Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study

Our goal is to design a neuromorphic locomotion controller for a prospective bioinspired quadruped robot driven by artificial muscle actuators. In this paper, we focus on achieving a running gait called a pace, in which the ipsilateral pairs of legs move in phase, while the two pairs together move out of phase, by a quadruped robot with realistic legs driven by pneumatic muscle actuators. The robot is controlled by weakly coupled two-level central pattern generators to generate a pace gait with leg loading feedback. Each leg is moved through four sequential phases like an animal, i.e., touch-down, stance, lift-off, and swing phases. We find that leg loading feedback to the central pattern generator can contribute to stabilizing pace running with an appropriate cycle autonomously determined by synchronizing each leg’s oscillation with the roll body oscillation without a human specifying the cycle. The experimental results conclude that our proposed neuromorphic controller is beneficial for achieving pace running by a muscle-driven quadruped robot

Gait Transition from Pacing by a Quadrupedal Simulated Model and Robot with Phase Modulation by Vestibular Feedback

We propose a method to achieve autonomous gait transition according to speed for a quadruped robot pacing at medium speeds. We verified its effectiveness through experiments with the simulation model and the robot we developed. In our proposed method, a central pattern generator (CPG) is applied to each leg. Each leg is controlled by a PD controller based on output from the CPG. The four CPGs are coupled, and a hard-wired CPG network generates a pace pattern by default. In addition, we feed the body tilt back to the CPGs in order to adapt to the body oscillation that changes according to the speed. As a result, our model and robot achieve stable changes in speed while autonomously generating a walk at low speeds and a rotary gallop at high speeds, despite the fact that the walk and rotary gallop are not preprogramed. The body tilt angle feedback is the only factor involved in the autonomous generation of gaits, so it can be easily used for various quadruped robots. Therefore, it is expected that the proposed method will be an effective control method for quadruped robots

A mutation of the fission yeast EB1 overcomes negative regulation by phosphorylation and stabilizes microtubules.

Mal3 is a fission yeast homolog of EB1, a plus-end tracking protein (+TIP). We have generated a mutation (89R) replacing glutamine with arginine in the calponin homology (CH) domain of Mal3. Analysis of the 89R mutant in vitro has revealed that the mutation confers a higher affinity to microtubules and enhances the intrinsic activity to promote the microtubule-assembly. The mutant Mal3 is no longer a +TIP, but binds strongly the microtubule lattice. Live cell imaging has revealed that while the wild type Mal3 proteins dissociate from the tip of the growing microtubules before the onset of shrinkage, the mutant Mal3 proteins persist on microtubules and reduces a rate of shrinkage after a longer pausing period. Consequently, the mutant Mal3 proteins cause abnormal elongation of microtubules composing the spindle and aster. Mal3 is phosphorylated at a cluster of serine/threonine residues in the linker connecting the CH and EB1-like C-terminal motif domains. The phosphorylation occurs in a microtubule-dependent manner and reduces the affinity of Mal3 to microtubules. We propose that because the 89R mutation is resistant to the effect of phosphorylation, it can associate persistently with microtubules and confers a stronger stability of microtubules likely by reinforcing the cylindrical structure

Inhibitory effect of KW-3902, an adenosine A1 receptor antagonist, on p-aminohippurate transport in OK cells

AbstractKW-3902 (8-(noradamantan-3-yl)-1,3-dipropylxanthine) is a novel potent and selective adenosine A1 receptor antagonist. We examined the effect of KW-3902 on p-aminohippurate (PAH) transport in opossum kidney (OK) epithelial cells. Pretreatment for 3 h with KW-3902 inhibited the transcellular transport of PAH across OK cell monolayers from the basal to the apical side. The uptake of PAH across the basolateral membrane of OK cells was inhibited by KW-3902 pretreatment in a time- and concentration-dependent manner. A kinetic analysis revealed that the inhibitory effect of KW-3902 on the basolateral PAH uptake was due to an increase in the Michaelis constant (Km) as well as a decrease in the maximum uptake rate (Vmax), showing that the inhibition was a mixed type. Pretreatment with adenosine deaminase or 8-cyclopentyl-1,3-dipropylxanthine, another selective adenosine A1 receptor antagonist, also decreased the basolateral PAH uptake. KW-3902 pretreatment had no effect on the concentration of intracellular α-ketoglutarate which exchanges for PAH across the basolateral membrane of OK cells. These results suggest that KW-3902 has an inhibitory effect on PAH transport in OK epithelial cells

Significance of pharmacist intervention to oral antithrombotic therapy in the pharmaceutical outpatient clinic of cardiovascular internal medicine: a retrospective cohort study

Abstract Background Optimised antithrombotic therapy requires clinical experience and an understanding of the current guidelines. This retrospective study aimed to evaluate whether pharmacist interviews and interventions with patients taking oral antithrombotic drugs in the pharmaceutical outpatient cardiology clinic had favourable clinical outcomes including decreased bleeding. Methods The participants included patients visiting the outpatient clinic of cardiovascular internal medicine at the Kobe University Hospital from January–December 2017, and were taking oral antithrombotic medication. The observation period was from the first visit to the outpatient clinic to October 2021 or death. Patients who received pharmacist intervention more than twice were defined as the pharmacist intervention group. Two control patients per one pharmacist intervention group individual were selected from the non-intervention pool matched for age, gender and antithrombotic medication type. Results Of the 895 eligible patients, 132 were in the pharmacist intervention group and 264 were selected for the matched non-intervention group. Bleeding events according to the Bleeding Academic Research Consortium criteria over type 2 were significantly lower in the pharmacist intervention group compared with the non-intervention group (17.4% versus 28.4%, P = 0.019). There were no significant differences in mortality and heart failure hospitalisation frequency, stroke, or cardiovascular events between the groups. Multivariate analysis identified age (≥ 65 years) and pharmacist intervention as factors associated with bleeding (odds ratio = 2.29 and 0.51, respectively). Conclusion Pharmacist intervention in the outpatient clinic of cardiovascular internal medicine was effective in reducing the risk of bleeding in patients undergoing antithrombotic therapy