Gaussian process autoregression for simultaneous proportional multi-modal prosthetic control with natural hand kinematics

Matching the dexterity, versatility, and robustness of the human hand is still an unachieved goal in bionics, robotics, and neural engineering. A major limitation for hand prosthetics lies in the challenges of reliably decoding user intention from muscle signals when controlling complex robotic hands. Most of the commercially available prosthetic hands use muscle-related signals to decode a finite number of predefined motions and some offer proportional control of open/close movements of the whole hand. Here, in contrast, we aim to offer users flexible control of individual joints of their artificial hand. We propose a novel framework for decoding neural information that enables a user to independently control 11 joints of the hand in a continuous manner-much like we control our natural hands. Toward this end, we instructed six able-bodied subjects to perform everyday object manipulation tasks combining both dynamic, free movements (e.g., grasping) and isometric force tasks (e.g., squeezing). We recorded the electromyographic and mechanomyographic activities of five extrinsic muscles of the hand in the forearm, while simultaneously monitoring 11 joints of hand and fingers using a sensorized data glove that tracked the joints of the hand. Instead of learning just a direct mapping from current muscle activity to intended hand movement, we formulated a novel autoregressive approach that combines the context of previous hand movements with instantaneous muscle activity to predict future hand movements. Specifically, we evaluated a linear vector autoregressive moving average model with exogenous inputs and a novel Gaussian process (gP) autoregressive framework to learn the continuous mapping from hand joint dynamics and muscle activity to decode intended hand movement. Our gP approach achieves high levels of performance (RMSE of 8°/s and ρ = 0.79). Crucially, we use a small set of sensors that allows us to control a larger set of independently actuated degrees of freedom of a hand. This novel undersensored control is enabled through the combination of nonlinear autoregressive continuous mapping between muscle activity and joint angles. The system evaluates the muscle signals in the context of previous natural hand movements. This enables us to resolve ambiguities in situations, where muscle signals alone cannot determine the correct action as we evaluate the muscle signals in their context of natural hand movements. gP autoregression is a particularly powerful approach which makes not only a prediction based on the context but also represents the associated uncertainty of its predictions, thus enabling the novel notion of risk-based control in neuroprosthetics. Our results suggest that gP autoregressive approaches with exogenous inputs lend themselves for natural, intuitive, and continuous control in neurotechnology, with the particular focus on prosthetic restoration of natural limb function, where high dexterity is required for complex movements

Soil water availability and relationship between canopy and roots in young olive trees (cv Coratina).

Trials were carried out in the Basilicata region (41°03’ N, 15°42’ E, Southern Italy) using ownrooted plants of the cultivar Coratina planted in 1992 at distances of 6 x 3 m. During 1992, the whole plot (about 7000 m2) was irrigated. From 1993 onwards, irrigation was suspended in part of the plot. A representative number of plants during 1992, 1993, 1994 and 1998 was destroyed in order to carry out dry weight measurements on roots and canopy. The ratio between root and leaf dry weight was always greater in nonirrigated plants compared to irrigated ones. Roots explored a soil volume ranged from 0.5 m3 in the first year to 16.8 m3 in the seventh year for irrigated plants and from 0.5 m3 to 13.4 m3 for non-irrigated ones. The study showed that in deep soil, with a greater capacity for water storage during the rainfall season, limited water supply (220-1350 m3 ha-1) during the first seven years from planting increased canopy growth by 79% compared to nonirrigated plants, but made little difference to root growth. In non-irrigated plants, canopy growth (but not root growth) was drastically reduced, as a defence strategy against water deficit, making for a better root/leaf ratio and consequently greater water availability for leaves

The olive tree: a paradigm for drought tolerance in Mediterranean climates

Olive trees (<i>Olea europaea</i> L.) are commonly grown in the Mediterranean basin where prolonged droughts may occur during the vegetative period. This species has developed a series of physiological mechanisms, that can be observed in several plants of the Mediterranean macchia, to tolerate drought stress and grow under adverse climatic conditions. These mechanisms have been investigated through an experimental campaign carried out over both irrigated and drought-stressed plants in order to comprehend the plant response under stressed conditions and its ability to recover. Experimental results show that olive plants subjected to water deficit lower the water content and water potentials of their tissues, establishing a particularly high potential gradient between leaves and roots, and stop canopy growth but not photosynthetic activity and transpiration. This allows the continuous production of assimilates as well as their accumulation in the various plant parts, so creating a higher root/leaf ratio if compared to well-watered plants. Active and passive osmotic adjustment due to the accumulation of carbohydrates (in particular mannitol and glucose), proline and other osmolytes have key roles in maintaining cell turgor and leaf activities. At severe drought-stress levels, the non-stomatal component of photosynthesis is inhibited and a light-dependent inactivation of the photosystem II occurs. Finally, the activities of some antioxidant enzymes involved in the scavenging of activated oxygen species and in other biochemical pathways increase during a period of drought. The present paper provides an overview of the driving mechanisms adopted by olive trees to face drought stress with the aim of better understanding plant-soil interactions

A soft, synergy-based robotic glove for grasping assistance

This paper presents a soft, tendon-driven, robotic glove designed to augment grasp capability and provide rehabilitation assistance for postspinal cord injury patients. The basis of the design is an underactuation approach utilizing postural synergies of the hand to support a large variety of grasps with a single actuator. The glove is lightweight, easy to don, and generates sufficient hand closing force to assist with activities of daily living. Device efficiency was examined through a characterization of the power transmission elements, and output force production was observed to be linear in both cylindrical and pinch grasp configurations. We further show that, as a result of the synergy-inspired actuation strategy, the glove only slightly alters the distribution of forces across the fingers, compared to a natural, unassisted grasping pattern. Finally, a preliminary case study was conducted using a participant suffering from an incomplete spinal cord injury (C7). It was found that through the use of the glove, the participant was able to achieve a 50% performance improvement (from four to six blocks) in a standard Box and Block test

Chemical, biochemical and microbiological properties of soils from abandoned and extensively cultivated olive orchards

The abandonment of olive orchards is a phenomenon of great importance triggered mainly by economic and social causes. The aim of this study was to investigate some chemical, biochemical and microbiological properties in a soil of a Southern olive grove abandoned since 25 years. In order to define the effect of the long-term land abandonment on soil properties, an adjacent olive grove managed according to extensive practices was taken as reference (essentially minimum tillage and no fertilization). Soil organic matter, total nitrogen and pH were significantly higher in the abandoned olive grove due to the absence of tillage and the natural inputs of organic matter at high C/N ratio which, inter alia, increased the number of cellulolytic bacteria and stimulated the activity of β-glucosidase, an indicator of a more advanced stage of soil evolution. The soil of the abandoned olive orchard showed a lower number of total bacteria and fungi and a lower microbial diversity, measured by means of the Biolog® method, as a result of a sort of specialization trend towards low quality organic substrates. From this point of view, the extensive cultivation management seemed to not induce a disturbance to microbiological communities

Worldwide genetic diversity for mineral element concentrations in rice grain

With the aim of identifying rice (Oryza spp.) germplasm having enhanced grain nutritional value, the mineral nutrient and trace element concentrations (or ionome) of whole (unmilled) grains from a set of 1763 rice accessions of diverse geographic and genetic origin were evaluated. Seed for analysis of P, Mg, K, S, Ca, As, Cd, Co, Cu, Fe, Mn, Mo, Ni, Rb, Sr, and Zn concentrations by inductively coupled plasma mass spectrometry was produced over 2 yr in Beaumont, TX, under both flooded and unflooded watering regimes. The distributions of all element concentrations analyzed were skewed toward higher concentration. A significant portion of this ionomic variation has a genetic basis (broad sense heritabilities 0.14–0.75), indicating an ability to breed for improved grain concentration of all elements except possibly Ni. Variation in grain elemental concentrations was not strongly associated with plant height, heading time, or grain shape, suggesting these physiological factors are not of primary importance in controlling ionomic variation in rice grain. Accessions high in specific elements were sometimes found to have similar genetic or geographic origins, suggesting they share a heritable mechanism underlying their enhanced ionomes. For example, accessions with high Ca, Mg, or K were more common in the indica than in the japonica subgroup; low As was most common among temperate japonica accessions; and several lines high in Mo originated in Malaysia or adjacent Brunei

Gestione della nutrizione e dell’irrigazione: migliorare l’efficienza dell’uso delle risorse e ripristinare la fertilità chimica e microbiologica dei terreni

La gestione della nutrizione del pesco non pu\uf2 prescindere dalla predisposizione di un piano di somministrazione della sostanza organica (S.O.), al fine di ripristinare la fertilit\ue0 dei suoli, che spesso si trovano con tenori di S.O.< 1%. L\u2019apporto di S.O. deve essere articolato all\u2019impianto ma soprattutto in copertura, utilizzando le matrici disponibili e pi\uf9 economiche a patto che abbiano un buon grado di stabilit\ue0 (compostaggio) e valutandone il rapporto C:N, che definisce la quantit\ue0 di N potenzialmente mineralizzabile (aumenta al diminuire del rapporto). In particolare \ue8 auspicabile l\u2019impiego di materiale compostato derivante dagli scarti di processi agro-industriali, in questo modo \ue8 possibile, oltre che apportare nutrienti e fissare C, anche riciclare materiale altrimenti da smaltire. Una via innovativa di sequestro del C \ue8 l\u2019interramento di biochar, prodotto della pirolisi, ovvero dalla combustione a basse temperature (600-700 \ub0C) in assenza di ossigeno. Dopo la pirolisi il biochar mantiene un\u2019elevata concentrazione di C organico, di elementi minerali, ed una struttura molecolare che gli consente di comportarsi come una resina con elevata capacit\ue0 adsorbente. Gli apporti di nutrienti minerali vanno dosati in funzione delle asportazioni, della cinetica di assorbimento e dell\u2019efficienza di assorbimento al netto della frazione riciclata con la caduta delle foglie, l\u2019interramento del legno di potatura gli apporti con le acque meteoriche ed irrigue, ecc. La gestione razionale dell\u2019irrigazione si fonda sulla creazione di riserve idriche durante i mesi pi\uf9 piovosi da utilizzare nei periodi siccitosi. E\u2019 consigliabile inoltre una disposizione dinamica dei gocciolatori aumentandone numero e distanza dal tronco con l\u2019et\ue0 dell\u2019albero

Learning to walk with a wearable robot in 880 simple steps: a pilot study on motor adaptation

BACKGROUND Wearable robots have been shown to improve the efficiency of walking in diverse scenarios. However, it is unclear how much practice is needed to fully adapt to robotic assistance, and which neuromotor processes underly this adaptation. Familiarization strategies for novice users, robotic optimization techniques (e.g. human-in-the-loop), and meaningful comparative assessments depend on this understanding. METHODS To better understand the process of motor adaptation to robotic assistance, we analyzed the energy expenditure, gait kinematics, stride times, and muscle activities of eight naïve unimpaired participants across three 20-min sessions of robot-assisted walking. Experimental outcomes were analyzed with linear mixed effect models and statistical parametric mapping techniques. RESULTS Most of the participants' kinematic and muscular adaptation occurred within the first minute of assisted walking. After ten minutes, or 880 steps, the energetic benefits of assistance were realized (an average of 5.1% (SD 2.4%) reduction in energy expenditure compared to unassisted walking). Motor adaptation was likely driven by the formation of an internal model for feedforward motor control as evidenced by the reduction of burst-like muscle activity at the cyclic end of robotic assistance and an increase in arm-swing asymmetry previously associated with increased cognitive load. CONCLUSION Humans appear to adapt to walking assistance from a wearable robot over 880 steps by forming an internal model for feedforward control. The observed adaptation to the wearable robot is well-described by existing three-stage models that start from a cognitive stage, continue with an associative stage, and end in autonomous task execution. Trial registration Not applicable