We report on an easy method to remove muscle tissue from the skeleton by alcalase detergent in mammalian skeleton specimen preparation.In the present paper,using hare skull specimen as an example,we describe the alcal...We report on an easy method to remove muscle tissue from the skeleton by alcalase detergent in mammalian skeleton specimen preparation.In the present paper,using hare skull specimen as an example,we describe the alcalase detergentmethod in details and compare it with other methods for mammalian skeleton specimen preparation.In this method,hare muscle tissues are removed from skeletons by alcalase detergent.With commercial proteinases,alcalase(2.4 L,2.4 AU/g,Novozymes Biotechnology Co.,Ltd.),the process requires around 10 minutes’ skeletal simmering in a 0.5% solution(V/V)of the alcalase and water under 60 ℃ condition.In total,about 101 rat skull and 487 hare skull specimens are made using this method.Compared to other traditional methods in mammalian skeleton specimen preparation,the alcalase detergent method is safer,more efficient and less costly,and it is also suitable for batch production of skeleton specimen.展开更多
We proposed a lower extremity exoskeleton for power amplification that perceives intended human motion via humanexoskeleton interaction signals measured by biomedical or mechanical sensors, and estimates human gait tr...We proposed a lower extremity exoskeleton for power amplification that perceives intended human motion via humanexoskeleton interaction signals measured by biomedical or mechanical sensors, and estimates human gait trajectories to implement corresponding actions quickly and accurately. In this study, torque sensors mounted on the exoskeleton links are proposed for obtaining physical human-robot interaction（pHRI） torque information directly. A Kalman smoother is adopted for eliminating noise and smoothing the signal data. Simultaneously, the mapping from the pHRI torque to the human gait trajectory is defined. The mapping is derived from the real-time state of the robotic exoskeleton during movement. The walking phase is identified by the threshold approach using ground reaction force. Based on phase identification, the human gait can be estimated by applying the proposed algorithm, and then the gait is regarded as the reference input for the controller. A proportional-integral-derivative control strategy is constructed to drive the robotic exoskeleton to follow the human gait trajectory. Experiments were performed on a human subject who walked on the floor at a natural speed wearing the robotic exoskeleton. Experimental results show the effectiveness of the proposed strategy.展开更多
A dynalnic model of skeletal muscle is developed to describe its activation kinetics and contraction dynamics based on the collective working mechanism of myosin II motors with a statistical mechanics method. Accordin...A dynalnic model of skeletal muscle is developed to describe its activation kinetics and contraction dynamics based on the collective working mechanism of myosin II motors with a statistical mechanics method. According to the structure of sar- comeres arranged in series and in parallel, the mechanical properties of skeletal muscle are studied. This model reveals the re- lations between action potential and muscle characteristics. It is shown that calcium concentration in sarcoplasmic （SP） in- creases linearly with the increasing stimulation frequency and gradually reaches saturation. Active force and contraction veloc- ity follow the trend of calcium concentration and reach a peak value at the maximum stimulation frequency. Contraction ve- locity is inversely proportional to the load while the contraction power increases to maximum and then reduces to zero with the increasing load. These properties are consistent with published physiological experimental results of skeletal muscle.展开更多
文摘We report on an easy method to remove muscle tissue from the skeleton by alcalase detergent in mammalian skeleton specimen preparation.In the present paper,using hare skull specimen as an example,we describe the alcalase detergentmethod in details and compare it with other methods for mammalian skeleton specimen preparation.In this method,hare muscle tissues are removed from skeletons by alcalase detergent.With commercial proteinases,alcalase(2.4 L,2.4 AU/g,Novozymes Biotechnology Co.,Ltd.),the process requires around 10 minutes’ skeletal simmering in a 0.5% solution(V/V)of the alcalase and water under 60 ℃ condition.In total,about 101 rat skull and 487 hare skull specimens are made using this method.Compared to other traditional methods in mammalian skeleton specimen preparation,the alcalase detergent method is safer,more efficient and less costly,and it is also suitable for batch production of skeleton specimen.
文摘We proposed a lower extremity exoskeleton for power amplification that perceives intended human motion via humanexoskeleton interaction signals measured by biomedical or mechanical sensors, and estimates human gait trajectories to implement corresponding actions quickly and accurately. In this study, torque sensors mounted on the exoskeleton links are proposed for obtaining physical human-robot interaction（pHRI） torque information directly. A Kalman smoother is adopted for eliminating noise and smoothing the signal data. Simultaneously, the mapping from the pHRI torque to the human gait trajectory is defined. The mapping is derived from the real-time state of the robotic exoskeleton during movement. The walking phase is identified by the threshold approach using ground reaction force. Based on phase identification, the human gait can be estimated by applying the proposed algorithm, and then the gait is regarded as the reference input for the controller. A proportional-integral-derivative control strategy is constructed to drive the robotic exoskeleton to follow the human gait trajectory. Experiments were performed on a human subject who walked on the floor at a natural speed wearing the robotic exoskeleton. Experimental results show the effectiveness of the proposed strategy.
基金supported by the National Natural Science Foundation of China (Grant No. 61075101/60643002)the Research Fund of State Key Lab of MSV,China (Grant No. MSV-2010-1)+1 种基金the Science and Technology Intercrossingthe Medical and Technology Intercrossing Research Foundation of Shanghai Jiao Tong University (Grant No. YG2010ZD101)
文摘A dynalnic model of skeletal muscle is developed to describe its activation kinetics and contraction dynamics based on the collective working mechanism of myosin II motors with a statistical mechanics method. According to the structure of sar- comeres arranged in series and in parallel, the mechanical properties of skeletal muscle are studied. This model reveals the re- lations between action potential and muscle characteristics. It is shown that calcium concentration in sarcoplasmic （SP） in- creases linearly with the increasing stimulation frequency and gradually reaches saturation. Active force and contraction veloc- ity follow the trend of calcium concentration and reach a peak value at the maximum stimulation frequency. Contraction ve- locity is inversely proportional to the load while the contraction power increases to maximum and then reduces to zero with the increasing load. These properties are consistent with published physiological experimental results of skeletal muscle.
