Robot-aided assessment of wrist proprioception

Introduction: Impaired proprioception severely affects the control of gross and fine motor function. However, clinical assessment of proprioceptive deficits and its impact on motor function has been difficult to elucidate. Recent advances in haptic robotic interfaces designed for sensorimotor rehabilitation enabled the use of such devices for the assessment of proprioceptive function. Purpose: This study evaluated the feasibility of a wrist robot system to determine proprioceptive discrimination thresholds for two different DoFs of the wrist. Specifically, we sought to accomplish three aims: first, to establish data validity; second, to show that the system is sensitive to detect small differences in acuity; third, to establish test–retest reliability over repeated testing. Methodology: Eleven healthy adult subjects experienced two passive wrist movements and had to verbally indicate which movement had the larger amplitude. Based on a subject’s response data, a psychometric function was fitted and the wrist acuity threshold was established at the 75% correct response level. A subset of five subjects repeated the experimentation three times (T1, T2, and T3) to determine the test–retest reliability. Results: Mean threshold for wrist flexion was 2.15° ± 0.43° and 1.52° ± 0.36° for abduction. Encoder resolutions were 0.0075° (flexion–extension) and 0.0032° (abduction–adduction). Motor resolutions were 0.2°(flexion–extension) and 0.3° (abduction–adduction). Reliability coefficients were rT2-T1 = 0.986 and rT3-T2 = 0.971. Conclusion: We currently lack established norm data on the proprioceptive acuity of the wrist to establish direct validity. However, the magnitude of our reported thresholds is physiological, plausible, and well in line with available threshold data obtained at the elbow joint. Moreover, system has high resolution and is sensitive enough to detect small differences in acuity. Finally, the system produces reliable data over repeated testing

Multimodality in {VR}: {A} Survey

Virtual reality has the potential to change the way we create and consume content in our everyday life. Entertainment, training, design and manufacturing, communication, or advertising are all applications that already benefit from this new medium reaching consumer level. VR is inherently different from traditional media: it offers a more immersive experience, and has the ability to elicit a sense of presence through the place and plausibility illusions. It also gives the user unprecedented capabilities to explore their environment, in contrast with traditional media. In VR, like in the real world, users integrate the multimodal sensory information they receive to create a unified perception of the virtual world. Therefore, the sensory cues that are available in a virtual environment can be leveraged to enhance the final experience. This may include increasing realism, or the sense of presence; predicting or guiding the attention of the user through the experience; or increasing their performance if the experience involves the completion of certain tasks. In this state-of-the-art report, we survey the body of work addressing multimodality in virtual reality, its role and benefits in the final user experience. The works here reviewed thus encompass several fields of research, including computer graphics, human computer interaction, or psychology and perception. Additionally, we give an overview of different applications that leverage multimodal input in areas such as medicine, training and education, or entertainment; we include works in which the integration of multiple sensory information yields significant improvements, demonstrating how multimodality can play a fundamental role in the way VR systems are designed, and VR experiences created and consumed

Crossmodal perception in virtual reality

With the proliferation of low-cost, consumer level, head-mounted displays (HMDs) we are witnessing a reappearance of virtual reality. However, there are still important stumbling blocks that hinder the achievable visual quality of the results. Knowledge of human perception in virtual environments can help overcome these limitations. In this work, within the much-studied area of perception in virtual environments, we look into the less explored area of crossmodal perception, that is, the interaction of different senses when perceiving the environment. In particular, we look at the influence of sound on visual perception in a virtual reality scenario. First, we assert the existence of a crossmodal visuo-auditory effect in a VR scenario through two experiments, and find that, similar to what has been reported in conventional displays, our visual perception is affected by auditory stimuli in a VR setup. The crossmodal effect in VR is, however, lower than that present in a conventional display counterpart. Having asserted the effect, a third experiment looks at visuo-auditory crossmodality in the context of material appearance perception. We test different rendering qualities, together with the presence of sound, for a series of materials. The goal of the third experiment is twofold: testing whether known interactions in traditional displays hold in VR, and finding insights that can have practical applications in VR content generation (e.g., by reducing rendering costs)

Motion parallax for 360° RGBD video

We present a method for adding parallax and real-time playback of 360° videos in Virtual Reality headsets. In current video players, the playback does not respond to translational head movement, which reduces the feeling of immersion, and causes motion sickness for some viewers. Given a 360° video and its corresponding depth (provided by current stereo 360° stitching algorithms), a naive image-based rendering approach would use the depth to generate a 3D mesh around the viewer, then translate it appropriately as the viewer moves their head. However, this approach breaks at depth discontinuities, showing visible distortions, whereas cutting the mesh at such discontinuities leads to ragged silhouettes and holes at disocclusions. We address these issues by improving the given initial depth map to yield cleaner, more natural silhouettes. We rely on a three-layer scene representation, made up of a foreground layer and two static background layers, to handle disocclusions by propagating information from multiple frames for the first background layer, and then inpainting for the second one. Our system works with input from many of today''s most popular 360° stereo capture devices (e.g., Yi Halo or GoPro Odyssey), and works well even if the original video does not provide depth information. Our user studies confirm that our method provides a more compelling viewing experience than without parallax, increasing immersion while reducing discomfort and nausea

Quantitative Imaging of B1 Cyclin Expression Across the Cell Cycle Using Green Fluorescent Protein Tagging and Epifluorescence

In this article, we report the number of cyclin B1 proteins tagged with enhanced green fluorescent protein (eGFP) in fixed U‐2 OS cells across the cell cycle. We use a quantitative analysis of epifluorescence to determine the number of eGFP molecules in a nondestructive way, and integrated over the cell we find 104 to 105 molecules. Based on the measured number of eGFP tagged cyclin B1 proteins, knowledge of cyclin B1 dynamics through the cell cycle, and the cell morphology, we identify the stages of cells in the cell cycle

A lymphofollicular microenvironment is required for pathological prion protein deposition in chronically inflamed tissues from scrapie-affected sheep

In sheep scrapie, pathological prion protein (PrPSc) deposition occurs in the lymphoreticular and central nervous systems. We investigated PrPSc distribution in scrapie- affected sheep showing simultaneous evidence of chronic lymphofollicular, lymphoproliferative/non-lymphofollicular,and/or granulomatous inflammations in their mammary gland, lung, and ileum. To do this, PrPSc detection was carried out via immunohistochemistry and Western Blotting techniques, as well as through inflammatory cell immunophenotyping. Expression studies of gene coding for biological factors modulating the host’s inflammatory response were also carried out. We demonstrated that ectopic PrPSc deposition occurs exclusively in the context of lymphofollicular inflammatory sites, inside newly formed and well-organized lymphoid follicles harboring follicular dendritic cells. On the contrary, no PrPSc deposition was detected in granulomas, even when they were closely located to newly formed lymphoid follicles. A significantly more consistent expression of lymphotoxin α and β mRNA was detected in lymphofollicular inflammation compared to the other two types, with lymphotoxin α and β signaling new lymphoid follicles’ formation and, likely, the occurrence of ectopic PrPSc deposition inside them. Our findings suggest that, in sheep co-affected by scrapie and chronic inflammatory conditions, only newly formed lymphoid follicles provide a suitable micro-environment that supports the scrapie agent’s replication in inflammatory sites, with an increased risk of prion shedding through body secretions/excretions.[...

Diabetes induced by gain-of-function mutations in the Kir6.1 subunit of the KATP channel

Gain-of-function (GOF) mutations in the pore-forming (Kir6.2) and regulatory (SUR1) subunits of K(ATP) channels have been identified as the most common cause of human neonatal diabetes mellitus. The critical effect of these mutations is confirmed in mice expressing Kir6.2-GOF mutations in pancreatic β cells. A second K(ATP) channel pore-forming subunit, Kir6.1, was originally cloned from the pancreas. Although the prominence of this subunit in the vascular system is well documented, a potential role in pancreatic β cells has not been considered. Here, we show that mice expressing Kir6.1-GOF mutations (Kir6.1[G343D] or Kir6.1[G343D,Q53R]) in pancreatic β cells (under rat-insulin-promoter [Rip] control) develop glucose intolerance and diabetes caused by reduced insulin secretion. We also generated transgenic mice in which a bacterial artificial chromosome (BAC) containing Kir6.1[G343D] is incorporated such that the transgene is only expressed in tissues where Kir6.1 is normally present. Strikingly, BAC-Kir6.1[G343D] mice also show impaired glucose tolerance, as well as reduced glucose- and sulfonylurea-dependent insulin secretion. However, the response to K(+) depolarization is intact in Kir6.1-GOF mice compared with control islets. The presence of native Kir6.1 transcripts was demonstrated in both human and wild-type mouse islets using quantitative real-time PCR. Together, these results implicate the incorporation of native Kir6.1 subunits into pancreatic K(ATP) channels and a contributory role for these subunits in the control of insulin secretion

Performance adaptive training control strategy for recovering wrist movements in stroke patients: a preliminary, feasibility study

<p>Abstract</p> <p>Background</p> <p>In the last two decades robot training in neuromotor rehabilitation was mainly focused on shoulder-elbow movements. Few devices were designed and clinically tested for training coordinated movements of the wrist, which are crucial for achieving even the basic level of motor competence that is necessary for carrying out ADLs (activities of daily life). Moreover, most systems of robot therapy use point-to-point reaching movements which tend to emphasize the pathological tendency of stroke patients to break down goal-directed movements into a number of jerky sub-movements. For this reason we designed a wrist robot with a range of motion comparable to that of normal subjects and implemented a self-adapting training protocol for tracking smoothly moving targets in order to facilitate the emergence of smoothness in the motor control patterns and maximize the recovery of the normal RoM (range of motion) of the different DoFs (degrees of Freedom).</p> <p>Methods</p> <p>The IIT-wrist robot is a 3 DoFs light exoskeleton device, with direct-drive of each DoF and a human-like range of motion for Flexion/Extension (FE), Abduction/Adduction (AA) and Pronation/Supination (PS). Subjects were asked to track a variable-frequency oscillating target using only one wrist DoF at time, in such a way to carry out a progressive splinting therapy. The RoM of each DoF was angularly scanned in a staircase-like fashion, from the "easier" to the "more difficult" angular position. An Adaptive Controller evaluated online performance parameters and modulated both the assistance and the difficulty of the task in order to facilitate smoother and more precise motor command patterns.</p> <p>Results</p> <p>Three stroke subjects volunteered to participate in a preliminary test session aimed at verify the acceptability of the device and the feasibility of the designed protocol. All of them were able to perform the required task. The wrist active RoM of motion was evaluated for each patient at the beginning and at the end of the test therapy session and the results suggest a positive trend.</p> <p>Conclusion</p> <p>The positive outcomes of the preliminary tests motivate the planning of a clinical trial and provide experimental evidence for defining appropriate inclusion/exclusion criteria.</p

Effects of a neuromuscular controller on a powered ankle exoskeleton during human walking

Wearable devices to assist abnormal gaits require controllers that interact with the user in an intuitive and unobtrusive manner. To design such a controller, we investigated a bio-inspired walking controller for orthoses and prostheses. We present (i) a Simulink neuromuscular control library derived from a computational model of reflexive neuromuscular control of human gait with a central pattern generator (CPG) extension, (ii) an ankle reflex controller for the Achilles exoskeleton derived from the library, and (iii) the mechanics and energetics of healthy subjects walking with an actuated ankle orthosis using the proposed controller. As this controller was designed to mimic human reflex patterns during locomotion, we hypothesize that walking with this controller would lead to lower energetic costs, compared to walking with the added mass of the device only, and allow for walking at different speeds without explicit control. Preliminary results suggest that the neuromuscular controller does not disturb walking dynamics in both slow and normal walking cases and can also reduce the net metabolic cost compared to transparent mode of the device. Reductions in tibialis anterior and soleus activity were observed, suggesting the controller could be suitable, in future work, for augmenting or replacing normal walking functions. We also investigated the impedance patterns generated by the neuromuscular controller. The validity of the equivalent variable impedance controller, particularly in stance phase, can facilitate serving subject-specific features by linking impedance measurement and neuromuscular controller

Nutrition knowledge and care practices of home-based caregivers in Vhembe District, South Africa

Background: Home-based care is provided to clients in their homes to promote and maintain good health, hygiene and nutrition. Objective: This study assessed nutrition knowledge and care practices of home-based caregivers in Vhembe District, South Africa. Methods: The design was cross sectional, descriptive and exploratory using quantitative and qualitative approaches. Multistage sampling was used, with convenient selection of two municipalities from four, eight home-based care agencies randomly selected from 96 agencies, 128 caregivers conveniently selected for interviews, 92 caregivers selected for focus group discussions and 28 caregivers selected for observation during home visits. Demographic characteristics, nutrition knowledge and care practices were evaluated using questionnaires, interview guides and observational checklists. Data were analysed using SPSS 22 and thematic analysis for qualitative data. Results: caregivers (99.2%) were women, 68.7% had secondary education and all had received 59-day training and 64.1% had six to ten years of home-based care experience. Only 0.8% had adequate nutrition knowledge, 45.3% satisfactory knowledge and 53.9% limited to no knowledge. Most care practices reported during the focus group discussions were not observed during home visits. Conclusion: Nutrition knowledge and care practices of HBC in Vhembe District were found to be inadequate. The nutrition content in the training package should be improved