Machine-learning-based coordination of powered ankle-foot orthosis and functional electrical stimulation for gait control.

This study proposes a novel gait rehabilitation method that uses a hybrid system comprising a powered ankle-foot orthosis (PAFO) and FES, and presents its coordination control. The developed system provides assistance to the ankle joint in accordance with the degree of volitional participation of patients with post-stroke hemiplegia. The PAFO adopts the desired joint angle and impedance profile obtained from biomechanical simulation.

Standing Balance Control of a Bipedal Robot Based on Behavior Cloning.

Bipedal robots have gained increasing attention for their human-like mobility which allows them to work in various human-scale environments. However, their inherent instability makes it difficult to control their balance while they are physically interacting with the environment. This study proposes a novel balance controller for bipedal robots based on a behavior cloning model as one of the machine learning techniques.

Corrigendum: Haptic Glove Using Tendon-Driven Soft Robotic Mechanism.

[This corrects the article DOI: 10.3389/fbioe.2020.

Haptic Glove Using Tendon-Driven Soft Robotic Mechanism.

Recent advancements in virtual reality and augmented reality call for light-weight and compliant haptic interfaces to maximize the task-performance interactivity with the virtual or extended environment. Noting this, we propose a haptic glove using a tendon-driven compliant robotic mechanism. Our proposed interface can provide haptic feedback to two fingers of a user, an index finger and a thumb.

Development of a Novel Robotic Rehabilitation System With Muscle-to-Muscle Interface.

In this study, we developed a novel robotic system with a muscle-to-muscle interface to enhance rehabilitation of post-stroke patients. The developed robotic rehabilitation system was designed to provide patients with stage appropriate physical rehabilitation exercise and muscular stimulation. Unlike the position-based control of conventional bimanual robotic therapies, the developed system stimulates the activities of the target muscles, as well as the joint movements of the paretic limb.

Development of a subject-specific guide system for Low-Intensity Focused Ultrasound (LIFU) brain stimulation.

Low-Intensity Focused Ultrasound (LIFU) has recently been considered as a promising neuromodulation technique because it can noninvasively stimulate the brain with a high spatial resolution. As spatial resolution is improved, there is a growing demand for developing more accurate and convenient guide systems. Therefore, in the present study, we have developed and prototyped a 3D printed wearable subject-specific helmet for LIFU stimulation that is guaranteed to be accurate.

Development of Gait Rehabilitation System Capable of Assisting Pelvic Movement of Normal Walking.

Gait rehabilitation training with robotic exoskeleton is drawing attention as a method for more advanced gait rehabilitation training. However, most of the rehabilitation robots are mainly focused on locomotion training in the sagittal plane. This study introduces a novel gait rehabilitation system with actuated pelvic motion to generate natural gait motion.

Development of an end-effector device for loose body removal in hip arthroscopy.

This article describes a novel hand-operated end-effector device developed for loose body removal in hip arthroscopy. This sterilizable and reusable device incorporates a wire-ball joint mechanism that provides motion with 5 degrees of freedom. The design accounted for the following: (1) the diameter of the femoral head, (2) range of motion of the wrist joint of the operator, (3) ease of assembly of modular parts, and (4) material stiffness and durability.

Endoscopic navigation system with extended field of view using augmented reality technology.

Background: While endoscopic skull base surgery (ESBS) has emerged as an alternative surgical option, the limited field of view of the endoscope may lead to the surgeon's fatigue and discomfort.

Methods: The developed navigation system includes extended augmented reality (AR), which can provide an extended viewport to a conventional endoscopic view by overlaying 3D anatomical models generated from preoperative medical images onto endoscope images. To enhance the accuracy of the developed system, we adopted state-of-the-art endoscopic calibration and tracking techniques based on an optical tracking system.

Development and preclinical trials of a wire-driven end effector device for frozen shoulder treatment.

Several different flexible end effectors have been developed to solve the problem of approaching the lesion in a minimally invasive surgery. In this paper, we developed a wire-driven end effector device to treat frozen shoulder. Since the device is for capsular release surgery, it has a suitable bend radius for the surgery.

Prediction of Driver's Intention of Lane Change by Augmenting Sensor Information Using Machine Learning Techniques.

Driver assistance systems have become a major safety feature of modern passenger vehicles. The advanced driver assistance system (ADAS) is one of the active safety systems to improve the vehicle control performance and, thus, the safety of the driver and the passengers. To use the ADAS for lane change control, rapid and correct detection of the driver's intention is essential.

Estimation of the spatial profile of neuromodulation and the temporal latency in motor responses induced by focused ultrasound brain stimulation.

This study investigates the spatial profile and the temporal latency of the brain stimulation induced by the transcranial application of pulsed focused ultrasound (FUS). The site of neuromodulation was detected using 2-deoxy-2-[¹⁸F]fluoro-D-glucose PET immediately after FUS sonication on the unilateral thalamic area of Sprague-Dawley rats. The latency of the stimulation was estimated by measuring the time taken from the onset of the stimulation of the appropriate brain motor area to the corresponding tail motor response.

Non-invasive brain-to-brain interface (BBI): establishing functional links between two brains.

Transcranial focused ultrasound (FUS) is capable of modulating the neural activity of specific brain regions, with a potential role as a non-invasive computer-to-brain interface (CBI). In conjunction with the use of brain-to-computer interface (BCI) techniques that translate brain function to generate computer commands, we investigated the feasibility of using the FUS-based CBI to non-invasively establish a functional link between the brains of different species (i.e.

Prediction of the rotational state of the humerus by comparing the contour of the contralateral bicipital groove: Method for intraoperative evaluation.

Background: Accurate reduction of rotational displacement for transverse or comminute fracture of humeral shaft fracture is difficult during operation. The purpose of this study was to evaluate the reliability of the bicipital groove as a point of reference for the prediction of the rotational state of the humerus on two dimensional images of C-arm image intensifier during operation for humeral shaft fractures.

Materials And Methods: One hundred subjects, 62 male, 38 female, aged 22-53 years were recruited contralateral bicipital groove on the 45 degrees externally rotational standard anterior-posterior view recorded before surgery.

Image-guided Navigation of Single-element Focused Ultrasound Transducer.

The spatial specificity and controllability of focused ultrasound (FUS), in addition to its ability to modify the excitability of neural tissue, allows for the selective and reversible neuromodulation of the brain function, with great potential in neurotherapeutics. Intra-operative magnetic resonance imaging (MRI) guidance (in short, MRg) has limitations due to its complicated examination logistics, such as fixation through skull screws to mount the stereotactic frame, simultaneous sonication in the MRI environment, and restrictions in choosing MR-compatible materials. In order to overcome these limitations, an image-guidance system based on optical tracking and pre-operative imaging data is developed, separating the imaging acquisition for guidance and sonication procedure for treatment.

Noninvasive transcranial stimulation of rat abducens nerve by focused ultrasound.

Nonpharmacologic and nonsurgical transcranial modulation of the nerve function may provide new opportunities in evaluation and treatment of cranial nerve diseases. This study investigates the possibility of using low-intensity transcranial focused ultrasound (FUS) to selectively stimulate the rat abducens nerve located above the base of the skull. FUS (frequencies of 350 kHz and 650 kHz) operating in a pulsed mode was applied to the abducens nerve of Sprague-Dawley rats under stereotactic guidance.

Transcranial focused ultrasound to the thalamus is associated with reduced extracellular GABA levels in rats.

Objective: Transcranial focused ultrasound (FUS), with its ability to non-invasively modulate the excitability of region-specific brain areas, is gaining attention as a potential neurotherapeutic modality. The aim of this study was to examine whether or not FUS administered to the brain could alter the extracellular levels of glutamate and γ-aminobutyric acid (GABA), which are representative excitatory and inhibitory amino acid neurotransmitters, respectively.

Methods: FUS, delivered in the form of a train of pulses, was applied to the thalamus of Sprague-Dawley rats transcranially.

Transcranial focused ultrasound to the thalamus alters anesthesia time in rats.

A pulsed application of focused ultrasound (FUS) to the regional brain tissue alters the state of tissue excitability and thus provides the means for noninvasive functional neuromodulation. We report that the application of transcranial FUS to the thalamus of anesthetized rats reduced the time to emergence of voluntary movement from intraperitoneal ketamine/xylazine anesthesia. Low-intensity FUS was applied to the thalamus of anesthetized animals.

Estimation of carrying angle based on CT images in preoperative surgical planning for cubitus deformities.

Conventionally, the carrying angle of the elbow is measured using simple two-dimensional radiography or goniometry, which has questionable reliability. This study proposes a novel method for estimating carrying angles using computed tomography that can enhance the reliability of the angle measurement. Data of CT scans from 25 elbow joints were processed to build segmented three-dimensional models.

Experimental and computational characterization of biological liquid crystals: a review of single-molecule bioassays.

Quantitative understanding of the mechanical behavior of biological liquid crystals such as proteins is essential for gaining insight into their biological functions, since some proteins perform notable mechanical functions. Recently, single-molecule experiments have allowed not only the quantitative characterization of the mechanical behavior of proteins such as protein unfolding mechanics, but also the exploration of the free energy landscape for protein folding. In this work, we have reviewed the current state-of-art in single-molecule bioassays that enable quantitative studies on protein unfolding mechanics and/or various molecular interactions.

Impedance learning for robotic contact tasks using natural actor-critic algorithm.

Compared with their robotic counterparts, humans excel at various tasks by using their ability to adaptively modulate arm impedance parameters. This ability allows us to successfully perform contact tasks even in uncertain environments. This paper considers a learning strategy of motor skill for robotic contact tasks based on a human motor control theory and machine learning schemes.

Developments in brain-machine interfaces from the perspective of robotics.

Many patients suffer from the loss of motor skills, resulting from traumatic brain and spinal cord injuries, stroke, and many other disabling conditions. Thanks to technological advances in measuring and decoding the electrical activity of cortical neurons, brain-machine interfaces (BMI) have become a promising technology that can aid paralyzed individuals. In recent studies on BMI, robotic manipulators have demonstrated their potential as neuroprostheses.

Development of safe mechanism for surgical robots using equilibrium point control method.

This paper introduces a novel mechanism for surgical robotic systems to generate human arm-like compliant motion. The mechanism is based on the idea of the equilibrium point control hypothesis which claims that multi-joint limb movements are achieved by shifting the limbs' equilibrium positions defined by neuromuscular activity. The equilibrium point control can be implemented on a robot manipulator by installing two actuators at each joint of the manipulator, one to control the joint position, and the other to control the joint stiffness.