Scaling Our World View: How Monoamines Can Put Context Into Brain Circuitry.

Monoamines are presumed to be diffuse metabotropic neuromodulators of the topographically and temporally precise ionotropic circuitry which dominates CNS functions. Their malfunction is strongly implicated in motor and cognitive disorders, but their function in behavioral and cognitive processing is scarcely understood. In this paper, the principles of such a monoaminergic function are conceptualized for locomotor control.

Human-Robotic Variable-Stiffness Grasps of Small-Fruit Containers Are Successful Even Under Severely Impaired Sensory Feedback.

Application areas of robotic grasping extend to delicate objects like groceries. The intrinsic elasticity offered by variable-stiffness actuators (VSA) appears to be promising in terms of being able to adapt to the object shape, to withstand collisions with the environment during the grasp acquisition, and to resist the weight applied to the fingers by a lifted object during the actual grasp. It is hypothesized that these properties are particularly useful in the absence of high-quality sensory feedback, which would otherwise be able to guide the shape adaptation and collision avoidance, and that in this case, VSA hands perform better than hands with fixed stiffness.

Robotic waterjet wound debridement - Workflow adaption for clinical application and systematic evaluation of a novel technology.

Objective: We evaluated the clinical potential of a novel robotic system for autonomous performance of waterjet wound debridement.

Summary Background Data: Within the last decade, waterjet wound debridement has proven to be a valid alternative to the conventional approach using sharp spoons and scalpel.

Methods: The DLR MIRO robot using the DLR MICA instrument for robotic surgery was adapted for actuation of an ERBEJET 2 flexible endoscopic waterjet probe.

Design and Operational Elements of the Robotic Subsystem for the e.deorbit Debris Removal Mission.

This paper presents a robotic capture concept that was developed as part of the e.deorbit study by ESA. The defective and tumbling satellite ENVISAT was chosen as a potential target to be captured, stabilized, and subsequently de-orbited in a controlled manner.

Comparison of Flow Estimators for Rotary Blood Pumps: An In Vitro and In Vivo Study.

Various approaches for estimating the flow rate of a rotary blood pump have been proposed for monitoring and control purposes. They have been evaluated under different test conditions and, therefore, a direct comparison among them is difficult. Furthermore, a limited performance has been reported for the areas where the pump flow and motor current present a non-monotonic relationship.

Human's Capability to Discriminate Spatial Forces at the Big Toe.

A key factor for reliable object manipulation is the tactile information provided by the skin of our hands. As this sensory information is so essential in our daily life it should also be provided during teleoperation of robotic devices or in the control of myoelectric prostheses. It is well-known that feeding back the tactile information to the user can lead to a more natural and intuitive control of robotic devices.

Elastic Elements in a Wrist Prosthesis for Drumming Reduce Muscular Effort, but Increase Imprecision and Perceived Stress.

Recently, progress has been made in the development of mechanical joints with variable intrinsic stiffness, opening up the search for application areas of such variable-stiffness joints. By varying the stiffness of its joints, the resonant frequency of a system can be tuned to perform cyclical tasks most energy-efficiently, making the variable-stiffness joint a candidate element for an advanced prosthetic device specifically designed for the cyclical task of drumming. A prerequisite for a successful variable-stiffness drumming prosthesis is the ability of human drummers to profitably employ different stiffness levels for playing different beats.

3D-Printed masks as a new approach for immobilization in radiotherapy - a study of positioning accuracy.

We developed a new approach to produce individual immobilization devices for the head based on MRI data and 3D printing technologies. The purpose of this study was to determine positioning accuracy with healthy volunteers. 3D MRI data of the head were acquired for 8 volunteers.

Exploring variability in basal ganglia connectivity with functional MRI in healthy aging.

Changes in functional connectivity (FC) measured using resting state fMRI within the basal ganglia network (BGN) have been observed in pathologies with altered neurotransmitter systems and conditions involving motor control and dopaminergic processes. However, less is known about non-disease factors affecting FC in the BGN. The aim of this study was to examine associations of FC within the BGN with dopaminergic processes in healthy older adults.

Proximodistal exploration in motor learning as an emergent property of optimization.

To harness the complexity of their high-dimensional bodies during sensorimotor development, infants are guided by patterns of freezing and freeing of degrees of freedom. For instance, when learning to reach, infants free the degrees of freedom in their arm proximodistally, that is, from joints that are closer to the body to those that are more distant. Here, we formulate and study computationally the hypothesis that such patterns can emerge spontaneously as the result of a family of stochastic optimization processes, without an innate encoding of a maturational schedule.

A Human-Robot Interaction Perspective on Assistive and Rehabilitation Robotics.

Assistive and rehabilitation devices are a promising and challenging field of recent robotics research. Motivated by societal needs such as aging populations, such devices can support motor functionality and subject training. The design, control, sensing, and assessment of the devices become more sophisticated due to a human in the loop.

Key Insights into Hand Biomechanics: Human Grip Stiffness Can Be Decoupled from Force by Cocontraction and Predicted from Electromyography.

We investigate the relation between grip force and grip stiffness for the human hand with and without voluntary cocontraction. Apart from gaining biomechanical insight, this issue is particularly relevant for variable-stiffness robotic systems, which can independently control the two parameters, but for which no clear methods exist to design or efficiently exploit them. Subjects were asked in one task to produce different levels of force, and stiffness was measured.

Assessment of a Wearable Force- and Electromyography Device and Comparison of the Related Signals for Myocontrol.

In the frame of assistive robotics, multi-finger prosthetic hand/wrists have recently appeared, offering an increasing level of dexterity; however, in practice their control is limited to a few hand grips and still unreliable, with the effect that pattern recognition has not yet appeared in the clinical environment. According to the scientific community, one of the keys to improve the situation is multi-modal sensing, i.e.

Optical Myography: Detecting Finger Movements by Looking at the Forearm.

One of the crucial problems found in the scientific community of assistive/rehabilitation robotics nowadays is that of automatically detecting what a disabled subject (for instance, a hand amputee) wants to do, exactly when she wants to do it, and strictly for the time she wants to do it. This problem, commonly called "intent detection," has traditionally been tackled using surface electromyography, a technique which suffers from a number of drawbacks, including the changes in the signal induced by sweat and muscle fatigue. With the advent of realistic, physically plausible augmented- and virtual-reality environments for rehabilitation, this approach does not suffice anymore.

Neuromodulation and Synaptic Plasticity for the Control of Fast Periodic Movement: Energy Efficiency in Coupled Compliant Joints via PCA.

There are multiple indications that the nervous system of animals tunes muscle output to exploit natural dynamics of the elastic locomotor system and the environment. This is an advantageous strategy especially in fast periodic movements, since the elastic elements store energy and increase energy efficiency and movement speed. Experimental evidence suggests that coordination among joints involves proprioceptive input and neuromodulatory influence originating in the brain stem.

Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands.

The term 'synergy' - from the Greek synergia - means 'working together'. The concept of multiple elements working together towards a common goal has been extensively used in neuroscience to develop theoretical frameworks, experimental approaches, and analytical techniques to understand neural control of movement, and for applications for neuro-rehabilitation. In the past decade, roboticists have successfully applied the framework of synergies to create novel design and control concepts for artificial hands, i.

Object Recognition in Flight: How Do Bees Distinguish between 3D Shapes?

Honeybees (Apis mellifera) discriminate multiple object features such as colour, pattern and 2D shape, but it remains unknown whether and how bees recover three-dimensional shape. Here we show that bees can recognize objects by their three-dimensional form, whereby they employ an active strategy to uncover the depth profiles. We trained individual, free flying honeybees to collect sugar water from small three-dimensional objects made of styrofoam (sphere, cylinder, cuboids) or folded paper (convex, concave, planar) and found that bees can easily discriminate between these stimuli.

How Wasps Acquire and Use Views for Homing.

Nesting insects perform learning flights to establish a visual representation of the nest environment that allows them to subsequently return to the nest. It has remained unclear when insects learn what during these flights, what determines their overall structure, and, in particular, how what is learned is used to guide an insect's return. We analyzed learning flights in ground-nesting wasps (Sphecidae: Cerceris australis) using synchronized high-speed cameras to determine 3D head position and orientation.

iEMG: Imaging electromyography.

Advanced data analysis and visualization methodologies have played an important role in making surface electromyography both a valuable diagnostic methodology of neuromuscular disorders and a robust brain-machine interface, usable as a simple interface for prosthesis control, arm movement analysis, stiffness control, gait analysis, etc. But for diagnostic purposes, as well as for interfaces where the activation of single muscles is of interest, surface EMG suffers from severe crosstalk between deep and superficial muscle activation, making the reliable detection of the source of the signal, as well as reliable quantification of deeper muscle activation, prohibitively difficult. To address these issues we present a novel approach for processing surface electromyographic data.

Insect-Inspired Self-Motion Estimation with Dense Flow Fields--An Adaptive Matched Filter Approach.

The control of self-motion is a basic, but complex task for both technical and biological systems. Various algorithms have been proposed that allow the estimation of self-motion from the optic flow on the eyes. We show that two apparently very different approaches to solve this task, one technically and one biologically inspired, can be transformed into each other under certain conditions.

Grasp quality measures: review and performance.

The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as proper hand configurations, especially when dexterous manipulation is desired, and the quantification of a good grasp requires the definition of suitable grasp quality measures. This article reviews the quality measures proposed in the literature to evaluate grasp quality.

Three-dimensional models of natural environments and the mapping of navigational information.

Much evidence has accumulated in recent years, demonstrating that the degree to which navigating insects rely on path integration or landmark guidance when displaced depends on the navigational information content of their specific habitat. There is thus a need to quantify this information content. Here we present one way of achieving this by constructing 3D models of natural environments using a laser scanner and purely camera-based methods that allow us to render panoramic views at any location.