Nonlinear Passive Elements Using Cam-Based Springs for Powered Robotic Ankles

Author(s):  
Jonathan Realmuto ◽  
Glenn Klute ◽  
Santosh Devasia

There is increasing interest in powered prosthesis. To reduce energy, power, and torque requirements on the active input, current systems, such as powered ankle prosthetics, utilize a combination of passive and active components. By storing and releasing energy during gait, the passive component reduces the energy/power/torque requirements of the active component. Therefore, it is advantageous to maximize the use of the passive component for achieving the desired motion. Typically, the passive component utilizes elastic elements such as springs, which cannot be easily adjusted to achieve a desired optimal nonlinear response. In this work, we report the use of a cam profile to achieve a general desired nonlinear response. The results show that the added design flexibility (to achieve nonlinear response of the passive element) can substantially reduce the energy/power/torque requirement of the active component.

2015 ◽  
Vol 9 (1) ◽  
Author(s):  
Jonathan Realmuto ◽  
Glenn Klute ◽  
Santosh Devasia

This article studies the design of passive elastic elements to reduce the actuator requirements for powered ankle prostheses. The challenge is to achieve most of the typically nonlinear ankle response with the passive element so that the active ankle-torque from the actuator can be small. The main contribution of this article is the design of a cam-based lower-limb prosthesis to achieve such a nonlinear ankle response. Results are presented to show that the addition of the cam-based passive element can reduce the peak actuator torque requirement substantially, by ∼74%. Moreover, experimental results are presented to demonstrate that the cam-based design can achieve a desired nonlinear response to within 10%.


2007 ◽  
Vol 34 (12) ◽  
pp. 1130 ◽  
Author(s):  
Jasna Savic ◽  
Miroslav Nikolic ◽  
Slaven Prodanovic ◽  
Volker Römheld

The objective of this research was to test the hypothesis of the existence of an active boron (B) uptake into the cortical cells induced by low B supply. The uptake of B was characterised in two tomato (Lycopersicon esculentum Mill.) genotypes: B-efficient FER and B-inefficient mutant T3238. In addition, pea (Pisum sativum L.) was used as an anatomically appropriate model for obtaining intact root cortex. Time course uptake studies in tomato indicate that the B-inefficient mutant was defective by the absence of an active low-B-induced uptake system in the cortex. Pea roots showed up to 10-fold higher accumulation of B into the cortex symplast at low (0.5 µm) external B supply in comparison to adequate B (10 µm) supply. Also, low-B-induced uptake of B was strongly inhibited by 2,4-dinitrophenol, indicating a metabolic energy-derived active component of B uptake at low external supply. Uptake of B by the cortical cells of tomato and pea plants appears to be a combination of both passive and active components, with a passive component prevailing at higher external B. An active component of B uptake suppressed by either adequate or high B supply might indicate a downregulation of plasma membrane-associated B transporter(s) in root cortical cells.


2021 ◽  
Vol 9 (Suppl 3) ◽  
pp. A572-A572
Author(s):  
Samra Turajlic ◽  
Mariam Jamal-Hanjani ◽  
Andrew Furness ◽  
Ruth Plummer ◽  
Judith Cave ◽  
...  

BackgroundEx-vivo expanded tumour infiltrating lymphocytes (TIL) show promise in delivering durable responses among several solid tumour indications. However, characterising, quantifying and tracking the active component of TIL therapy remains challenging as the expansion process does not distinguish between tumour reactive and bystander T-cells. Achilles Therapeutics has developed ATL001, a patient-specific TIL-based product, manufactured using the VELOS™ process that specifically targets clonal neoantigens present in all tumour cells within a patient. Two Phase I/IIa clinical trials of ATL001 are ongoing in patients with advanced Non-Small Cell Lung Cancer, CHIRON (NCT04032847), and metastatic or recurrent melanoma, THETIS (NCT03997474). Extensive product characterisation and immune-monitoring are performed through Achilles’ manufacturing and translational science programme. This enables precise quantification and characterisation of the active component of this therapy – Clonal Neoantigen T cells (cNeT) – during manufacture and following patient administration, offering unique insight into the mechanism of action of ATL001 and aiding the development of next generation processes.MethodsATL001 was manufactured using procured tumour and matched whole blood from 8 patients enrolled in the THETIS (n=5) and CHIRON (n=3) clinical trials. Following administration of ATL001, peripheral blood samples were collected up to week 6. The active component of the product was detected via re-stimulation with clonal neoantigen peptide pools and evaluation of IFN-γ and/or TNF-α production. Deconvolution of individual reactivities was achieved via ELISPOT assays. Immune reconstitution was evaluated by flow cytometry. cNeT expansion was evaluated by restimulation of isolated PBMCs with peptide pools and individual peptide reactivities (ELISPOT).ResultsThe median age was 57 (range 30 – 71) and 6/8 patients were male. The median number of previous lines of systemic anti-cancer treatment at the time of ATL001 dosing was 2.5 (range 1 – 5). Proportion of cNeT in manufactured products ranged from 0.20% - 77.43% (mean 26.78%) and unique single peptide reactivities were observed in 7 of 8 products (range 0 – 28, mean 8.6). Post-dosing, cNeTs were detected in 5/8 patients and cNeT expansion was observed in 3/5 patients.ConclusionsThese data underscore our ability to sensitively detect, quantify and track the patient-specific cNeT component of ATL001 – during manufacture and post dosing. As the dataset matures, these metrics of detection and expansion will be correlated with product, clinical and genomic characteristics to determine variables associated with peripheral cNeT dynamics and clinical response.ReferencesNCT04032847, NCT03997474Ethics ApprovalThe first 8 patients described have all been located within the UK and both trials (CHIRON and THETIS) have been approved by the UK MHRA (among other international bodies, e.g FDA). Additionally, these trials have been approved by local ethics boards at active sites within the UK. Patient‘s are fully informed by provided materials and investigators prior to consenting to enrol into either ATL001 trial.


Author(s):  
MAHANI ◽  
MICHELLE ◽  
YANA CAHYANA ◽  
AHMAD SULAEMAN ◽  
HARDINSYAH ◽  
...  

Objective: The aim of this study is to map out the distribution and composition of the main active components found in stingless bee propolis from various regions in Indonesia. Methods: The stingless bee propolis used was obtained from ten different provinces in Indonesia and the active components analysis using Gas Chromatography-Mass Spectrometer (GC-MS) pyrolyzer. Results: This study found 85 main types of active components with concentrations of ≥ 1%. The most frequently found active component was alpha-d-glucopyranoside, which had an average concentration of 28.20%. Conclusion: There were differences between the main active components found in 14 samples of stingless bee propolis obtained from 10 provinces in Indonesia, which was due to the variety of bee species and plant origin.


MRS Advances ◽  
2021 ◽  
Author(s):  
Nadia Rodriguez ◽  
Anil K. Bastola ◽  
Marc Behl ◽  
Patricia Soffiatti ◽  
Nick P. Rowe ◽  
...  

Abstract Inspired by the interesting functional traits of a climbing cactus, Selenicereus setaceus, found in the forest formations of Southeastern Brazil, we formulated a hypothesis that we can directly learn from the plants to develop multi-functional artificial systems by means of a multi-disciplinary approach. In this context, our approach is to take advantage of 3D-printing techniques and shape-memory hydrogels synergistically to mimic the functional traits of the cactus. This work reports on the preliminary investigation of cactus-inspired artificial systems. First, we 3D-printed soft polymeric materials and characterized them, which defines the structure and is a passive component of a multi-material system. Second, different hydrogels were synthesized and characterized, which is an active component of a multi-material system. Finally, we investigated how the hydrogel can be integrated into the 3D-printed constructs to develop artificial functional systems. Graphic abstract


2021 ◽  
Vol 16 (8) ◽  
pp. 1934578X2110387
Author(s):  
Ji-le Lan ◽  
Ye-ping Ruan ◽  
Zhu-jun Mao ◽  
Li-yan You ◽  
Zhong Chen

Fengyin Decoction (FYD) is a traditional Chinese medicine for the treatment of epilepsy and wind paralysis. However, the potential antiepileptic active component in rhubarb (which is the most effective Chinese medicine in FYD) has not been defined. In this study, we analyzed and predicted the potential quality marker (Q-marker) of rhubarb in FYD based on fingerprint and network pharmacology. The fingerprints of FYD and rhubarb were established to analyze the transmission law of active components. Ultra-high performance liquid chromatography (UPLC) was used to study quantitatively the active components obtained by different extraction methods of FYD. Combined with network pharmacological analysis, a “components-targets-pathways” network was constructed to predict the potential Q-marker. Eight peaks were identified by FYD fingerprint: aloe-emodin, rhein, emodin, chrysophanol, physcion, cinnamaldehyde, 6-gingerol, and glycyrrhizic acid ammonium salt. The determination of the 8 active components in FYD with different extraction methods suggested that rhubarb anthraquinone may be a potential antiepileptic active component. Twelve core components, 19 targets, and 21 pathways of rhubarb were screened by network pharmacology, which further demonstrated that rhubarb played a role mainly through these components, targets, and pathways. We preliminarily predicted that compounds such as rhubarb anthraquinones were a potential Q-marker. The UPLC fingerprint and the content determination method of the 8 components established in this study were effective and feasible. The findings in this study may provide a reference for further study of quality control of FYD and lay a theoretical foundation for the study of its action mechanism. In addition, our study may provide a novel idea for the study of the Q-marker of other classical compound traditional Chinese medicines.


2012 ◽  
Vol 7 (9) ◽  
pp. 1934578X1200700 ◽  
Author(s):  
Elizabeth S. Chipps ◽  
Renuka Jayini ◽  
Shoko Ando ◽  
April D. Protzman ◽  
M. Zubayed Muhi ◽  
...  

Bitter melon (Momordica charantia) seed extracts (BMSE) have been used as traditional medicine for treating various ailments, although in many cases, the active component(s) are unidentified. In this study, bitter melon seeds were extracted in water, ethanol, or ethanol: water (1:1). The aqueous seed extracts (BMSE-W) exhibited marked cytotoxicity towards human embryonic kidney 293T (HEK293T) and human colon tumor 116 (HCT116) cells. The activity in BMSE-W was unaffected by heat and proteinases treatments, and eluted in the total volume of size-exclusion HPLC, suggesting the small, organic nature of the active component(s). Gas chromatographic-mass spectrometic (GC-MS) analysis of the HPLC fractions identified methoxy-phenyl oxime (MPO) as a major active component. Acetophenone oxime, a commercially available structural homolog of MPO, demonstrated cytotoxicity comparable with that of the BMSE-W. The oxime functional group was found to be critical for activity. Increased poly-(ADP-ribose)-polymerase and β-actin cleavage, and chromatin condensation observed in treated cells suggested apoptosis as a plausible cause for the cytotoxicity. This study, for the first time, identified a cytotoxic oxime in BMSE-W.


Author(s):  
Caixia Miao ◽  
Fengjiao Wang ◽  
Guilin Zhou ◽  
Hongmei Xie ◽  
Zhaojie Jiao ◽  
...  

Abstract The mesoporous Ni20/Al-KIT-6 (denoted as N20AxK) catalysts with different Al content (1–9 wt%) were prepared, metal Ni and KIT-6 modified by Al were used as active component and support, respectively. The physicochemical properties of the prepared N20AxK catalysts were characterized by H2-TPR, XRD, BET, TEM, and H2-TPD. The catalytic hydrodeoxygenation(HDO) performance of N20AxK catalysts was evaluated by ethyl acetate catalytic HDO. The results show that the catalytic HDO performance of the prepared N20AxK catalysts is related to the adsorption and activation performance for H2 molecules, as well as the dispersion of matal Ni active components. N20A5K catalyst shows the best H2 adsorption property and Ni dispersion. N20A5K catalyst presents superior catalytic HDO performance. At 300 °C and atmospheric pressure, the conversion of ethyl acetate and ethane selectivity of N20A5K catalyst are 99.3 % and 97.4 %, respectively. Besides, the N20A5K catalyst exhibits good stability.


1969 ◽  
Vol 115 (3) ◽  
pp. 523-527 ◽  
Author(s):  
Brian B. Cohen

An extract was prepared from rabbit reticulocyte ribosomes after treatment with potassium chloride as described by Miller, Hamada, Yang, Cohen & Schweet (1967). This extract has been shown to convert monoribosomes into polyribosomes during protein synthesis in vitro (Cohen, 1968). The nature of this extract was studied in greater detail. Centrifugation of the extract through a sucrose density gradient separated the activity into a fast-sedimenting fraction. The two fractions were shown to have different functions in stimulating cell-free protein synthesis and their active components were shown to be protein or partly protein in nature. Each fraction was analysed by electrophoresis and in the analytical ultracentrifuge. It was concluded that the active component in the fast-sedimenting fraction had a sedimentation coefficient of 15·5s and that of the slow-sedimenting fraction 10·5s.


1980 ◽  
Vol 239 (6) ◽  
pp. F515-F523 ◽  
Author(s):  
J. A. Arruda ◽  
N. A. Kurtzman

Distal renal tubular acidosis has been thought to be the consequence of an impaired ability to maintain a large pH gradient between distal nephron urine and blood. Recent evidence suggests that the classification of deranged distal nephron acidification requires expansion. These mechanisms whereby the urine is acidified in the distal nephron include an active component, a passive component, and a component of bicarbonate secretion. Active proton secretion is influenced by the integrity of the pump and the nature of the electrical chemical gradient against which it operates. The passive component relates either to the backleak of acid from lumen to blood or the leak of bicarbonate from blood to lumen; under ordinary circumstances this passive component is negligible. Aldosterone also influences distal acidification. A defect in most of these components can be identified experimentally. We propose a classification of deranged distal acidification that will allow identification of the mechanism responsible for the defect. This classification, which employs measurement of the urinary carbon dioxide gradient, the response of the kidney to sulfate or phosphate administration, the urinary pH during acidosis, and the state of potassium and sodium excretion, can easily be performed in human subjects.


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