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Accurate modulation of photoprinting under stiffness imaging feedback for engineering ECMs with high-fidelity mechanical properties

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Microsystems & Nanoengineering 2022年第3期8卷 291-301页

作者： Xin Li Huaping Wang Xinyi Dong Qing Shi Tao Sun Shingo Shimoda Qiang Huang Toshio Fukuda Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China The Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China School of Medical Technology Beijing Institute of TechnologyBeijing 100081China Intelligent Behavior Control Collaboration Unit RIKEN Center of Brain Science463-0003 NagoyaJapan

Engineered extracellular matrices(ECMs)that replicate complex in-vivo features have shown great potential in tissue *** hydrogel microstructures have been widely used to replace these native ECMs for physiologically relevant ***,accurate reproduction of the 3D hierarchical and nonuniform mechanical stffness inside one integrated microstructure to mimic the complex mechanical properties of native ECMs presents a major ***,by using digital holographic microscopy(DHM)-based stffness imaging feedback,we propose a novel closed-loop control algorithm to achieve high-accuracy control of mechanical properties for hydrogel microstructures that recapitulate the physiological properties of native ECMs with high *** photoprinting,the photocuring area of the hydrogel is divided into microscale grid areas to locally control the photocuring *** the assistance of a motorized microfluidic channel,the curing thickness is controlled with layer-by-layer *** DHM-based stiffness imaging feedback allows accurate adjustment of the photocuring degree in every grid area to change the crosslinking network density of the hydrogel,thus enabling large-span and high-resolution modulation of mechanical ***,the gelatin methacrylate was used as a typical biomaterial to construct the highfidelity biomimetic *** Young's modulus could be flexibly modulated in the 10 kPa to 50 kPa ***,the modulus gradient was accurately controlled to within 2.9 *** engineering ECM with locally different mechanical properties,cell spreading along the stff areas was observed *** believe that this method can regenerate complex biomimetic ECMs that closely recapitulate in-vivo mechanical properties for further applications in tissue engineering and biomedical research.

关键词： microstructure ECM curing

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Micro Robotic Manipulation System for the Force Stimulation of Muscle Fiber-like Cell Structure

Micro Robotic Manipulation System for the Force Stimulation ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Xie Chen Qing Shi Shingo Shimoda Tao Sun Huaping Wang Qiang Huang Toshio Fukuda Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Intelligent Behavior Control Collaboration Unit RIKEN Center of Brain Science Nagoya Japan Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing China Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

Many previous works have facilitated muscle cell (C2C12) alignment to form fiber-like cell structures. However, there still remains a challenge how to induce C2C12 myoblasts in the cell structures to differentiate into matured myocytes to form a functional muscle tissue, while external mechanical stimulation has been proved to have good effects on proliferation and differentiation of myoblasts. In this paper, we proposed a vision-based micro robotic manipulation system to achieve automatic mechanical stimulation for one single muscle fiber-like cell structures (MFCS). A tube, which is attached to a three degree-of-freedom (DOF) manipulator, and a probe are employed to apply the uniaxial mechanical stimulation to train the MFCS. To measure the force applied on MFCS, a vision-based measuring and correction method is utilized, which decrease the error by 74%. Moreover, based on the viscoelastic property of the MFCS, a feedback control algorithm has been applied to compensate for the force loss to realize the force stimulation. And the final value of force remains 699 ± 1μN after 110s experiment.

关键词： Force measurement Force Measurement uncertainty Muscles Manipulators Feedback control Electron tubes

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Effect of Physical Therapy on Muscle Synergy Structure during Standing-Up Motion of Hemiplegic Patients

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IEEE Robotics and Automation Letters 2018年第3期3卷 2229-2236页

作者： Kogami, Hiroki An, Qi Yang, Ningjia Yamakawa, Hiroshi Tamura, Yusuke Yamashita, Atsushi Asama, Hajime Shimoda, Shingo Yamasaki, Hiroshi Itkonen, Matti Shibata-Alnajjar, Fady Hattori, Noriaki Kinomoto, Makoto Takahashi, Kouji Fujii, Takanori Otomune, Hironori Miyai, Ichiro Department of Precision Engineering Graduate School of Engineering University of Tokyo Tokyo113-8654 Japan Intelligent Behavior Control Unit BSI-Toyota Collaboration Center RIKEN Brain Research Institute Wako351-0106 Japan Neurorehabilitation Research Institute Morinomiya Hospital Osaka536-0025 Japan

Stroke patients suffer from declined physical ability, and it is important to analyze rehabilitation intervention and clarify its effect on the motion of patients. In this study, the effect of intervention on the standing-up motion of stroke patients is investigated. First, the intervention timing of a physical therapist (PT) is analyzed quantitatively from the muscle activity of upper limbs during therapy. Next, the intervention effect is evaluated based on body kinematics and muscle synergy. In this study, twenty trials are conducted, in which the standing-up motion of hemiplegic patients (n=12) is measured with and without the intervention by a PT. The results show that PTs teach hemiplegic patients the timing of lifting their buttocks during standing-up motion. Furthermore, it has been found that this intervention could improve the standing-up motion, although stroke patients had inadequate muscle synergy structure. In particular, some patients had delayed activation of the synergy and they could only stood up after they moved their center of mass toward their feet. However, the intervention by PTs could induce earlier activation of the synergy. Moreover, the intervention could properly shorten the activation duration of muscle synergy for those who had unusually inappropriate longer activation of synergy. These results imply that disordered and inadequate muscle synergy structure can be improved by proper intervention, and this study contributes to the further development of new rehabilitation methodologies. © 2016 IEEE.

关键词： Chemical activation

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Cooperative movement in grasping and development of grasping-Training robot 29

Cooperative movement in grasping and development of grasping...

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29th International Symposium on Micro-NanoMechatronics and Human Science, MHS 2018

作者： Okajima, Shotaro Alnajjar, Fady S. Hasegawa, Yasuhisa Shimoda, Shingo Department of Mechanical Science and Engineering Nagoya University Nagoya Japan Intelligent Behavior Control Unit Toyota Collaboration Center Center of Brain Science RIKEN Nagoya Japan College of IT UAEU United Arab Emirates

ISBN: (纸本)9781538667927

In previous research, we designed a grasp-Training robot for the post-stroke patient in relation to its usability and wearability for ease of use in clinical practice. Experimental results obtained from a post-stroke patient showed that by combining a grasping support of the robot and the mechanism for pushing an elastic bar on the palm, the grasping reflex was induced in paralyzed patient in a clinical test that involves measuring EMG signals. However, the robot has one structural issue that subjects could not use the robot without fixing subjects' wrist joint, then the robot could not realize synergistic movement of the wrist and the fingers. In this paper, we introduced the new mechanism that can extend the wrist joint into the previous robot having the glove type device. New mechanism is designed by imitating a mechanism of the bascule bridge. We introduced the wire drive system having one motor and the stepped shaft for pulling wires. As the shaft has steps, the shaft can pull different amount of wires for the glove type device and the wrist movement mechanism, then the robot can realize the extension of the wrist and the flexion of the fingers as a cooperative motion. © 2018 IEEE.

关键词： Wire

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Grasp-training Robot to Activate Neural control Loop for Reflex and Experimental Verification

Grasp-training Robot to Activate Neural Control Loop for Ref...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Shotaro Okajima Fady S. Alnajjar Hiroshi Yamasaki Matti Itkonen Álvaro Costa García Yasuhisa Hasegawa Shingo Shimoda Department of Mechanical Science and Engineering Nagoya University Nagoya Japan Intelligent Behavior Control Unit RIKEN Nagoya Japan

Using a rehabilitation robot to activate motion intention and reflex response simultaneously is an effective approach to aiding recovery from paralysis caused by neurological disorders. Mechanical motions supported by conventional robots are, however, not enough to activate reflex. In this paper, we propose a grasp-training robot that can stimulate the grasp reflex of a paralyzed hand by pushing the hand onto an elastic bar while supporting the grasping movements. In addition to this feature, we discuss the robot design in relation to its usability and wearability for ease of use in clinical practice. Experimental results obtained from healthy subjects show that the proposed robot can support grasping in a way similar to the traditional range-of-motion exercise used by therapists for grasp rehabilitation. Combining this appropriate grasping-motion support and the mechanism for pushing the hand onto an elastic bar succeeds in activating the grasp reflex of a completely paralyzed patient in a clinical test that involves monitoring electromyography signals from the paralyzed hand.

关键词： Robots Grasping Shafts Bars Force Electromyography Rubber

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Quantification of Extent of Muscle-skin Shifting by Traversal sEMG Analysis Using High-density sEMG Sensor

Quantification of Extent of Muscle-skin Shifting by Traversa...

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IEEE International Conference on Cyborg and Bionic Systems (CBS)

作者： Shotaro Okajima Eduardo Iáñez Hiroshi Yamasaki Álvaro Costa García Fady S. Alnajjar Noriaki Hattori Shingo Shimoda Man-Machine Collaboration Research Team Robotics Project Baton Zone Program Science Technology and Innovation Hub RIKEN Nagoya Japan Brain-Machine Interface Systems Lab Miguel Hernández University of Elche Spain Intelligent Behavior Control Unit BTCC CBS RIKEN Nagoya Japan College of IT (CIT) UAE University (UAEU) Global Center for Medical Engineering and Informatics Osaka University

ISBN: (数字)9781728150734

ISBN: (纸本)9781728150741

Surface electromyography(sEMG) measurement has been an essential approach to analyze human behaviors because we can generally consider that sEMG signals represent the muscle activities as the final output of our nerve system. One of the most serious problems for considering sEMG signal as the muscle activity is the shift of the relative position between muscles and skin depending on a posture. The motion of forearm rotation is the prominent example of muscle-skin shifting depending on postural changes. The sEMG signal from a sensor may represent the different muscle activity when the muscle-skin shifting is happened. In this study, we discuss a method to quantify the muscle-skin shift from the sEMG signals in response to the postural changes. We use the high density sEMG sensor that is possible to measure sEMG signal as the potential map. We proposed the computation algorithm to quantify the amount of muscle-skin shifting based on the change of the sEMG signals in response to the postural changes. We conducted the experiments of wrist extension motions under three different forearm postures: forearm pronation, natural posture and forearm supination. Experimental results from three healthy subjects show that we can quantify the extent of muscle-skin shifting as an angle by using proposed algorithm.

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Analyze the Human Movements to Help CNS to Shape the Synergy using CNMF and Pattern Recognition

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Procedia Computer Science 2017年 105卷 170-176页

作者： Ghada M. Bani Musa Adel Al-Jumaily Fady Alnajjar Shingo Shimoda University of Technology Sydney Sydney 2000 Australia Intelligent Behavior Control Unit Brain Science Nagoya Japan

The Biomedical Signals have been studied for developing human control systems to improving the quality of life. The EMG signal is one of the main types of biomedical signals. It is a convoluted signal. This signal (EMG signal) controlled by the Central nervous system (CNS). It has been a long time expected that the human central nervous system (CNS) uses flexible combinations of some muscles synergy (MS) to solve and control redundant movements. Synergy muscles activities are different in a single muscle. In the concept of Synergy muscle, the CNS does not directly control the activation of a large number of muscles. There are two main movements can help CNS to shape the synergy. The automatic body response and the voluntary actions. These activities remain not too bright. Some studies support the hypothesis that the automatic body responses could be used as a reference to familiarize the voluntary efforts. It has been validating by analyzing the human voluntary movement and the automatic mechanical motions from the muscle synergy. Based on the validation, there was a proposition that the automatic synergy motion may express some features which could support the CNS to shape the voluntary synergy motion using the nonnegative matrix factorization (NMF). Thus the target of the presenting work is to analyses the human movements from the muscle synergy to help CNS shapes the synergy movement by suggestion using the concatenated non-negative matrix factorization (CNMF) method and the pattern recognition method. Then compare the two results and see if that help CNS to shape the synergy movements and which method has more accuracy.

关键词： Muscle Synergy Electromyography (EMG) Central nervous system (CNS) automatic body response voluntary action component classification pattern recognition

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Importance of muscle selection for EMG signal analysis during upper limb rehabilitation of stroke patients

Importance of muscle selection for EMG signal analysis durin...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Á. Costa M. Itkonen H. Yamasaki F. S. Alnajjar S. Shimoda Intelligent Behavior Control Unit Brain Science Institute (BSI) BSI-TOYOTA Collaboration Center (BTCC) RIKEN Japan

Current work highlights the importance of muscle selection to evaluate paralysis and recovery level of stroke patients when comparing synergies of affected and non-affected side of the body. The proposed method allows the selection of important muscles that highly contribute to the specific movements according to the power and frequency distribution of the electromyographic signals.. Users participating performed steering-wheel-based therapy focused on upper limb rehabilitation. Final results show that with the appropriate muscles selection, it is possible to compute a Similarity Index between right and left arms (during symmetric motion) associated to the level of paralysis and potential recovery of a given subject.

关键词： Muscles Electromyography Indexes Medical treatment Wheels Synchronization Silicon

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Design of a Video Game for Rehabilitation using Motion Capture, EMG analysis and Virtual Reality

Design of a Video Game for Rehabilitation using Motion Captu...

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International Conference on Electronics, Communications and Computers

作者： Alejandro Lopez Rincon Hiroshi Yamasaki Shingo Shimoda Riken BSI Intelligent Behavior Control Unit. 2271-130

ISBN: (纸本)9781509000807

Many people suffer from a brain injury that requires rehabilitation. Rehabilitation might be exhausting and difficult. Therefore, it is necessary to develop mechanisms to engage the patients, e.g. a videogame. We propose the design of an immersive videogame that integrates motion capture, electromyography (EMG) sensing and Virtual Reality (VR) in one unique system using unity engine and the design of EMG sensors. The system has as user inputs the motion capture system given by Microsoft Kinect or Yei 3-Space Sensors, and the measured effort in the muscle (biceps). The output is the control of a videogame sequence using for the visualization the Oculus Rift. We tested the system with 120 healthy subjects, where 94% of them were able to control their muscle's signal.

关键词： Virtual reality Muscle rehabilitation Video game EMG signal Motion capture

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Acquisition of adaptive behavior of robot through bow-tie structure

Acquisition of adaptive behavior of robot through bow-tie st...

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IEEE International Conference on Development and Learning, ICDL

作者： Shotaro Okajima Shingo Shimoda Yasuhisa Hasegawa RIKEN Intelligent behavior control unit Nagoya Japan Department of Mechanical Science and Engineering Nagoya university Nagoya Japan

ISBN: (纸本)9781509050703

In this paper, we discussed the role of cognitions in biological control systems introducing the bow-tie structure. In bow-tie structure, sensory inputs with great diversity are translated into smaller diversity but semantic information, and the semantic information is re-translated to great diversity signals to create variety of behaviors. The process of reducing the signal diversity can be considered as the cognition in biological system. Our simulation results with the 2DOF inverse pendulum and the 27DOF humanoid robot showed that the lower diverse signal tuning is able to adapt the robot behaviors to the environment through body/environment interactions, suggesting that how recognize the environment can be useful to choose appropriate behaviors. Obviously, the behavior modifications in our method are strongly constrained by the diversity translating algorithm, mechanical resonance mode in this paper. We need further discussions for the relationship between signal diversity controls and behavior adaptations.

关键词： Cognition Legged locomotion Aerospace electronics Robot sensing systems Adaptation models Energy consumption

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