Online estimation of continuous gait phase for robotic transtibial prostheses based on adaptive oscillators

Continuous gait phase plays an important role in wearable robot control. This study focuses on the online estimation of continuous gait phase based on robotic transtibial prosthesis signals. First, we adopt the prosthetic foot deformation information to detect the heel strike as the start timing (reset 0 rad) of one gait cycle. Then we conduct the gait phase estimation based on adaptive oscillators using the prosthetic shank angle signal as input. Three transtibial amputees were recruited in this study and they walked on the treadmill at different speeds (slow, normal and fast) and on different ramps (10°, 5°, 0°, -5° and -10°) in the experiment. The root-meansquare error between online estimation result and ground truth gait phase is calculated. The maximum and minimum errors are 0.147 rad and 0.058 rad, and the corresponding ratios in one gait cycle are 2.34% and 0.92%. This study achieves good performance and provides an effective method to estimate the continuous gait phase, which will instruct robotic transtibial prosthesis control

FUNCTIONALIZED HALLOYSITE NANOTUBES FOR ENHANCED REMOVAL OF Hg2+ IONS FROM AQUEOUS SOLUTIONS

Water is essential for humans, animals, and plants; pollutants, usually derived from anthropogenic activities, can have a serious effect on its quality. Heavy metals are significant pollutants and are often highly toxic to living organisms, even at very low concentrations. Among the numerous removal techniques proposed, adsorption onto suitable adsorbent materials is considered to be one of the most promising. The objective of the current study was to determine the effectiveness of halloysite nanotubes (HNT) functionalized with organic amino or thiol groups as adsorbent materials to decontaminate polluted waters, using the removal of Hg2+ ions, one of the most dangerous heavy metals, as the test case. The effects of pH, ionic strength (I), and temperature of the metal ion solution on the adsorption ability and affinity of both materials were evaluated. To this end, adsorption experiments were carried out with no ionic medium and in NaNO3 and NaCl at I = 0.1 mol L−1, in the pH range 3–5 and in the temperature range 283.15–313.15 K. Kinetic and thermodynamic aspects of adsorption were considered by measuring the metal ion concentrations in aqueous solution. Various equations were used to fit experimental data, and the results obtained were explained on the basis of both the adsorbent’s characterization and the Hg2+ speciation under the given experimental conditions. Thiol and amino groups enhanced the adsorption capability of halloysite for Hg2+ ions in the pH range 3–5. The pH, the ionic medium, and the ionic strength of aqueous solution all play an important role in the adsorption process. A physical adsorption mechanism enhanced by ion exchange is proposed for both functionalized materials

Chemical speciation of organic matter in natural waters. Interaction of nucleotide 5' mono-, di- and triphosphates with major components of seawater

AbstractThe interactions of nucleotide 5' mono-, di- and triphosphates in a multicomponent ionic medium simulating the macro-composition of seawater (Na+, K+, Ca2+, Mg2+, Cl-, SO42-, Synthetic Sea Water, SSW) have been investigated at different ionic strengths and at T= 25°C. A chemical speciation model, according to which all the internal interactions between the components of the ionic medium are taken into account, was applied to determine the effective formation constants of species in the nucleotide-seawater system. The results were compared to protonation parameters calculated from single electrolyte systems. A simpler model (SSW considered as a single salt BA, with Bz+ and Az-), representative of the cation (Na+, K+, Ca2+, Mg2+) and anion (Cl-, SO42-) macro-components of seawater respectively, was also used to calculate the overall complexing ability of the seawater salt towards all the systems here investigated

Experimental Comparison of the MIG and Friction Stir Welding Processes for AA 6005 Aluminium Alloy

In this study, the mechanical properties of welded joints of AA 6005 aluminum alloy obtained with friction stir welding (FSW) and conventional metal inert gas welding (MIG) are studied. FSW welds were carried out on a semi-automatic milling machine. The performance of FSW and MIG welded joints were identified using tensile and bending impact tests, as far as the environmental aspects are also included in the discussion. The joints obtained with FSW and MIG processes were also investigated in their microstructure. The results indicate that, the microstructure of the friction stir weld is different from that of MIG welded joint. The weld nugget consists of small grains in FSW than those found in MIG weld. Taking into consideration the process conditions and requirements, FSW and MIG processes were also compared with each other to understand the advantages and disadvantages of the processes for welding applications of studied Al alloy. Better tensile and bending strength were obtained with FSW welded joints

Moral disengagement and generalized social trust as mediators and moderators of rule-respecting behaviors during the COVID-19 outbreak

In this study, we tested a theoretical model with moral disengagement, a mediator,and generalized social trust (GST), a mediator and a moderator of the relationshipbetween personality traits and rule-respecting behaviors (i.e., social distancing andstay-at-home), during the coronavirus disease 2019 (COVID-19) outbreak in Italy. Thedata were collected on 1520 participants (61% males). General results are threefold: (1) moral disengagement mediated the relationship between emotional stability, narcissism,psychopathy, and social distancing; (2) among components of GST, trust in Governmentmediated the relationship between psychopathy and social distancing; trust in knownothers mediated the relationship between emotional stability, agreeableness, andMachiavellianism with total number of exits; trust in unknown others mediated therelationship of emotional stability, agreeableness, conscientiousness, and psychopathywith average daily number of exits; (3) GST moderated the indirect effect of personalitytraits on rule-respecting behaviors through moral disengagement. The theoretical andpractical importance of these results is discussed

Moral Disengagement and Generalized Social Trust as Mediators and Moderators of Rule-Respecting Behaviors During the COVID-19 Outbreak

In this study, we tested a theoretical model with moral disengagement, a mediator, and generalized social trust (GST), a mediator and a moderator of the relationship between personality traits and rule-respecting behaviors (i.e., social distancing and stay-at-home), during the coronavirus disease 2019 (COVID-19) outbreak in Italy. The data were collected on 1520 participants (61% males). General results are threefold: (1) moral disengagement mediated the relationship between emotional stability, narcissism, psychopathy, and social distancing; (2) among components of GST, trust in Government mediated the relationship between psychopathy and social distancing; trust in known others mediated the relationship between emotional stability, agreeableness, and Machiavellianism with total number of exits; trust in unknown others mediated the relationship of emotional stability, agreeableness, conscientiousness, and psychopathy with average daily number of exits; (3) GST moderated the indirect effect of personality traits on rule-respecting behaviors through moral disengagement. The theoretical and practical importance of these results is discussed

Gene Flow in Medicago Through Somatic Hybridization

The objective of this research was the characterization at both molecular and phenotypic level of three somatic hybrid plants obtained by electrofusion of protoplasts of Medicago sativa with those of M.coerulea, M.falcata and M.arborea, three Medicago species in a different relation with alfalfa. Different kinds of rearrangements including the amplification of new spacer-length variants were detected at rDNA loci in the somatic hybrids. Analysis of field performances confirmed the suitability of these plants for breeding purposes

Exoskeletons for workers: A case series study in an enclosures production line

This case-series study aims to investigate the effects of a passive shoulder support exoskeleton on experienced workers during their regular work shifts in an enclosures production site. Experimental activities included three sessions, two of which were conducted in-field (namely, at two workstations of the painting line, where panels were mounted and dismounted from the line; each session involved three participants), and one session was carried out in a realistic simulated environment (namely, the workstations were recreated in a laboratory; this session involved four participants). The effect of the exoskeleton was evaluated through electromyographic activity and perceived effort. After in-field sessions, device usability and user acceptance were also assessed. Data were reported individually for each participant. Results showed that the use of the exoskeleton reduced the total shoulder muscular activity compared to normal working conditions, in all subjects and experimental sessions. Similarly, the use of the exoskeleton resulted in reductions of the perceived effort in the shoulder, arm, and lower back. Overall, participants indicated high usability and acceptance of the device. This case series invites larger validation studies, also in diverse operational contexts

Perception of Time-Discrete Haptic Feedback on the Waist is Invariant with Gait Events

The effectiveness of haptic feedback devices highly depends on the perception of tactile stimuli, which differs across body parts and can be affected by movement. In this study, a novel wearable sensory feedback apparatus made of a pair of pressure-sensitive insoles and a belt equipped with vibrotactile units is presented; the device provides time-discrete vibrations around the waist, synchronized with biomechanically-relevant gait events during walking. Experiments with fifteen healthy volunteers were carried out to investigate users' tactile perception on the waist. Stimuli of different intensities were provided at twelve locations, each time synchronously with one pre-defined gait event (i.e. heel strike, flat foot or toe off), following a pseudo-random stimulation sequence. Reaction time, detection rate and localization accuracy were analyzed as functions of the stimulation level and site and the effect of gait events on perception was investigated. Results revealed that above-threshold stimuli (i.e. vibrations characterized by acceleration amplitudes of 1.92g and 2.13g and frequencies of 100 Hz and 150 Hz, respectively) can be effectively perceived in all the sites and successfully localized when the intertactor spacing is set to 10 cm. Moreover, it was found that perception of time-discrete vibrations was not affected by phase-related gating mechanisms, suggesting that the waist could be considered as a preferred body region for delivering haptic feedback during walking

Assessment of intuitiveness and comfort of wearable haptic feedback strategies for assisting level and stair walking

Nowadays, lower-limb prostheses are reaching real-world usability especially on ground-level walking. However, some key tasks such as stair walking are still quite demanding. Providing haptic feedback about the foot placement on the steps might reduce the cognitive load of the task, compensating for increased dependency on vision and lessen the risk of falling. Experiments on intact subjects can be useful to define the feedback strategies prior to clinical trials, but effective methods to assess the efficacy of the strategies are few and usually rely on the emulation of the disability condition. The present study reports on the design and testing of a wearable haptic feedback system in a protocol involving intact subjects to assess candidate strategies to be adopted in clinical trials. The system integrated a sensorized insole wirelessly connected to a textile waist belt equipped with three vibrating motors. Three stimulation strategies for mapping the insole pressure data to vibrotactile feedback were implemented and compared in terms of intuitiveness and comfort perceived during level and stair walking. The strategies were ranked using a relative rating approach, which highlighted the differences between them and suggested guidelines for their improvement. The feedback evaluation procedure proposed could facilitate the selection and improvement of haptic feedback strategies prior to clinical testing