A neuromechanics solution for adjustable robot compliance and accuracy.

Robots have to adjust their motor behavior to changing environments and variable task requirements to successfully operate in the real world and physically interact with humans. Thus, robotics strives to enable a broad spectrum of adjustable motor behavior, aiming to mimic the human ability to function in unstructured scenarios. In humans, motor behavior arises from the integrative action of the central nervous system and body biomechanics; motion must be understood from a neuromechanics perspective.

Balancing central control and sensory feedback produces adaptable and robust locomotor patterns in a spiking, neuromechanical model of the salamander spinal cord.

This study introduces a novel neuromechanical model employing a detailed spiking neural network to explore the role of axial proprioceptive sensory feedback, namely stretch feedback, in salamander locomotion. Unlike previous studies that often oversimplified the dynamics of the locomotor networks, our model includes detailed simulations of the classes of neurons that are considered responsible for generating movement patterns. The locomotor circuits, modeled as a spiking neural network of adaptive leaky integrate-and-fire neurons, are coupled to a three-dimensional mechanical model of a salamander with realistic physical parameters and simulated muscles.

Novel neuromuscular controllers with simplified muscle model and enhanced reflex modulation: A comparative study in hip exoskeletons.

Neuromuscular controllers (NMCs) offer a promising approach to adaptive and task-invariant control of exoskeletons for walking assistance, leveraging the bioinspired models based on the peripheral nervous system. This article expands on our previous development of a novel structure for NMCs with modifications to the virtual muscle model and reflex modulation strategy. The modifications consist firstly of simplifications to the Hill-type virtual muscle model, resulting in a more straightforward formulation and reduced number of parameters; and second, using a finer division of gait subphases in the reflex modulation state machine, allowing for a higher degree of control over the shape of the assistive profile.

Human-in-the-loop optimization of wearable device parameters using an EMG-based objective function.

Advancements in wearable robots aim to improve user motion, motor control, and overall experience by minimizing energetic cost (EC). However, EC is challenging to measure and it is typically indirectly estimated through respiratory gas analysis. This study introduces a novel EMG-based objective function that captures individuals' natural energetic expenditure during walking.

Neuroethology of natural actions in freely moving monkeys.

The current understanding of primate natural action organization derives from laboratory experiments in restrained contexts (RCs) under the assumption that this knowledge generalizes to freely moving contexts (FMCs). In this work, we developed a neurobehavioral platform to enable wireless recording of the same premotor neurons in both RCs and FMCs. Neurons often encoded the same hand and mouth actions differently in RCs and FMCs.

High-frequency epidural electrical stimulation reduces spasticity and facilitates walking recovery in patients with spinal cord injury.

Spinal cord injury (SCI) causes severe motor and sensory deficits, and there are currently no approved treatments for recovery. Nearly 70% of patients with SCI experience pathological muscle cocontraction and spasticity, accompanied by clinical signs such as patellar hyperreflexia and ankle clonus. The integration of epidural electrical stimulation (EES) of the spinal cord with rehabilitation has substantial potential to improve recovery of motor functions; however, abnormal muscle cocontraction and spasticity may limit the benefit of these interventions and hinder the effectiveness of EES in promoting functional movements.

Role and modulation of various spinal pathways for human upper limb control in different gravity conditions.

Humans can perform movements in various physical environments and positions (corresponding to different experienced gravity), requiring the interaction of the musculoskeletal system, the neural system and the external environment. The neural system is itself comprised of several interactive components, from the brain mainly conducting motor planning, to the spinal cord (SC) implementing its own motor control centres through sensory reflexes. Nevertheless, it remains unclear whether similar movements in various environmental dynamics necessitate adapting modulation at the brain level, correcting modulation at the spinal level, or both.

Adaptive hip exoskeleton control using heart rate feedback reduces oxygen cost during ecological locomotion.

Despite their potential, exoskeletons have not reached widespread adoption in daily life, partly due to the challenge of seamlessly adapting assistance across various tasks and environments. Task-specific designs, reliance on complex sensing and extensive data-driven training often limit the practicality of the existing control strategies. To address this challenge, we introduce an adaptive control strategy for hip exoskeletons, emphasizing minimal sensing and ease of implementation.

Characterization of Machine Learning-Based Surrogate Models of Neural Activation Under Electrical Stimulation.

Electrical stimulation of peripheral nerves via implanted electrodes has been shown to be a promising approach to restore sensation, movement, and autonomic functions across a wide range of illnesses and injuries. While in principle computational models of neuromodulation can allow the exploration of large parameter spaces and the automatic optimization of stimulation devices and strategies, their high time complexity hinders their use on a large scale. We recently proposed the use of machine learning-based surrogate models to estimate the activation of nerve fibers under electrical stimulation, producing a considerable speed-up with respect to biophysically accurate models of fiber excitation while retaining good predictivity.

Balance recovery schemes following mediolateral gyroscopic moment perturbations during walking.

Maintaining balance during human walking hinges on the exquisite orchestration of whole-body angular momentum (WBAM). This study delves into the regulation of WBAM during gait by examining balance strategies in response to upper-body moment perturbations in the frontal plane. A portable Angular Momentum Perturbator (AMP) was utilized in this work, capable of generating perturbation torques on the upper body while minimizing the impact on the center of mass (CoM) excursions.

Biomimetic Plant-Root-Inspired Robotic Sensor System.

There are many examples in nature in which the ability to detect is combined with decision-making, such as the basic survival instinct of plants and animals to search for food. We can technically translate this innate function via the use of robotics with integrated sensors and artificial intelligence. However, the integration of sensing capabilities into robotics has traditionally been neglected due to the significant associated technical challenges.

Design and Validation of a Tripping-Eliciting Platform Based on Compliant Random Obstacles.

The experimental study of the stumble phenomena is essential to develop novel technological solutions to limit harmful effects in at-risk populations. A versatile platform to deliver realistic and unanticipated tripping perturbations, controllable in their strength and timing, would be beneficial for this field of study. We built a modular tripping-eliciting system based on multiple compliant trip blocks that deliver unanticipated tripping perturbations.

MOGrip: Gripper for multiobject grasping in pick-and-place tasks using translational movements of fingers.

Humans use their dexterous fingers and adaptable palm in various multiobject grasping strategies to efficiently move multiple objects together in various situations. Advanced manipulation skills, such as finger-to-palm translation and palm-to-finger translation, enhance the dexterity in multiobject grasping. These translational movements allow the fingers to transfer the grasped objects to the palm for storage, enabling the fingers to freely perform various pick-and-place tasks while the palm stores multiple objects.

Fast ground-to-air transition with avian-inspired multifunctional legs.

Most birds can navigate seamlessly between aerial and terrestrial environments. Whereas the forelimbs evolved into wings primarily for flight, the hindlimbs serve diverse functions such as walking, hopping and leaping, and jumping take-off for transitions into flight. These capabilities have inspired engineers to aim for similar multimodality in aerial robots, expanding their range of applications across diverse environments.

A computational model to design wide field-of-view optic nerve neuroprostheses.

Retinal stimulation (RS) allows restoring vision in blind patients, but it covers only a narrow region of the visual field. Optic nerve stimulation (ONS) has the potential to produce visual perceptions spanning the whole visual field, but it produces very irregular phosphenes. We introduced a geometrical model converting retinal and optic nerve firing rates into visual perceptions and vice versa and a method to estimate the best perceptions elicitable through an electrode configuration.

Powering a molecular delivery system by harvesting energy from the leaf motion in wind.

Smart agriculture tools as well as advanced studies on agrochemicals and plant biostimulants aim to improve crop productivity and more efficient use of resources without sacrificing sustainability. Recently, multiple advanced sensors for agricultural applications have been developed, however much less advancement is reported in the field of precise delivery of agriculture chemicals. The organic electronic ion pump (OEIP) enables electrophoretically-controlled delivery of ionic molecules in the plant tissue, however it needs external power-supplies complicating its application in the field.

Combination Prostatic Artery Embolization Prior to Water-Jet Ablation (Aquablation) for Benign Prostatic Hypertrophy: A Propensity Score Analysis.

To compare post-operative bleeding measures in patients who underwent prostatic artery embolization (PAE) prior to water-jet ablation (aquablation) vs. water-jet ablation alone. A retrospective review identified 145 patients treated with water-jet ablation for benign prostatic hyperplasia from December 2018 to June 2021.

Robots and animals teaming up in the wild to tackle ecosystem challenges.

Interactively teaming up animals and robots could facilitate basic scientific research and address environmental and ecological crises.

NeuroMechFly v2: simulating embodied sensorimotor control in adult Drosophila.

Discovering principles underlying the control of animal behavior requires a tight dialogue between experiments and neuromechanical models. Such models have primarily been used to investigate motor control with less emphasis on how the brain and motor systems work together during hierarchical sensorimotor control. NeuroMechFly v2 expands Drosophila neuromechanical modeling by enabling vision, olfaction, ascending motor feedback and complex terrains that can be navigated using leg adhesion.

The expanding horizon of neurotechnology: Is multimodal neuromodulation the future?

The clinical applications of neurotechnology are rapidly expanding, and the combination of different approaches could be more effective and precise to treat brain disorders. This Perspective discusses the potential and challenges of "multimodal neuromodulation," which combines modalities such as electrical, magnetic, and ultrasound stimulation.

Nursing and midwifery simulation training with a newly developed low-cost high-fidelity placenta simulator: a collaboration between Italy and Ethiopia.

Background: Simulation training provides safe environment for skill acquisition and retention. This study addresses a critical challenge in Africa - umbilical cord and placenta management after childbirth - aiming to bridge theoretical learning with practical experiences through simulation. We realized a new low-cost high-fidelity simulator of placenta and umbilical cord.

Fuel-Driven π-Conjugated Superstructures to Form Transient Conductive Hydrogels.

Despite advances in creating dissipative materials with transient properties, such as hydrogels and active droplets, their application remains confined to temporal changes in structural properties. Developing out-of-equilibrium materials whose electronic functions are parameterized by a chemical reaction cycle is challenging. Yet, this class of materials is required to construct biomimetic materials.