98 research outputs found
Exposure to perinatal morphine promotes developmental changes in rat striatum
No full textThis study shows that perinatal exposure to morphine promotes developmental changes (up to 8 months of life) in the striatum by up-regulating concentrations of substance P and met-enkephalin with changes of prometenkephalin A mRNA expression at the day of birth only. Dopamine metabolism (up to 60 days) is also increased as suggested by the reduced concentrations of dopamine and increased content of 3,4-dihydroxyphenylacetic acid. Tyrosine hydroxylase mRNA expression is selectively reduced only in the substantia nigra by perinatal morphine. Serotonin content is reduced only during the early postnatal days and is unaffected thereafter. Supplementation of naltrexone to morphine-exposed rats prevents monoaminergic and neuropeptidergic changes in the striatum, which directly implicates opioid receptors in the developmental changes caused by morphine. The data suggest that perinatal morphine may inhibit met-enkephalin release, causing accumulation of the peptide without corresponding changes in specific mRNA. Dopamine release may also be increased as indicated by a higher metabolism and consequent reduction of tyrosine hydroxylase mRNA expression in the substantia nigra. Copyright (C) 1996 ISDN
Patients Informative Booklet on the Establishment of a European Network of Rare Bleeding Disorders (EN-RBD) project funded by EC (downloadable at www.rbdd.eu)
No full textGaze detection as a social cue to initiate natural human-robot collaboration in an assembly task
No full textIntroduction: In this work we explore a potential approach to improve human-robot collaboration experience by adapting cobot behavior based on natural cues from the operator. Methods: Inspired by the literature on human-human interactions, we conducted a wizard-of-oz study to examine whether a gaze towards the cobot can serve as a trigger for initiating joint activities in collaborative sessions. In this study, 37 participants engaged in an assembly task while their gaze behavior was analyzed. We employed a gaze-based attention recognition model to identify when the participants look at the cobot. Results: Our results indicate that in most cases (83.74%), the joint activity is preceded by a gaze towards the cobot. Furthermore, during the entire assembly cycle, the participants tend to look at the cobot mostly around the time of the joint activity. Given the above results, a fully integrated system triggering joint action only when the gaze is directed towards the cobot was piloted with 10 volunteers, of which one characterized by high-functioning Autism Spectrum Disorder. Even though they had never interacted with the robot and did not know about the gaze-based triggering system, most of them successfully collaborated with the cobot and reported a smooth and natural interaction experience. Discussion: To the best of our knowledge, this is the first study to analyze the natural gaze behavior of participants working on a joint activity with a robot during a collaborative assembly task and to attempt the full integration of an automated gaze-based triggering system
Flow in human-robot collaboration — multimodal analysis and perceived challenge detection in industrial scenarios
No full textIntroduction: Flow state, the optimal experience resulting from the equilibrium between perceived challenge and skill level, has been extensively studied in various domains. However, its occurrence in industrial settings has remained relatively unexplored. Notably, the literature predominantly focuses on Flow within mentally demanding tasks, which differ significantly from industrial tasks. Consequently, our understanding of emotional and physiological responses to varying challenge levels, specifically in the context of industry-like tasks, remains limited.
Methods: To bridge this gap, we investigate how facial emotion estimation (valence, arousal) and Heart Rate Variability (HRV) features vary with the perceived challenge levels during industrial assembly tasks. Our study involves an assembly scenario that simulates an industrial human-robot collaboration task with three distinct challenge levels. As part of our study, we collected video, electrocardiogram (ECG), and NASA-TLX questionnaire data from 37 participants.
Results: Our results demonstrate a significant difference in mean arousal and heart rate between the low-challenge (Boredom) condition and the other conditions. We also found a noticeable trend-level difference in mean heart rate between the adaptive (Flow) and high-challenge (Anxiety) conditions. Similar differences were also observed in a few other temporal HRV features like Mean NN and Triangular index. Considering the characteristics of typical industrial assembly tasks, we aim to facilitate Flow by detecting and balancing the perceived challenge levels. Leveraging our analysis results, we developed an HRV-based machine learning model for discerning perceived challenge levels, distinguishing between low and higher-challenge conditions.
Discussion: This work deepens our understanding of emotional and physiological responses to perceived challenge levels in industrial contexts and provides valuable insights for the design of adaptive work environments
DIABETES-INDUCED ALTERATIONS OF CENTRAL-NERVOUS-SYSTEM G-PROTEINS - ADP-RIBOSYLATION, IMMUNOREACTIVITY, AND GENE-EXPRESSION STUDIES IN RAT STRIATUM
No full textPrevious studies from our laboratory have suggested that diabetes-associated central nervous system abnormalities are characterized by progressive alterations of neurotransmitters and of transductional Gi/Go proteins. In this study, we have further characterized these abnormalities in the striatum of alloxan-diabetic rats by means of adenosine 5'-diphosphate (ADP)-ribosylation, and Western and Northern blotting techniques. Fourteen weeks after diabetes induction, pertussis-toxin (PTX) catalyzed ADP-ribosylation of Gi/Go proteins was markedly reduced in diabetic animals, as shown by a clear decrease of P-32-ADPribose incorporation into G protein alpha subunits. In agreement with our previous pharmacological studies that showed a reduction of Gi-mediated modulation of adenylate cyclase activity only at this stage of diabetes, no changes in PTX-mediated ADP-ribosylation were observed earlier (5-wk diabetes). Immunoblotting studies performed by using antibodies selectively raised against Gi-2, Go, and Gs proteins did not reveal any differences between control and diabetic animals at any stage of diabetes. Similarly, the mRNAs corresponding to the alpha subunits of Gi-2, Go, and Gs proteins did not show any marked changes in chronic diabetic rats with respect to control animals. It is therefore concluded that diabetes is associated with development of a time-related alteration of cerebral Gi/Go proteins and that this defect is not owing to gross changes in either content of G proteins or mRNA level, but probably reflects modifications of G protein's structure or physiological status affecting the coupling with membrane effector systems and the sensitivity to PTX
G-PROTEINS AND DIABETIC ENCEPHALOPATHY - MOLECULAR MECHANISMS UNDERLYING THE FUNCTIONAL ALTERATIONS
No full textThe effects of robotic assistance on upper limb spatial muscle synergies in healthy people during planar upper-limb training
No full textBackground Robotic rehabilitation is a commonly adopted technique used to restore motor functionality of neurological patients. However, despite promising results were achieved, the effects of human-robot interaction on human motor control and the recovery mechanisms induced with robot assistance can be further investigated even on healthy subjects before translating to clinical practice. In this study, we adopt a standard paradigm for upper-limb rehabilitation (a planar device with assistive control) with linear and challenging curvilinear trajectories to investigate the effect of the assistance in human-robot interaction in healthy people. Methods Ten healthy subjects were instructed to perform a large set of radial and curvilinear movements in two interaction modes: 1) free movement (subjects hold the robot handle with no assistance) and 2) assisted movement (with a force tunnel assistance paradigm). Kinematics and EMGs from representative upper-limb muscles were recorded to extract phasic muscle synergies. The free and assisted interaction modes were compared assessing the level of assistance, error, and muscle synergy comparison between the two interaction modes. Results It was found that in free movement error magnitude is higher than with assistance, proving that task complexity required assistance also on healthy controls. Moreover, curvilinear tasks require more assistance than standard radial paths and error is higher. Interestingly, while assistance improved task performance, we found only a slight modification of phasic synergies when comparing assisted and free movement. Conclusions We found that on healthy people, the effect of assistance was significant on task performance, but limited on muscle synergies. The findings of this study can find applications for assessing human-robot interaction and to design training to maximize motor recovery
On a two-DoF parallel and orthogonal variable-stiffness actuator: An innovative kinematic architecture
No full textVariable-Stiffness Actuators are continuously increasing in importance due to their characteristics that can be beneficial in various applications. It is undisputed that several one-degree-of-freedom (DoF) solutions have been developed thus far. The aim of this work is to introduce an original two-DoF planar variable-stiffness mechanism, characterized by an orthogonal arrangement of the actuation units to favor the isotropy. This device combines the concepts forming the basis of a one-DoF agonist-antagonist variable-stiffness mechanism and the rigid planar parallel and orthogonal kinematic one. In this paper, the kinematics and the operation principles are set out in detail, together with the analysis of the mechanism stiffness
A planar parallel device for neurorehabilitation
No full textThe patient population needing physical rehabilitation in the upper extremity is constantly increasing. Robotic devices have the potential to address this problem, however most of the rehabilitation robots are technically advanced and mainly designed for clinical use. This paper presents the development of an affordable device for upper-limb neurorehabilitation designed for home use. The device is based on a 2-DOF five-bar parallel kinematic mechanism. The prototype has been designed so that it can be bound on one side of a table with a clamp. A kinematic optimization was performed on the length of the links of the manipulator in order to provide the optimum kinematic behaviour within the desired workspace. The mechanical structure was developed, and a 3D-printed prototype was assembled. The prototype embeds two single-point load cells to measure the force exchanged with the patient. Rehabilitation-specific control algorithms are described and tested. Finally, an experimental procedure is performed in order to validate the accuracy of the position measurements. The assessment confirms an acceptable level of performance with respect to the requirements of the application under analysis
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