Human-powered vehicle capable of movement in the longitudinal and lateral directions

Human-powered vehicles, especially conventional wheelchairs, are essential tools for people with lower body disability. But their movement in a lateral direction is limited or impossible, which burdens users who want to change directions, especially in a narrow space. Thus, a human-powered vehicle that can move in a lateral direction is required. To move in any direction, many motor-driven omnidirectional vehicles have been proposed, but humans cannot manually power their mechanisms. To solve this problem, we are developing a human-powered vehicle, that is, driven by hands of the rider, that can move in both the longitudinal and lateral directions. This paper proposes such a vehicle, which has a mechanism to move in the lateral direction like people can do while walking. We designed it so that riders can operate its mechanism by analyzing the space reachable by the rider’s palms where they can effectively exert power. We constructed a prototype and conducted experiments to confirm that the vehicle moves as expected with relatively low effort. In the experiments, we confirmed the validity of vehicle operation by comparing the moving time of the vehicle with and without the lateral translation function for different travel distances and passage widths. Our results showed that the proposed vehicle moves more quickly or requires shorter moving distance in comparison with a conventional wheelchair because of the lateral movement function. In addition, we found that the threshold for utility of the function is whether the passage width is larger than the vehicle diagonal length

Analysis of Effect of Motion Path on Leg Muscle Load and Evaluation of Device to Support Leg Motion During Robot Operation by Reducing Muscle Load

Because the human arm and leg have a similar skeletal structure, it may be possible to use the leg to operate a robot by the master-slave method. However, operation by the leg with six degrees of freedom has two problems. First, people move their ankle with a curved motion despite intending to move it linearly. Second, it is a burden for the operator to suspend their legs in the air during operation. This study dealt with these problems. For the first problem, we hypothesized that one of the reasons was that the muscle load of a curved motion was smaller than that of a linear motion, and we quantitatively compared them by musculoskeletal analysis. The muscle loads of curved motions were 20% smaller in the anteroposterior direction, 3.1% to 23.8% smaller in the lateral direction, and 10% smaller in the vertical direction than linear motions, which showed that the hypothesis was consistent. Further, comparison of the analysis results with the results of a previous study suggested that subjects unconsciously tried to reduce the muscle load and to move closer to a linear line when they moved their ankle while consciously intending to make a linear motion. For the second problem, we developed two different prototypes of a leg support device. An experiment to evaluate the effectiveness of these devices showed that subjective exercise intensity of the tasks in the experiment using the devices was 40% or more less than that without the device, which proved the effectiveness of the devices

Remote and Feedback Control of the Flap Angle in a Wind Tunnel Test Model by Optical Measurement

We have developed a remote and precise feedback control system using optical measurement technology to alter the angle of a flap, which is part of a wind tunnel test model, automatically and to earn the aerodynamic data efficiently. To rectify the wasteful circumstance that Japan Aerospace Exploration Agency (JAXA)’s low-turbulence wind tunnel stops ventilation every time to switch model configurations, we repaired hardware for remote operation and generated software for feedback control. As a result, we have accomplished a system that dramatically advances the efficiency of wind tunnel tests. Moreover, the system was able to consider the deformation of the model through optical measurement; the system controlled flap angles with errors less than the minimum resolution of optical measurement equipment. Consequently, we successfully grasped the nonlinearity of three aerodynamic coefficients CL, CD, and CMp that was impossible so far

Conformation and absolute configuration of (1S,2S)-2-(phenyl­selan­yl)cyclo­hexyl (R)-2-meth­oxy-2-(1-naphth­yl)propionate

The relative and absolute configurations of the title compound, C26H28O3Se, were assigned from the known configuration of (R)-(−)-2-meth­oxy-2-(1-naphth­yl)propionic acid used as starting material, and by examination of the Bijvoet (Friedel) pairs, using the anomalous dispersion data collected with Mo Kα radiation at low temperature. The geometry around the carbonyl group exists in the syn conformation, as reflected in torsion angles involving this group, and the stability of the structure is affected by weak bifurcated intra­molecular C—H⋯O hydrogen bonds

De Novo Mutations in GNAO1, Encoding a Gαo Subunit of Heterotrimeric G Proteins, Cause Epileptic Encephalopathy

Heterotrimeric G proteins, composed of α, β, and γ subunits, can transduce a variety of signals from seven-transmembrane-type receptors to intracellular effectors. By whole-exome sequencing and subsequent mutation screening, we identified de novo heterozygous mutations in GNAO1, which encodes a Gαo subunit of heterotrimeric G proteins, in four individuals with epileptic encephalopathy. Two of the affected individuals also showed involuntary movements. Somatic mosaicism (approximately 35% to 50% of cells, distributed across multiple cell types, harbored the mutation) was shown in one individual. By mapping the mutation onto three-dimensional models of the Gα subunit in three different complexed states, we found that the three mutants (c.521A>G [p.Asp174Gly], c.836T>A [p.Ile279Asn], and c.572_592del [p.Thr191_Phe197del]) are predicted to destabilize the Gα subunit fold. A fourth mutant (c.607G>A), in which the Gly203 residue located within the highly conserved switch II region is substituted to Arg, is predicted to impair GTP binding and/or activation of downstream effectors, although the p.Gly203Arg substitution might not interfere with Gα binding to G-protein-coupled receptors. Transient-expression experiments suggested that localization to the plasma membrane was variably impaired in the three putatively destabilized mutants. Electrophysiological analysis showed that Gαo-mediated inhibition of calcium currents by norepinephrine tended to be lower in three of the four Gαo mutants. These data suggest that aberrant Gαo signaling can cause multiple neurodevelopmental phenotypes, including epileptic encephalopathy and involuntary movements