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- Genre: Academic theses
Description
The current work investigated the emergence of leader-follower roles during social motor coordination. Previous research has presumed a leader during coordination assumes a spatiotemporally advanced position (e.g., relative phase lead). While intuitive, this definition discounts what role-taking implies. Leading and following is defined as one person (or limb) having a larger influence on the motor state changes of another; the coupling is asymmetric. Three experiments demonstrated asymmetric coupling effects emerge when task or biomechanical asymmetries are imputed between actors. Participants coordinated in-phase (Ф =0o) swinging of handheld pendulums, which differed in their uncoupled eigenfrequencies (frequency detuning). Coupling effects were recovered through phase-amplitude modeling. Experiment 1 examined leader-follower coupling during a bidirectional task. Experiment 2 employed an additional coupling asymmetry by assigning an explicit leader and follower. Both experiment 1 and 2 demonstrated asymmetric coupling effects with increased detuning. In experiment 2, though, the explicit follower exhibited a phase lead in nearly all conditions. These results confirm that coupling direction was not determined strictly by relative phasing. A third experiment examined the question raised by the previous two, which is how could someone follow from ahead (i.e., phase lead in experiment 2). This was tested using a combination of frequency detuning and amplitude asymmetry requirements (e.g., 1:1 or 1:2 & 2:1). Results demonstrated larger amplitude movements drove the coupling towards the person with the smaller amplitude; small amplitude movements exhibited a phase lead, despite being a follower in coupling terms. These results suggest leader-follower coupling is a general property of social motor coordination. Predicting when such coupling effects occur is emphasized by the stability reducing effects of coordinating asymmetric components. Generally, the implication is role-taking is an emergent strategy of dividing up coordination stabilizing efforts unequally between actors (or limbs).
ContributorsFine, Justin (Author) / Amazeen, Eric L. (Thesis advisor) / Amazeen, Polemnia G. (Committee member) / Brewer, Gene (Committee member) / Santello, Marco (Committee member) / Arizona State University (Publisher)
Created2015
Description
Olecranon fractures account for approximately 10% of upper extremity fractures and 95% of them require surgical fixation. Most of the clinical, retrospective and biomechanical studies have supported plate fixation over other surgical fixation techniques since plates have demonstrated low incidence of reoperation, high fixation stability and resumption of activities of daily living (ADL) earlier. Thus far, biomechanical studies have been helpful in evaluating and comparing different plate fixation constructs based on fracture stability. However, they have not provided information that can be used to design rehabilitation protocols such as information that relates load at the hand with tendon tension or load at the interface between the plate and the bone. The set-ups used in biomechanical studies have included simple mechanical testing machines that either measured construct stiffness by cyclic loading the specimens or construct strength by performing ramp load until failure. Some biomechanical studies attempted to simulate tendon tension but the in-vivo tension applied to the tendon remains unknown. In this study, a novel procedure to test the olecranon fracture fixation using modern olecranon plates was developed to improve the biomechanical understanding of failures and to help determine the weights that can be safely lifted and the range of motion (ROM) that should be performed during rehabilitation procedures.
Design objectives were defined based on surgeon's feedback and analysis of unmet needs in the area of biomechanical testing. Four pilot cadaveric specimens were prepared to run on an upper extremity feedback controller and the set-up was validated based on the design objectives. Cadaveric specimen preparation included a series of steps such as dissection, suturing and potting that were standardized and improved iteratively after pilot testing. Additionally, a fracture and plating protocol was developed and fixture lengths were standardized based on anthropometric data. Results from the early pilot studies indicated shortcomings in the design, which was then iteratively refined for the subsequent studies. The final pilot study demonstrated that all of the design objectives were met. This system is planned for use in future studies that will assess olecranon fracture fixation and that will investigate the safety of rehabilitation protocols.
Design objectives were defined based on surgeon's feedback and analysis of unmet needs in the area of biomechanical testing. Four pilot cadaveric specimens were prepared to run on an upper extremity feedback controller and the set-up was validated based on the design objectives. Cadaveric specimen preparation included a series of steps such as dissection, suturing and potting that were standardized and improved iteratively after pilot testing. Additionally, a fracture and plating protocol was developed and fixture lengths were standardized based on anthropometric data. Results from the early pilot studies indicated shortcomings in the design, which was then iteratively refined for the subsequent studies. The final pilot study demonstrated that all of the design objectives were met. This system is planned for use in future studies that will assess olecranon fracture fixation and that will investigate the safety of rehabilitation protocols.
ContributorsJain, Saaransh (Author) / Abbas, James (Thesis advisor) / LaBelle, Jeffrey (Thesis advisor) / Jacofsky, Marc (Committee member) / Arizona State University (Publisher)
Created2015
Description
Modern, advanced statistical tools from data mining and machine learning have become commonplace in molecular biology in large part because of the “big data” demands of various kinds of “-omics” (e.g., genomics, transcriptomics, metabolomics, etc.). However, in other fields of biology where empirical data sets are conventionally smaller, more traditional statistical methods of inference are still very effective and widely used. Nevertheless, with the decrease in cost of high-performance computing, these fields are starting to employ simulation models to generate insights into questions that have been elusive in the laboratory and field. Although these computational models allow for exquisite control over large numbers of parameters, they also generate data at a qualitatively different scale than most experts in these fields are accustomed to. Thus, more sophisticated methods from big-data statistics have an opportunity to better facilitate the often-forgotten area of bioinformatics that might be called “in-silicomics”.
As a case study, this thesis develops methods for the analysis of large amounts of data generated from a simulated ecosystem designed to understand how mammalian biomechanics interact with environmental complexity to modulate the outcomes of predator–prey interactions. These simulations investigate how other biomechanical parameters relating to the agility of animals in predator–prey pairs are better predictors of pursuit outcomes. Traditional modelling techniques such as forward, backward, and stepwise variable selection are initially used to study these data, but the number of parameters and potentially relevant interaction effects render these methods impractical. Consequently, new modelling techniques such as LASSO regularization are used and compared to the traditional techniques in terms of accuracy and computational complexity. Finally, the splitting rules and instances in the leaves of classification trees provide the basis for future simulation with an economical number of additional runs. In general, this thesis shows the increased utility of these sophisticated statistical techniques with simulated ecological data compared to the approaches traditionally used in these fields. These techniques combined with methods from industrial Design of Experiments will help ecologists extract novel insights from simulations that combine habitat complexity, population structure, and biomechanics.
As a case study, this thesis develops methods for the analysis of large amounts of data generated from a simulated ecosystem designed to understand how mammalian biomechanics interact with environmental complexity to modulate the outcomes of predator–prey interactions. These simulations investigate how other biomechanical parameters relating to the agility of animals in predator–prey pairs are better predictors of pursuit outcomes. Traditional modelling techniques such as forward, backward, and stepwise variable selection are initially used to study these data, but the number of parameters and potentially relevant interaction effects render these methods impractical. Consequently, new modelling techniques such as LASSO regularization are used and compared to the traditional techniques in terms of accuracy and computational complexity. Finally, the splitting rules and instances in the leaves of classification trees provide the basis for future simulation with an economical number of additional runs. In general, this thesis shows the increased utility of these sophisticated statistical techniques with simulated ecological data compared to the approaches traditionally used in these fields. These techniques combined with methods from industrial Design of Experiments will help ecologists extract novel insights from simulations that combine habitat complexity, population structure, and biomechanics.
ContributorsSeto, Christian (Author) / Pavlic, Theodore (Thesis advisor) / Li, Jing (Committee member) / Yan, Hao (Committee member) / Arizona State University (Publisher)
Created2018
Description
The ultimate goal of human movement control research is to understand how natural movements performed in daily activities, are controlled. Natural movements require coordination of multiple degrees of freedom (DOF) of the arm. Here, patterns of arm joint control during daily functional tasks were examined, which are performed through rotation of the shoulder, elbow, and wrist with the use of seven DOF: shoulder flexion/extension, abduction/adduction, and internal/external rotation; elbow flexion/extension and pronation/supination; wrist flexion/extension and radial/ulnar deviation. Analyzed movements imitated two activities of daily living: combing the hair and turning the page in a book. Kinematic and kinetic analyses were conducted. The studied kinematic characteristics were displacements of the 7 DOF and contribution of each DOF to hand velocity. The kinetic analysis involved computation of 3-dimensional vectors of muscle torque (MT), interaction torque (IT), gravity torque (GT), and net torque (NT) at the shoulder, elbow, and wrist. Using a relationship NT = MT + GT + IT, the role of active control and the passive factors (gravitation and inter-segmental dynamics) in rotation of each joint was assessed by computing MT contribution (MTC) to NT. MTC was computed using the ratio of the signed MT projection on NT to NT magnitude. Despite the variety of joint movements required across the different tasks, 3 patterns of shoulder and elbow coordination prevailed in each movement: 1) active rotation of the shoulder and predominantly passive rotation of the elbow; 2) active rotation of the elbow and predominantly passive rotation of the shoulder; and 3) passive rotation of both joints. Analysis of wrist control suggested that MT mainly compensates for passive torque and provides adjustment of wrist motion according to requirements of both tasks. The 3 shoulder-elbow coordination patterns during which at least one joint moves largely passively represent joint control primitives underlying performance of well-learned arm movements, although these patterns may be less prevalent during non-habitual movements. The advantage of these control primitives is that they require minimal neural effort for joint coordination, and thus increase neural resources that can be used for cognitive tasks.
ContributorsMarshall, Dirk (Author) / Dounskaia, Natalia (Thesis advisor) / Schaefer, Sydney (Thesis advisor) / Buneo, Christopher (Committee member) / Arizona State University (Publisher)
Created2018
Description
The ultimate goal of human movement control research is to understand how natural movements performed in daily reaching activities, are controlled. Natural movements require coordination of multiple degrees of freedom (DOF) of the arm. Patterns of arm joint control were studied during daily functional tasks, which were performed through the rotation of seven DOF in the arm. Analyzed movements which imitated the following 3 activities of daily living: moving an empty soda can from a table and placing it on a further position; placing the empty soda can from initial position at table to a position at shoulder level on a shelf; and placing the empty soda can from initial position at table to a position at eye level on a shelf. Kinematic and kinetic analyses were conducted for these three movements. The studied kinematic characteristics were: hand trajectory in the sagittal plane, displacements of the 7 DOF, and contribution of each DOF to hand velocity. The kinetic analysis involved computation of 3-dimensional vectors of muscle torque (MT), interaction torque (IT), gravity torque (GT), and net torque (NT) at the shoulder, elbow, and wrist. Using the relationship NT = MT + GT + IT, the role of active control and passive factors (gravitation and inter-segmental dynamics) in rotation of each joint by computing MT contribution (MTC) to NT was assessed. MTC was computed using the ratio of the signed MT projection on NT to NT magnitude. Despite a variety of joint movements available across the different tasks, 3 patterns of shoulder and elbow coordination prevailed in each movement: 1) active rotation of the shoulder and predominantly passive rotation of the elbow; 2) active rotation of the elbow and predominantly passive rotation of the shoulder; and 3) passive rotation of both joints. Analysis of wrist control suggested that MT mainly compensates for passive torque and provides adjustment of wrist motion according to requirements of each task. In conclusion, it was observed that the 3 shoulder-elbow coordination patterns (during which at least one joint moved) passively represented joint control primitives, underlying the performance of well-learned arm movements, although these patterns may be less prevalent during non-habitual movements.
ContributorsSansgiri, Dattaraj (Author) / Dounskaia, Natalia (Thesis advisor) / Schaefer, Sydney (Thesis advisor) / Buneo, Christopher (Committee member) / Arizona State University (Publisher)
Created2018
Description
Weevils are among the most diverse and evolutionarily successful animal lineages on Earth. Their success is driven in part by a structure called the rostrum, which gives weevil heads a characteristic "snout-like" appearance. Nut weevils in the genus Curculio use the rostrum to drill holes into developing fruits and nuts, wherein they deposit their eggs. During oviposition this exceedingly slender structure is bent into a straightened configuration - in some species up to 90° - but does not suffer any damage during this process. The performance of the snout is explained in terms of cuticle biomechanics and rostral curvature, as presented in a series of four interconnected studies. First, a micromechanical constitutive model of the cuticle is defined to predict and reconstruct the mechanical behavior of each region in the exoskeleton. Second, the effect of increased endocuticle thickness on the stiffness and fracture strength of the rostrum is assessed using force-controlled tensile testing. In the third chapter, these studies are integrated into finite element models of the snout, demonstrating that the Curculio rostrum is only able to withstand repeated, extreme bending because of
modifications to the composite structure of the cuticle in the rostral apex. Finally, interspecific differences in the differential geometry of the snout are characterized to elucidate the role of biomechanical constraint in the evolution of rostral morphology for both males and females. Together these studies highlight the significance of cuticle biomechanics - heretofore unconsidered by others - as a source of constraint on the evolution of the rostrum and the mechanobiology of the genus Curculio.
modifications to the composite structure of the cuticle in the rostral apex. Finally, interspecific differences in the differential geometry of the snout are characterized to elucidate the role of biomechanical constraint in the evolution of rostral morphology for both males and females. Together these studies highlight the significance of cuticle biomechanics - heretofore unconsidered by others - as a source of constraint on the evolution of the rostrum and the mechanobiology of the genus Curculio.
ContributorsJansen, Michael Andrew (Author) / Franz, Nico M (Thesis advisor) / Chawla, Nikhilesh (Committee member) / Harrison, Jon (Committee member) / Martins, Emilia (Committee member) / Arizona State University (Publisher)
Created2009
Description
Basilisk lizards are often studied for their unique ability to run across the surface of
water. Due to the complicated fluid dynamics of this process, the forces applied on the
water’s surface cannot be measured using traditional methods. This thesis presents a
novel technique of measuring the forces using a fluid dynamic force platform (FDFP),
a light, rigid box immersed in water. This platform, along with a motion capture
system, can be used to characterize the kinematics and dynamics of a basilisk lizard
running on water. This could ultimately lead to robots that can run on water in a
similar manner.
water. Due to the complicated fluid dynamics of this process, the forces applied on the
water’s surface cannot be measured using traditional methods. This thesis presents a
novel technique of measuring the forces using a fluid dynamic force platform (FDFP),
a light, rigid box immersed in water. This platform, along with a motion capture
system, can be used to characterize the kinematics and dynamics of a basilisk lizard
running on water. This could ultimately lead to robots that can run on water in a
similar manner.
ContributorsSweeney, Andrew Joseph (Author) / Marvi, Hamidreza (Thesis advisor) / Lentink, David (Committee member) / Lee, Hyunglae (Committee member) / Arizona State University (Publisher)
Created2019
Description
Adapting to one novel condition of a motor task has been shown to generalize to other naïve conditions (i.e., motor generalization). In contrast, learning one task affects the proficiency of another task that is altogether different (i.e. motor transfer). Much more is known about motor generalization than about motor transfer, despite of decades of behavioral evidence. Moreover, motor generalization is studied as a probe to understanding how movements in any novel situations are affected by previous experiences. Thus, one could assume that mechanisms underlying transfer from trained to untrained tasks may be same as the ones known to be underlying motor generalization. However, the direct relationship between transfer and generalization has not yet been shown, thereby limiting the assumption that transfer and generalization rely on the same mechanisms. The purpose of this study was to test whether there is a relationship between motor generalization and motor transfer. To date, ten healthy young adult subjects were scored on their motor generalization ability and motor transfer ability on various upper extremity tasks. Although our current sample size is too small to clearly identify whether there is a relationship between generalization and transfer, Pearson product-moment correlation results and a priori power analysis suggest that a significant relationship will be observed with an increased sample size by 30%. If so, this would suggest that the mechanisms of transfer may be similar to those of motor generalization.
ContributorsSohani, Priyanka (Author) / Schaefer, Sydney (Thesis advisor) / Daliri, Ayoub (Committee member) / Honeycutt, Claire (Committee member) / Arizona State University (Publisher)
Created2018
Description
Muscular weakness is a common manifestation for Stroke survivors and for patients with Anterior Cruciate Ligament reconstruction leading to reduced functional independence, especially mobility. Several rigid orthotic devices are being designed to assist mobility. However, limitations in majority of these devices are: 1) that they are constrained only to level walking applications, 2) are mostly bulky and rigid lacking user comfort. For these reasons, rehabilitation using soft-robotics can serve as a powerful modality in gait assistance and potentially accelerate functional recovery. The characteristics of soft robotic exosuit is that it’s more flexible, delivers high power to weight ratio, and conforms with the user’s body structure making it a suitable choice. This work explores the implementation of an existing soft robotic exosuit in assisting knee joint mechanism during stair ascent for patients with muscular weakness. The exosuit assists by compensating the lack of joint moment and minimizing the load on the affected limb. It consists of two I-cross-section soft pneumatic actuators encased within a sleeve along with insole sensor shoes and control electronics. The exosuit actuators were mechanically characterized at different angles, in accordance to knee flexion in stair gait, to enable the generation of the desired joint moments. A linear relation between the actuator stiffness and internal pressure as a function of the knee angle was obtained. Results from this characterization along with the insole sensor outputs were used to provide assistance to the knee joint. Analysis of stair gait with and without the exosuit ‘active’ was performed, using surface electromyography (sEMG) sensors, for two healthy participants at a slow walking speed. Preliminary user testing with the exosuit presented a promising 16% reduction in average muscular activity of Vastus Lateralis muscle and a 3.6% reduction on Gluteus Maximus muscle during the stance phase and unrestrained motion during the swing phase of ascent thereby demonstrating the applicability of the soft-inflatable exosuit in rehabilitation.
ContributorsMuthukrishnan, Niveditha (Author) / Polygerinos, Panagiotis (Thesis advisor) / Lockhart, Thurmon (Committee member) / Peterson, Daniel (Committee member) / Arizona State University (Publisher)
Created2018
Description
In this work, different passive prosthetic ankles are studied. It is observed that complicated designs increase the cost of production, but simple designs have limited functionality. A new design for a passive prosthetic ankle is presented that is simple to manufacture while having superior functionality. This prosthetic ankle design has two springs: one mimicking Achilles tendon and the other mimicking Anterior-Tibialis tendon. The dynamics of the prosthetic ankle is discussed and simulated using Working model 2D. The simulation results are used to optimize the springs stiffness. Two experiments are conducted using the developed ankle to verify the simulation It is found that this novel ankle design is better than Solid Ankle Cushioned Heel (SACH) foot. The experimental data is used to find the tendon and muscle activation forces of the subject wearing the prosthesis using OpenSim. A conclusion is included along with suggested future work.
ContributorsBhat, Sandesh Ganapati (Author) / Redkar, Sangram (Thesis advisor) / Sugar, Thomas (Committee member) / Lee, Hyuglae (Committee member) / Marvi, Hamid (Committee member) / Arizona State University (Publisher)
Created2017