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At least 289 records · Page 16Linked to original sources
PubMedDate not supplied

Human-like reflex control for an artificial hand.

In this paper, we illustrate the low level reflex control used to govern an anthropomorphic artificial hand. The paper develops the position and stiffness control strategy based on dynamic artificial neurons able to simulate the neurons acting in the human reflex control. The controller has a hierarchical structure. At the lowest level there are the receptors able to convert the analogical signal into a neural impulsive signal appropriate to govern the reflex control neurons. Immediately upon it, the artificial motoneurons set the actuators inner pressure to control the finger joint position and moment. Other auxiliary neurons in combination with the motoneurons are able to set the finger stiffness and emulate the inverse myotatic reflex control. Stiffness modulation is important both to save energy during task execution, and to manage objects made of different materials. The inverse myotatic reflex is able to protect the hand from possible harmful external actions. The paper also presents the dynamic model of the joints and of the artificial muscles actuating Blackfingers, our artificial hand. This new type of neural control has been simulated on the Blackfingers model; the results indicate that the developed control is very flexible and efficient for all kind of joints present in the humanoid hand.

Artificial Limbs↗
PubMed1971

Kinetic theory model for ion movement through biological membranes. II. Interionic selectivity.

The equation presented in the previous paper for steady-state membrane ionic current as a function of externally applied electric field strength is numerically analyzed to determine the influence of ionic and membrane molecule parameters on current densities. The model displays selectivity between different ions. A selectivity coefficient S(i), defined as the ratio of current carried by an ionic species i at a given field strength to the current carried by a reference species at the same field strength, has the following properties: (a) S(i) is a function of electric field strength except for ion-membrane molecule interactions yielding velocity independent collision frequencies; (b) for ion-membrane molecule interactions characterized by a collision frequency that is a decreasing (increasing) function of increasing ionic velocity, ions whose S(i) > 1 (<1) at zero field strength will show maxima (minima) (minima[maxima]) in their S(i) vs. electric field strength curves.

Ammonia↗
PubMed2000

Stability criterion for controlling standing in able-bodied subjects.

A new stability criterion that can be used to assess the standing condition of a subject from center of pressure (CoP) measurements is presented. This criterion can be applied, for example, to control a standing prosthesis, which should allow a paraplegic subject to stand up, sit down and stand safely without using hands for support. Experiments conducted with able-bodied subjects enabled us to establish a relationship between its stability and the subject's CoP position. Four CoP stability zones were identified: high preference, low preference, undesirable and unstable zones. The high preference zone is defined as the area where the CoP is found 99% of the time during quiet standing. The area where the CoP is found during the remaining 1% of the time is called the low preference zone. The undesirable zone is defined as the CoP area where the subject is forced to change posture in order to maintain balance, and the unstable zone is defined as the CoP area in which the subject is forced to step forward, backward or sideways to maintain stability. A general model of the proposed four stability zones was derived, which can be used to compute stability zones a priori for any subject and thus allows one to assess the subject's stability condition from the CoP measurements.

Adult↗
PubMed2003

Beyond input-output computings: error-driven emergence with parallel non-distributed slime mold computer.

The emergence derived from errors is the key importance for both novel computing and novel usage of the computer. In this paper, we propose an implementable experimental plan for the biological computing so as to elicit the emergent property of complex systems. An individual plasmodium of the true slime mold Physarum polycephalum acts in the slime mold computer. Modifying the Elementary Cellular Automaton as it entails the global synchronization problem upon the parallel computing provides the NP-complete problem solved by the slime mold computer. The possibility to solve the problem by giving neither all possible results nor explicit prescription of solution-seeking is discussed. In slime mold computing, the distributivity in the local computing logic can change dynamically, and its parallel non-distributed computing cannot be reduced into the spatial addition of multiple serial computings. The computing system based on exhaustive absence of the super-system may produce, something more than filling the vacancy.

Animals↗
PubMed2005

Integration of cell membranes and nanotube transistors.

We report the integration of a complex biological system and a nanoelectronic device, demonstrating that both components retain their functionality while interacting with each other. As the biological system, we use the cell membrane of Halobacterium salinarum. As the nanoelectronic device, we use a nanotube network transistor, which incorporates many individual nanotubes in such a way that entire patches of cell membrane are contacted by nanotubes. We demonstrate that the biophysical properties of the membrane are preserved, that the nanoelectronic devices still function as transistors, and that the two systems interact. Further, we use the interaction to study the charge distribution in the biological system, finding that the electric dipole of the membrane protein bacteriorhodopsin is located 2/3 of the way from the extracellular to the cytoplasmic side.

Bacteriorhodopsins↗