were mopping low walls, ceiling mopping, and dirty rough floors mopping for the FCU and mopping of high walls, low walls, and ceiling for the ECR. The study identified the forearm muscles' most physically demanding work tasks during cleaning tasks. The development of better working tools is recommended to avoid high-force overload as well as prolonged static overload of these muscles in cleaners.

Correlation between insulin resistance and serum ghrelin in non-diabetic ankylosing spondylitis patients undergoing anti-TNF-α therapy.

OBJECTIVES: To evaluate whether anti-TNF-α therapy (infliximab) administration alters circulating levels of ghrelin, an anti-inflammatory gastric peptide. We also assessed possible associations of circulating ghrelin concentrations with CRP and ESR levels, metabolic syndrome, demographic characteristics and other adipokines in ankylosing spondylitis (AS) patients. METHODS: We studied 30 consecutive non-diabetic AS patients, without history of cardiovascular (CV) events, on periodical treatment with infliximab. Serum ghrelin levels were determined immediately prior to and after an infliximab infusion. Correlations of ghrelin serum levels with disease activity, systemic inflammation and metabolic syndrome were assessed. Potential changes in ghrelin concentration following an infusion of infliximab were analysed. RESULTS: We observed a negative correlation between ghrelin concentration and insulin resistance (HOMA-IR immediately before infliximab infusion- at time 0 and at the end of infliximab infusion- at time 120') (r=-0.496; p=0.01 at time 0; r=-0.393; p=0.047 at time 120', respectively). We also found a positive correlation with insulin sensitivity (QUICKI) (r=0.415; p=0.035 at time 0; r=0.465; p=0.017 at time 120'). A correlation was found between ghrelin and resistin prior to infliximab infusion (r=0.429; p=0.046), and a negative correlation between serum ghrelin levels at time 0 and triglycerides (r=-0.416; p=0.035). No differences in ghrelin levels according to specific clinical features of the disease were seen. A single infliximab infusion led to mild but not significant increase in ghrelin serum concentration. CONCLUSIONS: In AS patients undergoing periodical treatment with anti-TNF-α monoclonal antibody-infliximab a link between insulin resistance and serum ghrelin concentration was observed.

Apelin serum levels in non-diabetic ankylosing spondylitis patients undergoing TNF-α antagonist therapy.

OBJECTIVES: To determine whether disease activity, systemic inflammation and metabolic syndrome are potential determinants of circulating apelin in ankylosing spondylitis (AS) patients undergoing TNF-α antagonist-infliximab therapy. METHODS: We investigated apelin serum concentrations in a series of 30 non-diabetic AS patients without history of cardiovascular (CV) events that were treated with the TNF-α antagonist infliximab, immediately prior to an infliximab infusion. Correlations of apelin serum levels with disease activity, systemic inflammation and metabolic syndrome were assessed. Also, potential changes in apelin concentration following an infusion of the anti-TNF-α monoclonal antibody-infliximab were analysed. RESULTS: No significant correlation between apelin concentration and demographic features, inflammation, adiposity and metabolic syndrome features was seen. Neither differences were seen in basal apelin in different categorical variables associated to AS. Following infliximab infusion, a reduction of apelin serum levels was observed. In this regard, the median (interquartile range) values of apelin decreased from 0.99 (0.74-1.25) ng/ml immediately prior to infliximab infusion to 0.92 (0.72-1.39) ng/ml at the end of the infusion (time 120 minutes). However, the reduction in apelin serum levels following administration of the drug did not achieve statistical significance. CONCLUSIONS: The present study shows that in non-diabetic patients with AS on treatment with infliximab apelin serum levels do not correlate with disease activity or metabolic syndrome. A single infusion of infliximab does not yield a significant change of apelin serum levels in AS patients.

Asymmetric dimethylarginine serum levels in non-diabetic ankylosing spondylitis patients undergoing TNF-α antagonist therapy.

OBJECTIVES: This paper aims to determine whether disease activity, systemic inflammation and metabolic syndrome are potential determinants of circulating asymmetric dimethylarginine (ADMA) in ankylosing spondylitis (AS) patients undergoing TNF-α antagonist-infliximab-therapy. METHODS: We investigated ADMA serum concentrations in a series of 30 non-diabetic AS patients without history of cardiovascular (CV) events that were treated with the TNF-α antagonist infliximab, immediately prior to an infliximab infusion. Correlations of ADMA serum levels with disease activity, systemic inflammation and metabolic syndrome were assessed. Also, potential changes in ADMA concentration following an infusion of the anti-TNF-α monoclonal antibody-infliximab were analysed. RESULTS: A higher concentrations of ADMA in men (p=0.012) and patients with hypertension was found (p=0.001). There was also a marginally positive correlation of ADMA serum levels with C-reactive protein levels (p=0.08). Moreover, a significant negative correlation between ADMA levels and total cholesterol and LDL-cholesterol was observed (p= 0.05). No differences in ADMA levels according to the specific clinical features of the disease were seen. A single infliximab infusion did not lead to significant changes in ADMA serum levels. CONCLUSIONS: In AS patients undergoing periodical treatment with the anti-TNF-α monoclonal antibody-infliximab a link between some features of metabolic syndrome and ADMA concentrations was observed.

Simultaneous Characterization of Two Ultrashort Optical Pulses at Different Frequencies Using a WS2 Monolayer.

The precise characterization of ultrashort laser pulses has been of interest to the scientific community for many years. Frequency-resolved optical gating (FROG) has been extensively used to retrieve the temporal and spectral field distributions of ultrashort laser pulses. In this work, we exploit the high, broad-band nonlinear optical response of a WS2 monolayer to simultaneously characterize two ultrashort laser pulses with different frequencies. The relaxed phase-matching conditions in a WS2 monolayer enable the simultaneous acquisition of the spectra resulting from both four-wave mixing (FWM) and sum-frequency generation (SFG) nonlinear processes while varying the time delay between the two ultrashort pulses. Next, we introduce an adjusted double-blind FROG algorithm, based on iterative fast Fourier transforms between two FROG traces, to extract the intensity distribution and phase of two ultrashort pulses from the combination of their FWM and SFG FROG traces. Using this algorithm, we find an agreement between the computed and observed FROG traces for both the FWM and SFG processes. Exploiting the broad-band nonlinear response of a WS2 monolayer, we additionally characterize one of the pulses using a second-harmonic generation (SHG) FROG trace to validate the pulse shapes extracted from the combination of the FWM and SFG FROG traces. The retrieved pulse shape from the SHG FROG agrees well with the pulse shape retrieved from our nondegenerate cross-correlation FROG measurement. In addition to the nonlinear parametric processes, we also observe a nonlinearly generated photoluminescence (PL) signal emitted from the WS2 monolayer. Because of its nonlinear origin, the PL signal can also be used to obtain complementary autocorrelation and cross-correlation traces.

Variation in human 3D trunk shape and its functional implications in hominin evolution.

This study investigates the contribution of external trunk morphology and posture to running performance in an evolutionary framework. It has been proposed that the evolution from primitive to derived features of torso shape involved changes from a mediolaterally wider into a narrower, and antero-posteriorly deeper into a shallower, more lightly built external trunk configuration, possibly in relation to habitat-related changes in locomotor and running behaviour. In this context we produced experimental data to address the hypothesis that medio-laterally narrow and antero-posteriorly shallow torso morphologies favour endurance running capacities. We used 3D geometric morphometrics to relate external 3D trunk shape of trained, young male volunteers (N = 27) to variation in running velocities during different workloads determined at 45-50%, 70% and 85% of heart rate reserve (HRR) and maximum velocity. Below 85% HRR no relationship existed between torso shape and running velocity. However, at 85% HRR and, more clearly, at maximum velocity, we found highly statistically significant relations between external torso shape and running performance. Among all trained subjects those with a relatively narrow, flat torso, a small thoracic kyphosis and a more pronounced lumbar lordosis achieved significantly higher running velocities. These results support the hypothesis that external trunk morphology relates to running performance. Low thoracic kyphosis with a flatter ribcage may affect positively respiratory biomechanics, while increased lordosis affects trunk posture and may be beneficial for lower limb biomechanics related to leg return. Assuming that running workload at 45-50% HRR occurs within aerobic metabolism, our results may imply that external torso shape is unrelated to the evolution of endurance running performance.