Semi-autonomous control of prosthetic hands based on multimodal sensing, human grasp demonstration and user intention

Semi-autonomous control strategies for prosthetic hands provide a promising way to simplify and improve the grasping process for the user by adopting techniques usually applied in robotic grasping. Such strategies endow prosthetic hands with the ability to autonomously select and execute grasps while keeping the user in the loop to intervene at any time for triggering, accepting or rejecting decisions taken by the controller in an intuitive and easy way. In this paper, we present a semi-autonomous control strategy that allows the user to perform fluent grasping of everyday objects based on a single EMG channel and a multi-modal sensor system embedded in the hand for object perception and autonomous grasp execution. We conduct a user study with 20 subjects to assess the effectiveness and intuitiveness of our semi-autonomous control strategy and compare it to a conventional electromyography-based control strategy. The results show that the workload is reduced by 25.9 % compared to conventional electromyographic control, the physical demand is reduced by 60 % and the grasping process is accelerated by 19.4 %

Designing Prosthetic Hands With Embodied Intelligence: The KIT Prosthetic Hands

Hand prostheses should provide functional replacements of lost hands. Yet current prosthetic hands often are not intuitive to control and easy to use by amputees. Commercially available prostheses are usually controlled based on EMG signals triggered by the user to perform grasping tasks. Such EMG-based control requires long training and depends heavily on the robustness of the EMG signals. Our goal is to develop prosthetic hands with semi-autonomous grasping abilities that lead to more intuitive control by the user. In this paper, we present the development of prosthetic hands that enable such abilities as first results toward this goal. The developed prostheses provide intelligent mechatronics including adaptive actuation, multi-modal sensing and on-board computing resources to enable autonomous and intuitive control. The hands are scalable in size and based on an underactuated mechanism which allows the adaptation of grasps to the shape of arbitrary objects. They integrate a multi-modal sensor system including a camera and in the newest version a distance sensor and IMU. A resource-aware embedded system for in-hand processing of sensory data and control is included in the palm of each hand. We describe the design of the new version of the hands, the female hand prosthesis with a weight of 377 g, a grasping force of 40.5 N and closing time of 0.73 s. We evaluate the mechatronics of the hand, its grasping abilities based on the YCB Gripper Assessment Protocol as well as a task-oriented protocol for assessing the hand performance in activities of daily living. Further, we exemplarily show the suitability of the multi-modal sensor system for sensory-based, semi-autonomous grasping in daily life activities. The evaluation demonstrates the merit of the hand concept, its sensor and in-hand computing systems

An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers

Grasping and manipulation with anthropomorphic robotic and prosthetic hands presents a scientific challenge regarding mechanical design, sensor system, and control. Apart from the mechanical design of such hands, embedding sensors needed for closed-loop control of grasping tasks remains a hard problem due to limited space and required high level of integration of different components. In this paper we present a scalable design model of artificial fingers, which combines mechanical design and embedded electronics with a sophisticated multi-modal sensor system consisting of sensors for sensing normal and shear force, distance, acceleration, temperature, and joint angles. The design is fully parametric, allowing automated scaling of the fingers to arbitrary dimensions in the human hand spectrum. To this end, the electronic parts are composed of interchangeable modules that facilitate the echanical scaling of the fingers and are fully enclosed by the mechanical parts of the finger. The resulting design model allows deriving freely scalable and multimodally sensorised fingers for robotic and prosthetic hands. Four physical demonstrators are assembled and tested to evaluate the approach

An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers

Grasping and manipulation with anthropomorphic robotic and prosthetic hands presents a scientific challenge regarding mechanical design, sensor system, and control. Apart from the mechanical design of such hands, embedding sensors needed for closed-loop control of grasping tasks remains a hard problem due to limited space and required high level of integration of different components. In this paper we present a scalable design model of artificial fingers, which combines mechanical design and embedded electronics with a sophisticated multi-modal sensor system consisting of sensors for sensing normal and shear force, distance, acceleration, temperature, and joint angles. The design is fully parametric, allowing automated scaling of the fingers to arbitrary dimensions in the human hand spectrum. To this end, the electronic parts are composed of interchangeable modules that facilitate the echanical scaling of the fingers and are fully enclosed by the mechanical parts of the finger. The resulting design model allows deriving freely scalable and multimodally sensorised fingers for robotic and prosthetic hands. Four physical demonstrators are assembled and tested to evaluate the approach

Discovery of a dark, massive, ALMA-only galaxy at z~5-6 in a tiny 3-millimeter survey

We report the serendipitous detection of two 3 mm continuum sources found in deep ALMA Band 3 observations to study intermediate redshift galaxies in the COSMOS field. One is near a foreground galaxy at 1.3", but is a previously unknown dust-obscured star-forming galaxy (DSFG) at probable $z_{CO}=3.329$, illustrating the risk of misidentifying shorter wavelength counterparts. The optical-to-mm spectral energy distribution (SED) favors a grey $\lambda^{-0.4}$ attenuation curve and results in significantly larger stellar mass and SFR compared to a Calzetti starburst law, suggesting caution when relating progenitors and descendants based on these quantities. The other source is missing from all previous optical/near-infrared/sub-mm/radio catalogs ("ALMA-only"), and remains undetected even in stacked ultradeep optical ($>29.6$ AB) and near-infrared ($>27.9$ AB) images. Using the ALMA position as a prior reveals faint $SNR\sim3$ measurements in stacked IRAC 3.6+4.5, ultradeep SCUBA2 850$\mu$m, and VLA 3GHz, indicating the source is real. The SED is robustly reproduced by a massive $M^*=10^{10.8}$M$_\odot$ and $M_{gas}=10^{11}$M$_\odot$, highly obscured $A_V\sim4$, star forming $SFR\sim300$ M$_{\odot}$yr$^{-1}$ galaxy at redshift $z=5.5\pm$1.1. The ultrasmall 8 arcmin$^{2}$ survey area implies a large yet uncertain contribution to the cosmic star formation rate density CSFRD(z=5) $\sim0.9\times10^{-2}$ M$_{\odot}$ yr$^{-1}$ Mpc$^{-3}$, comparable to all ultraviolet-selected galaxies combined. These results indicate the existence of a prominent population of DSFGs at $z>4$, below the typical detection limit of bright galaxies found in single-dish sub-mm surveys, but with larger space densities $\sim3 \times 10^{-5}$ Mpc$^{-3}$, higher duty cycles $50-100\%$, contributing more to the CSFRD, and potentially dominating the high-mass galaxy stellar mass function.Comment: Accepted for publication in ApJ. 2 galaxies, too many pages, 8 figures, 2 table

The rhesus protein RhCG: a new perspective in ammonium transport and distal urinary acidification

Urinary acidification is a complex process requiring the coordinated action of enzymes and transport proteins and resulting in the removal of acid and the regeneration of bicarbonate. Proton secretion is mediated by luminal H(+)-ATPases and requires the parallel movement of NH(3), and its protonation to NH(4)(+), to provide sufficient buffering. It has been long assumed that ammonia secretion is a passive process occurring by means of simple diffusion driven by the urinary trapping of ammonium. However, new data indicate that mammalian cells possess specific membrane proteins from the family of rhesus proteins involved in ammonia/μm permeability. Rhesus proteins were first identified in yeast and later also in plants, algae, and mammals. In rodents, RhBG and RhCG are expressed in the collecting duct, whereas in humans only RhCG was detected. Their expression increases with maturation of the kidney and accelerates after birth in parallel with other acid-base transport proteins. Deletion of RhBG in mice had no effect on renal ammonium excretion, whereas RhCG deficiency reduces renal ammonium secretion strongly, causes metabolic acidosis in acid-challenged mice, and impairs restoration of normal acid-base status. Microperfusion experiments or functional reconstitution in liposomes demonstrates that ammonia is the most likely substrate of RhCG. Similarly, crystal structures of human RhCG and the homologous bacterial AmtB protein suggest that these proteins may form gas channels.Kidney International advance online publication, 6 October 2010; doi:10.1038/ki.2010.386

Structural Basis for Broad Neutralization of Hepatitis C Virus Quasispecies

Monoclonal antibodies directed against hepatitis C virus (HCV) E2 protein can neutralize cell-cultured HCV and pseudoparticles expressing envelopes derived from multiple HCV subtypes. For example, based on antibody blocking experiments and alanine scanning mutagenesis, it was proposed that the AR3B monoclonal antibody recognized a discontinuous conformational epitope comprised of amino acid residues 396–424, 436–447, and 523–540 of HCV E2 envelope protein. Intriguingly, one of these segments (436–447) overlapped with hypervariable region 3 (HVR3), a domain that exhibited significant intrahost and interhost genetic diversity. To reconcile these observations, amino-acid sequence variability was examined and homology-based structural modelling of E2 based on tick-borne encephalitis virus (TBEV) E protein was performed based on 413 HCV sequences derived from 18 subjects with chronic hepatitis C. Here we report that despite a high degree of amino-acid sequence variability, the three-dimensional structure of E2 is remarkably conserved, suggesting broad recognition of structural determinants rather than specific residues. Regions 396–424 and 523–540 were largely exposed and in close spatial proximity at the surface of E2. In contrast, region 436–447, which overlaps with HVR3, was >35 Å away, and estimates of buried surface were inconsistent with HVR3 being part of the AR3B binding interface. High-throughput structural analysis of HCV quasispecies could facilitate the development of novel vaccines that target conserved structural features of HCV envelope and elicit neutralizing antibody responses that are less vulnerable to viral escape

Micro-combs: a novel generation of optical sources

The quest towards the integration of ultra-fast, high-precision optical clocks is reflected in the large number of high-impact papers on the topic published in the last few years. This interest has been catalysed by the impact that high-precision optical frequency combs (OFCs) have had on metrology and spectroscopy in the last decade [1–5]. OFCs are often referred to as optical rulers: their spectra consist of a precise sequence of discrete and equally-spaced spectral lines that represent precise marks in frequency. Their importance was recognised worldwide with the 2005 Nobel Prize being awarded to T.W. Hänsch and J. Hall for their breakthrough in OFC science [5]. They demonstrated that a coherent OFC source with a large spectrum – covering at least one octave – can be stabilised with a self-referenced approach, where the frequency and the phase do not vary and are completely determined by the source physical parameters. These fully stabilised OFCs solved the challenge of directly measuring optical frequencies and are now exploited as the most accurate time references available, ready to replace the current standard for time. Very recent advancements in the fabrication technology of optical micro-cavities [6] are contributing to the development of OFC sources. These efforts may open up the way to realise ultra-fast and stable optical clocks and pulsed sources with extremely high repetition-rates, in the form of compact and integrated devices. Indeed, the fabrication of high-quality factor (high-Q) micro-resonators, capable of dramatically amplifying the optical field, can be considered a photonics breakthrough that has boosted not only the scientific investigation of OFC sources [7–13] but also of optical sensors and compact light modulators [6,14]

Mass and environment as drivers of galaxy evolution in SDSS and zCOSMOS and the origin of the Schechter function

We explore the inter-relationships between mass, star-formation rate and environment in the SDSS, zCOSMOS and other surveys. The differential effects of mass and environment are completely separable to z ~ 1, indicating that two distinct processes are operating, "mass-quenching" and "environment-quenching". Environment-quenching, at fixed over-density, evidently does not change with epoch to z ~ 1, suggesting that it occurs as large-scale structure develops in the Universe. The observed constancy of the mass-function shape for star-forming galaxies, demands that the mass-quenching of galaxies around and above M*, must be proportional to their star-formation rates at all z < 2. We postulate that this simple mass-quenching law also holds over a much broader range of stellar mass and epoch. These two simple quenching processes, plus some additional quenching due to merging, then naturally produce (a) a quasi-static Schechter mass function for star-forming galaxies with a value of M* that is set by the proportionality between the star-formation and mass-quenching rates, (b) a double Schechter function for passive galaxies with two components: the dominant one is produced by mass-quenching and has exactly the same M* as the star-forming galaxies but an alpha shallower by +1, while the other is produced by environment effects and has the same M* and alpha as the star-forming galaxies, and is larger in high density environments. Subsequent merging of quenched galaxies modifies these predictions somewhat in the denser environments, slightly increasing M* and making alpha more negative. All of these detailed quantitative relationships between the Schechter parameters are indeed seen in the SDSS, lending strong support to our simple empirically-based model. The model naturally produces for passive galaxies the "anti-hierarchical" run of mean ages and alpha-element abundances with mass.Comment: 66 pages, 19 figures, 1 movie, accepted for publication in ApJ. The movie is also available at http://www.exp-astro.phys.ethz.ch/zCOSMOS/MF_simulation_d1_d4.mo

Linear and Branched Glyco-Lipopeptide Vaccines Follow Distinct Cross-Presentation Pathways and Generate Different Magnitudes of Antitumor Immunity

Glyco-lipopeptides, a form of lipid-tailed glyco-peptide, are currently under intense investigation as B- and T-cell based vaccine immunotherapy for many cancers. However, the cellular and molecular mechanisms of glyco-lipopeptides (GLPs) immunogenicity and the position of the lipid moiety on immunogenicity and protective efficacy of GLPs remain to be determined.We have constructed two structural analogues of HER-2 glyco-lipopeptide (HER-GLP) by synthesizing a chimeric peptide made of one universal CD4(+) epitope (PADRE) and one HER-2 CD8(+) T-cell epitope (HER(420-429)). The C-terminal end of the resulting CD4-CD8 chimeric peptide was coupled to a tumor carbohydrate B-cell epitope, based on a regioselectively addressable functionalized templates (RAFT), made of four alpha-GalNAc molecules. The resulting HER glyco-peptide (HER-GP) was then linked to a palmitic acid moiety, attached either at the N-terminal end (linear HER-GLP-1) or in the middle between the CD4+ and CD8+ T cell epitopes (branched HER-GLP-2). We have investigated the uptake, processing and cross-presentation pathways of the two HER-GLP vaccine constructs, and assessed whether the position of linkage of the lipid moiety would affect the B- and T-cell immunogenicity and protective efficacy. Immunization of mice revealed that the linear HER-GLP-1 induced a stronger and longer lasting HER(420-429)-specific IFN-gamma producing CD8(+) T cell response, while the branched HER-GLP-2 induced a stronger tumor-specific IgG response. The linear HER-GLP-1 was taken up easily by dendritic cells (DCs), induced stronger DCs maturation and produced a potent TLR- 2-dependent T-cell activation. The linear and branched HER-GLP molecules appeared to follow two different cross-presentation pathways. While regression of established tumors was induced by both linear HER-GLP-1 and branched HER-GLP-2, the inhibition of tumor growth was significantly higher in HER-GLP-1 immunized mice (p<0.005).These findings have important implications for the development of effective GLP based immunotherapeutic strategies against cancers