Within-socket Myoelectric Prediction of Continuous Ankle Kinematics for Control of a Powered Transtibial Prosthesis

Objective. Powered robotic prostheses create a need for natural-feeling user interfaces and robust control schemes. Here, we examined the ability of a nonlinear autoregressive model to continuously map the kinematics of a transtibial prosthesis and electromyographic (EMG) activity recorded within socket to the future estimates of the prosthetic ankle angle in three transtibial amputees. Approach. Model performance was examined across subjects during level treadmill ambulation as a function of the size of the EMG sampling window and the temporal \u27prediction\u27 interval between the EMG/kinematic input and the model\u27s estimate of future ankle angle to characterize the trade-off between model error, sampling window and prediction interval. Main results. Across subjects, deviations in the estimated ankle angle from the actual movement were robust to variations in the EMG sampling window and increased systematically with prediction interval. For prediction intervals up to 150 ms, the average error in the model estimate of ankle angle across the gait cycle was less than 6°. EMG contributions to the model prediction varied across subjects but were consistently localized to the transitions to/from single to double limb support and captured variations from the typical ankle kinematics during level walking. Significance. The use of an autoregressive modeling approach to continuously predict joint kinematics using natural residual muscle activity provides opportunities for direct (transparent) control of a prosthetic joint by the user. The model\u27s predictive capability could prove particularly useful for overcoming delays in signal processing and actuation of the prosthesis, providing a more biomimetic ankle response

Evaluation of the decay constant of uranium 235 from lead isotope ratios

The decay constant of U^(235) has been evaluated from the radiogenic Pb^(207)/Pb^(206) ratios of several cogenetic fractions of zircon and uranothorite, analyzed by conventional mass spectrometric methods. Variation of the Pb^(206)/U^(238) apparent ages among the mineral fractions demonstrates that some form of isotopic disturbance has occurred during their geologic history. Arguments are presented to show that the method of calculating λ_(235) is relatively insensitive to such disturbance because of the young geologic age of the samples and the probability that zircon and uranothorite experience isotopic disturbance by partial loss of Pb. Inaccuracy in the calculated value is further reduced by deducing, from geologic and isotopic considerations, the most likely limits to the apparent ages to which the Pb^(207)/Pb^(206) ratios should correspond. Although the uncertainties in the method do not permit a unique derivation of the decay constant, the results suggest that the currently accepted value is probably accurate to within 1%, relative to the accepted values for the decay constant of U^(238) and the isotopic composition of natural U

Ariel - Volume 5 Number 4

Editors Mark Dembert J.D. Kanofskv Entertainment Editors Robert Breckenridge Joe Conti Overseas Editor Mike Sinason Photographer Scott Kastner Epistemologist Gary Kaskey Staff Ken Jaffe Bob Sklaroff Janet Weish David Jacoby Phil Nimoityn Circulation Editor Jay Amsterdam Humorist Jim Mccan

Continuous Myoelectric Prediction of Future Ankle Angle and Moment Across Ambulation Conditions and Their Transitions

A hallmark of human locomotion is that it continuously adapts to changes in the environment and predictively adjusts to changes in the terrain, both of which are major challenges to lower limb amputees due to the limitations in prostheses and control algorithms. Here, the ability of a single-network nonlinear autoregressive model to continuously predict future ankle kinematics and kinetics simultaneously across ambulation conditions using lower limb surface electromyography (EMG) signals was examined. Ankle plantarflexor and dorsiflexor EMG from ten healthy young adults were mapped to normal ranges of ankle angle and ankle moment during level overground walking, stair ascent, and stair descent, including transitions between terrains (i.e., transitions to/from staircase). Prediction performance was characterized as a function of the time between current EMG/angle/moment inputs and future angle/moment model predictions (prediction interval), the number of past EMG/angle/moment input values over time (sampling window), and the number of units in the network hidden layer that minimized error between experimentally measured values (targets) and model predictions of ankle angle and moment. Ankle angle and moment predictions were robust across ambulation conditions with root mean squared errors less than 1° and 0.04 Nm/kg, respectively, and cross-correlations (R2) greater than 0.99 for prediction intervals of 58 ms. Model predictions at critical points of trip-related fall risk fell within the variability of the ankle angle and moment targets (Benjamini-Hochberg adjusted p \u3e 0.065). EMG contribution to ankle angle and moment predictions occurred consistently across ambulation conditions and model outputs. EMG signals had the greatest impact on noncyclic regions of gait such as double limb support, transitions between terrains, and around plantarflexion and moment peaks. The use of natural muscle activation patterns to continuously predict variations in normal gait and the model’s predictive capabilities to counteract electromechanical inherent delays suggest that this approach could provide robust and intuitive user-driven real-time control of a wide variety of lower limb robotic devices, including active powered ankle-foot prostheses

Growth and mass wasting of volcanic centers in the northern South Sandwich arc, South Atlantic, revealed by new multibeam mapping

New multibeam (swath) bathymetric sonar data acquired using an EM120 system on the RRS James Clark Ross, supplemented by sub-bottom profiling, reveals the underwater morphology of a not, vert, similar 12,000 km2 area in the northern part of the mainly submarine South Sandwich volcanic arc. The new data extend between 55° 45′S and 57° 20′S and include Protector Shoal and the areas around Zavodovski, Visokoi and the Candlemas islands groups. Each of these areas is a discrete volcanic center. The entirely submarine Protector Shoal area, close to the northern limit of the arc, forms a 55 km long east–west-trending seamount chain that is at least partly of silicic composition. The seamounts are comparable to small subaerial stratovolcanoes in size, with volumes up to 83 km3, indicating that they are the product of multiple eruptions over extended periods. Zavodovski, Visokoi and the Candlemas island group are the summits of three 3–3.5 km high volcanic edifices. The bathymetric data show evidence for relationships between constructional volcanic features, including migrating volcanic centers, structurally controlled constructional ridges, satellite lava flows and domes, and mass wasting of the edifices. Mass wasting takes place mainly by strong erosion at sea level, and dispersal of this material along chutes, probably as turbidity currents and other mass flows that deposit in extensive sediment wave fields. Large scale mass wasting structures include movement of unconsolidated debris in slides, slumps and debris avalanches. Volcanism is migrating westward relative to the underlying plate and major volcanoes are asymmetrical, being steep with abundant recent volcanism on their western flanks, and gently sloping with extinct, eroded volcanic sequences to their east. This is consistent with the calculated rate of subduction erosion of the fore-arc

Periconceptional environment predicts leukocyte telomere length in a cross-sectional study of 7-9 year old rural Gambian children

Early life exposures are important predictors of adult disease risk. Although the underlying mechanisms are largely unknown, telomere maintenance may be involved. This study investigated the relationship between seasonal differences in parental exposures at time of conception and leukocyte telomere length (LTL) in their offspring. LTL was measured in two cohorts of children aged 2 yrs (N = 487) and 7–9 yrs (N = 218). The association between date of conception and LTL was examined using Fourier regression models, adjusted for age, sex, leukocyte cell composition, and other potential confounders. We observed an effect of season in the older children in all models [likelihood ratio test (LRT) χ²2 = 7.1, p = 0.03; fully adjusted model]. LTL was greatest in children conceived in September (in the rainy season), and smallest in those conceived in March (in the dry season), with an effect size (LTL peak–nadir) of 0.60 z-scores. No effect of season was evident in the younger children (LRT χ²2 = 0.87, p = 0.65). The different results obtained for the two cohorts may reflect a delayed effect of season of conception on postnatal telomere maintenance. Alternatively, they may be explained by unmeasured differences in early life exposures, or the increased telomere attrition rate during infancy

The Ursinus Weekly, May 6, 1971

Dennis Stoner sings in memorial concert • Dr. Loren C. Eiseley speaks at Myrin Library dedication • The new Ursinus chapter initiates 21 students into Omicron Delta Epsilon • Economics seminar meets; Discusses Federal Reserve; Claims financial trend up • Ullman and Malinauskas chosen as new YM-YWCA presidents • Editorial: It\u27s up to us! • Student Life Committee meets, proposes several changes • Student Activities Committee regulates entire campus life • \u2771 Ruby progresses; Finances look good • Nuclear power plant planned; Limerick reactor site disputed • WRUC elects officers; R. Teel general manager • Theater critic: A look at Broadway • Rough week for tennis squad; Championship matches begin Sat. • Bears win two more; MACs start Friday • Bears lacrosse stay No. 1; Girls take 7 out of 12 • New baseball team looks very promising • Varsity golf improving; Peter Allen shoots parhttps://digitalcommons.ursinus.edu/weekly/1145/thumbnail.jp