A force and thermal sensing skin for robots in human environments

Working together, heated and unheated temperature sensors can recognize contact with different materials and contact with the human body. As such, distributing these sensors across a robot’s body could be beneficial for operation in human environments. We present a stretchable fabric-based skin with force and thermal sensors that is suitable for covering areas of a robot’s body, including curved surfaces. It also adds a layer of compliance that conforms to manipulated objects, improving thermal sensing. Our design addresses thermal sensing challenges, such as the time to heat the sensors, the efficiency of sensing, and the distribution of sensors across the skin. It incorporates small self-heated temperature sensors on the surface of the skin that directly make contact with objects, improving the sensors’ response times. Our approach seeks to fully cover the robot’s body with large force sensing taxels, but treats temperature sensors as small, point-like sensors sparsely distributed across the skin. We present a mathematical model to help predict how many of these point-like temperature sensors should be used in order to increase the likelihood of them making contact with an object. To evaluate our design, we conducted tests in which a robot arm used a cylindrical end effector covered with skin to slide objects and press on objects made from four different materials. After assessing the safety of our design, we also had the robot make contact with the forearms and clothed shoulders of 10 human participants. With 2.0 s of contact, the actively-heated temperature sensors enabled binary classification accuracy over 90% for the majority of material pairs. The system could more rapidly distinguish between materials with large differences in their thermal effusivities (e.g., 90% accuracy for pine wood vs. aluminum with 0.5 s of contact). For discrimination between humans vs. the four materials, the skin’s force and thermal sensing modalities achieved 93% classification accuracy with 0.5 s of contact. Overall, our results suggest that our skin design could enable robots to recognize contact with distinct task-relevant materials and humans while performing manipulation tasks in human environments.M.S

Finishing the euchromatic sequence of the human genome

The sequence of the human genome encodes the genetic instructions for human physiology, as well as rich information about human evolution. In 2001, the International Human Genome Sequencing Consortium reported a draft sequence of the euchromatic portion of the human genome. Since then, the international collaboration has worked to convert this draft into a genome sequence with high accuracy and nearly complete coverage. Here, we report the result of this finishing process. The current genome sequence (Build 35) contains 2.85 billion nucleotides interrupted by only 341 gaps. It covers ∼99% of the euchromatic genome and is accurate to an error rate of ∼1 event per 100,000 bases. Many of the remaining euchromatic gaps are associated with segmental duplications and will require focused work with new methods. The near-complete sequence, the first for a vertebrate, greatly improves the precision of biological analyses of the human genome including studies of gene number, birth and death. Notably, the human enome seems to encode only 20,000-25,000 protein-coding genes. The genome sequence reported here should serve as a firm foundation for biomedical research in the decades ahead

Novel Evidence of Cortical Control in Severe Slip Responses

Slips and falls are a major cause of injury and death in the United States. During a human slip response, an ensemble of muscular activations appear in an attempt to maintain balance and prevent a fall. The slip response has several key events that appear reflexive in nature. Though, the temporal nature of these responses may suggest cortical involvement as well. Indeed, some other forms of postural perturbations have provided evidence of cortical control in the recovery response. However, there is little information regarding cortical contribution to the slip response. PURPOSE: To examine corticospinal activity in lower extremity slip recovery corrective responses across slip severity. METHODS: One hundred participants were recruited for this study, and after exclusions the final analysis included 73 participants. Participant’s lower extremity gait kinematics, kinetics, and electromyography (EMG) on the quadriceps (Q), hamstrings (H), dorsiflexors (TA), and plantarflexors (MG) were collected during normal gait (NG) and an unexpected slip (US). The slip was classified based on slip severity, using heel slip distance, and velocity. Once classified, EMG spectral power was examined in the Piper frequency band between gait trials, and groups using a mixed model analysis of variance. RESULTS: Spectral power showed no differences in NG trials. However, spectral power in the Piper frequency band was increased in the Q and H, during the US trial for severe slips, but not minor slips. For the quadriceps, a significant gait by slip severity interaction was observed (F(1,70) = 9.934, p = 0.002, η2 = 0.124). Simple effects revealed a significant increase in activation between normal gait and unexpected slips for those who experienced hazardous slips (p \u3c 0.001), but no differences for non-hazardous slips (p = 0.364). For the hamstrings, a significant interaction was also observed (F(1,70) = 5.076, p = 0.027, η2 = 0.069). The simple effects revealed a significant increase in activity between gait trials, in the hazardous slips (p = 0.002), but not in the non-hazardous slips (p = 0.651). CONCLUSIONS: We show here novel contributions of the corticospinal pathway to the slip recovery response, particularly in musculature used in the recovery response

Lead Leg Corrective Responses to Varying Slip Severity

Slips and falls account for large rates of injury and mortality in multiple populations. While previous research has examined the corrective responses elicited, it is still unclear which responses may break down during more severe slips. PURPOSE: To examine lead leg slip recovery corrective responses across slip severity following an induced slip. METHODS: One hundred participants were recruited for this study. Participant’s lower extremity gait kinematics and kinetics were collected during normal gait and an unexpected slip. The variables of interest were mean sagittal moments about the ankle, knee, and hip, during stance phase. Peak moments, and time to peak moments. The slip was classified based on slip severity, using heel slip distance, and velocity. Once classified, corrective responses were examined between groups using independent t-tests. Additionally, prediction equations for slip severity were created using a binary logistic regression model. RESULTS: After exclusions, the final sample included 64 participants for analyses, consisting of 37 non-hazardous slips, and 27 hazardous slips. The results from the logistic regression model suggest that as the average ankle moment increases in the slip period, the odds of experiencing a hazardous slip decrease (OR = 0.01, CI: 0.01-0.03). Further, as the time to peak hip extension (OR = 1.007, CI: 1.000-1.013) and knee extension moments (OR = 1.001, CI: 0.997-1.004) increase, the odds of experiencing a hazardous slip increase. CONCLUSIONS: Rapid lower extremity corrective responses appear critical in arresting the slip. While there are various strategies for slip recovery, our findings suggest that the primary recovery mechanism at the slipping hip may play a vital role in preventing the severe slip

The Effects of Postural Control Measures on Induced Slip Outcomes

Slips and falls are a major health concern in the United States. Injury incidence rates have increased in recent years and now the leading cause of non-fatal injuries and the third leading cause of fatal injuries in the U.S. are due to falls. During an unexpected slip, sensory information is used to elicit an appropriate recovery. Therefore, increased fall risk has been associated with declines in sensory system integrity. Previous research has suggested that decreased balance scores were associated with more hazardous slips yet measures of postural control between individuals who fall or recover after an induced slip have not been investigated. PURPOSE: To examine differences in slip detection using postural control measures between individuals who fall or recover after an induced slip. METHODS: One hundred participants were recruited for this study. Standing postural control measures were recorded under six different sensory conditions: eyes open, eyes closed, eyes open with sway referenced vision, eyes open with sway referenced support, eyes closed with sway referenced support, and eyes open with sway referenced vision and support. Variables of interest were sway velocity components and the root mean square of the center of pressure (CoP) in the medial-lateral and anterior-posterior directions. After postural control testing, participants completed testing involving a normal gait and an unexpected slip trial. The slip was classified as either a fall or a recovery. Once classified, standing postural control measures were examined between groups using independent t-tests. Additionally, prediction equations for slip outcome were created using a binary logistic regression model. RESULTS: The final analysis sample included 73 participants, with 48 trials classified as recoveries and 25 trials as falls. Postural sway when the proprioceptive (OR = 0.02, 95% CI: 0.01-1.34) and vestibular (OR = 0.60, 95% CI: 0.26-1.39) systems were relied on were negatively associated with odds of falling while visual system reliance resulted in a positive association (OR = 3.18, 95% CI: 0.887-11.445). CONCLUSIONS: The data suggests that visual sensory information may have a greater influence on dynamic stability and slip outcomes. Additionally, postural control measures may provide insight into task selection during recovery

Outcomes among trauma patients with duodenal leak following primary versus complex repair of duodenal injuries: An Eastern Association for the Surgery of Trauma multicenter trial

BACKGROUND: Duodenal leak is a feared complication of repair, and innovative complex repairs with adjunctive measures (CRAM) were developed to decrease both leak occurrence and severity when leaks occur. Data on the association of CRAM and duodenal leak are sparse, and its impact on duodenal leak outcomes is nonexistent. We hypothesized that primary repair alone (PRA) would be associated with decreased duodenal leak rates; however, CRAM would be associated with improved recovery and outcomes when leaks do occur. METHODS: A retrospective, multicenter analysis from 35 Level 1 trauma centers included patients older than 14 years with operative, traumatic duodenal injuries (January 2010 to December 2020). The study sample compared duodenal operative repair strategy: PRA versus CRAM (any repair plus pyloric exclusion, gastrojejunostomy, triple tube drainage, duodenectomy). RESULTS: The sample (N = 861) was primarily young (33 years) men (84%) with penetrating injuries (77%); 523 underwent PRA and 338 underwent CRAM. Complex repairs with adjunctive measures were more critically injured than PRA and had higher leak rates (CRAM 21% vs. PRA 8%, p \u3c 0.001). Adverse outcomes were more common after CRAM with more interventional radiology drains, prolonged nothing by mouth and length of stay, greater mortality, and more readmissions than PRA (all p \u3c 0.05). Importantly, CRAM had no positive impact on leak recovery; there was no difference in number of operations, drain duration, nothing by mouth duration, need for interventional radiology drainage, hospital length of stay, or mortality between PRA leak versus CRAM leak patients (all p \u3e 0.05). Furthermore, CRAM leaks had longer antibiotic duration, more gastrointestinal complications, and longer duration until leak resolution (all p \u3c 0.05). Primary repair alone was associated with 60% lower odds of leak, whereas injury grades II to IV, damage control, and body mass index had higher odds of leak (all p \u3c 0.05). There were no leaks among patients with grades IV and V injuries repaired by PRA. CONCLUSION: Complex repairs with adjunctive measures did not prevent duodenal leaks and, moreover, did not reduce adverse sequelae when leaks did occur. Our results suggest that CRAM is not a protective operative duodenal repair strategy, and PRA should be pursued for all injury grades when feasible. LEVEL OF EVIDENCE: Therapeutic/Care Management; Level IV

Abstracts of the 3rd Annual Graduate Entry Research in Medicine Conference

This book contains the abstracts of the papers presented at The 3rd Annual Graduate Entry Research in Medicine Conference (GERMCON 2020) Organized by Warwick Medical School, University of Warwick in collaboration with Swansea University Medical School, Swansea University, Wales, UK held on 12–18 October 2020. This was especially important for Graduate Entry Medical (GEM) students, who have less opportunity and time to engage in research due to their accelerated medical degree. Conference Title: 3rd Annual Graduate Entry Research in Medicine ConferenceConference Acronym: GERMCON 2020Conference Date: 12–18 October 2020Conference Location: Online (Virtual Mode)Conference Organizer: Warwick Medical School, University of Warwick, UKCo-organizer: Swansea University Medical School, Swansea University, Wales, UK Other Abstract Book of GERMCON: Abstracts of the 4th Annual Graduate Entry Research in Medicine Conferenc

Search for Scalar Diphoton Resonances in the Mass Range 65−60065-600 GeV with the ATLAS Detector in pppp Collision Data at s\sqrt{s} = 8 TeVTeV

A search for scalar particles decaying via narrow resonances into two photons in the mass range 65–600 GeV is performed using $20.3\text{}\text{}{\mathrm{fb}}^{-1}$ of $\sqrt{s}=8\text{}\text{}\mathrm{TeV}$ $pp$ collision data collected with the ATLAS detector at the Large Hadron Collider. The recently discovered Higgs boson is treated as a background. No significant evidence for an additional signal is observed. The results are presented as limits at the 95% confidence level on the production cross section of a scalar boson times branching ratio into two photons, in a fiducial volume where the reconstruction efficiency is approximately independent of the event topology. The upper limits set extend over a considerably wider mass range than previous searches