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The rate of adjustment in a movement, driven by feedback error, is referred to as the adaptation rate, and the rate of recovery of a newly adapted movement to its unperturbed condition is called the de-adaptation rate. The rates of adaptation and de-adaptation are dependent on the training mechanism and intrinsic factors such as the participant's sensorimotor abilities. This study investigated the facilitation of the motor adaptation and de-adaptation processes for spatiotemporal features of an asymmetric gait pattern by sequentially applying split-belt treadmill (SBT) and asymmetric rhythmic auditory cueing (ARAC). Methods: Two sessions tested the individual gait characteristics of SBT and ARAC, and the remaining four sessions consisted of applying the two interventions sequentially during training. The adjustment process to the second intervention is referred to as “re-adaptation” and is driven by feedback error associated with the second intervention. Results: Ten healthy individuals participated in the randomized six-session trial. Spatiotemporal asymmetries during the adaptation and post-adaptation (when intervention is removed) stages were fitted into a two-component exponential model that reflects the explicit and implicit adaptation processes. A double component was shown to fit better than a single-component model. The decay constants of the model were indicative of the corresponding timescales and compared between trials. Results revealed that the explicit (fast) component of adaptation to ARAC was reduced for step length and step time when applied after SBT. Contrarily, the explicit component of adaptation to SBT was increased when it was applied after ARAC for step length. Additionally, the implicit (slow) component of adaptation to SBT was inhibited when applied incongruently after ARAC for step time. These outcomes show that the role of working motor memory as a translational tool between different gait interventions is dependent on (i) the adaptation mechanisms associated with the interventions, (ii) the targeted motor outcome of the interventions; the effects of factors (i) and (ii) are specific to the explicit and implicit components of the adaptation processes; these effects are unique to spatial and temporal gait characteristics. 

This study categorizes the response to asymmetric rhythmic cues into distinct levels of adaptation using changes in their step velocity. Motion capture and force data were collected from healthy individuals undergoing split-belt treadmill and rhythmic cueing interventions. This allowed comparative insights into two distinct adaptation mechanisms (sensorimotor and instructional adaptation) corresponding to the interventions and integration of those findings with trade-off mechanisms within spatiotemporal and kinetic gait parameters. Interlimb gait harmony (corresponding to differences between left and right step velocities) was significantly different between the gait interventions, indicating underlying differences in the dominant adaptation mechanisms driving them. The trade-off mechanisms among step length, swing time, and push-off forces were significantly different (i) between the gait interventions and (ii) between adaptable and non-adaptable subject groups to external rhythmic cues. This suggests that an orthogonal linear relationship between propulsion and either spatial or temporal features may indicate the adaptation mechanism that has a greater contribution towards their motor outcome. 

This study explores the influence of Auditory Rhythmic Asymmetric Cueing (A-RAC), Tactile Rhythmic Asymmetric Cueing (T-RAC), and their combination (AT) on key kinetic gait parameters in gait rehabilitation: Vertical Ground Reaction Force Asymmetry (GRF), Push-off Force Asymmetry (POF), and Braking Force Asymmetry (BRK). Utilizing the Computer-Assisted Rehabilitation Environment (CAREN) with 18 participants, this research examines these interventions' effectiveness in generating asymmetric gait. While the results during adaptation indicate that BRK was significantly affected by both A-RAC (p = 0.001) and AT (p = 0.003), only A-RAC had a significant effect on GRF (p = 0.002) during adaptation. None of the interventions significantly altered POF, suggesting its resistance to sensory cue modification. These findings provide valuable insights for enhancing gait rehabilitation strategies, particularly in addressing vertical load 

In this study, hydrophilic silica nanoparticles (Si NPs) were used to modify α-alumina tubular membranes to improve their performance in terms of flux, oil rejection, and anti-fouling properties. Our work focuses on enhancing membrane performance, particularly for difficult applications such as produced water treatment. The prepared membranes were applied for oil-in-water emulsion treatment. After coating hydrophilic Si NPs, the oil contact angle improved from 133.8° to 171.4°. To prevent Si NPs from leaching off the surface of α-alumina tubular membranes, polyvinyl alcohol was used to coat the membranes as a pre-treatment step before Si NP modification. After coating the membrane with Si NPs, the roughness of the membrane surface decreased, likely leading to less fouling. After coating Si NPs, Total Organic Carbon rejection increased from 93.1% for pristine α-alumina tubular membranes to 97.7% for silica-modified membranes because of hydrophilic improvements of the modified membranes. The Si NP coating improved the anti-fouling property of membranes with the flux recovery ratio increasing from 71.3% for pristine α-alumina tubular membranes to 85.9% for silica-modified membranes. Scanning Electron Microscopy, Energy- dispersive X-ray spectroscopy, oil contact angle, and Atomic Force Microscopy characterization tests were done. The tests showed successful Si NPs impregnation and altered wettability. 

A shape memory polymer (SMP) has been intensively researched in terms of its exceptional reversible dry adhesive characteristics and related smart adhesive applications over the last decade. However, its unique adhesive properties have rarely been taken into account for other potential applications, such as robotic pick-and-place, which might otherwise improve robotic manipulation and contribute to the related fields. This work explores the use of an SMP to design an adhesive gripper that picks and places a target solid object employing the reversible dry adhesion of an SMP. The numerical and experimental results reveal that an ideal compositional and topological SMP adhesive design can significantly improve its adhesion strength and reversibility, leading to a strong grip force and a minimal release force. Next, a radially averaged power spectrum density (RAPSD) analysis proves that active heating and cooling with a thermoelectric Peltier module (TEC) substantially enhances the conformal adhesive contact of an SMP. Based on these findings, an adhesive gripper is designed, fabricated, and tested. Remarkably, the SMP adhesive gripper interacts not only with flat and smooth dry surfaces, but also moderately rough and even wet surfaces for pick-and-place, showing high adhesion strength (>2 standard atmospheres) which is comparable to or exceeds those of other single-surface contact grippers, such as vacuum, electromagnetic, electroadhesion, and gecko grippers. Lastly, the versatility and utility of the SMP adhesive gripper are highlighted through diverse pick-and-place demonstrations. Associated studies on physical mechanisms, SMP adhesive mechanics, and thermal conditions are also presented. 

Abstract Introduction Split-belt treadmill training has been used to assist with gait rehabilitation following stroke. This method modifies a patient’s step length asymmetry by adjusting left and right tread speeds individually during training. However, current split-belt training approaches pay little attention to the individuality of patients by applying set tread speed ratios (e.g., 2:1 or 3:1). This generalization results in unpredictable step length adjustments between the legs. To customize the training, this study explores the capabilities of a live feedback system that modulates split-belt tread speeds based on real-time step length asymmetry. Materials and methods Fourteen healthy individuals participated in two 1.5-h gait training sessions scheduled 1 week apart. They were asked to walk on the Computer Assisted Rehabilitation Environment (CAREN) split-belt treadmill system with a boot on one foot to impose asymmetrical gait patterns. Each training session consisted of a 3-min baseline, 10-min baseline with boot, 10-min feedback with boot (6% asymmetry exaggeration in the first session and personalized in the second), 5-min post feedback with boot, and 3-min post feedback without boot. A proportional-integral (PI) controller was used to maintain a specified step-length asymmetry by changing the tread speed ratios during the 10-min feedback period. After the first session, a linear model between baseline asymmetry exaggeration and post-intervention asymmetry improvement was utilized to develop a relationship between target exaggeration and target post-intervention asymmetry. In the second session, this model predicted a necessary target asymmetry exaggeration to replace the original 6%. This prediction was intended to result in a highly symmetric post-intervention step length. Results and discussion Eleven out of 14 participants (78.6%) developed a successful relationship between asymmetry exaggeration and decreased asymmetry in the post-intervention period of the first session. Seven out of the 11 participants (63.6%) in this successful correlation group had second session post-intervention asymmetries of < 3.5%. Conclusions The use of a PI controller to modulate split-belt tread speeds demonstrated itself to be a viable method for individualizing split-belt treadmill training. 

Abstract Gait rehabilitation therapies provide adjusted sensory inputs to modify and retrain walking patterns in an impaired gait. Asymmetric walking is a common gait abnormality, especially among stroke survivors. Physical therapy interventions using adaptation techniques (such as treadmill training, auditory stimulation, visual biofeedback, etc.) train gait toward symmetry. However, a single rehabilitation therapy comes up short of affecting all aspects of gait performance. Multiple-rehabilitation therapy applies simultaneous stimuli to affect a wider range of gait parameters and create flexible training regiments. Understanding gait responses to individual and jointly applied stimuli is important for developing improved and efficient therapies. In this study, 16 healthy subjects participated in a four-session experiment to study gait kinetics and spatiotemporal outcomes under training. Each session consisted of two stimuli, treadmill training and auditory stimulation, with symmetric or asymmetric ratios between legs. The study hypothesizes a linear model for gait response patterns. We found that the superposition principle largely applies to the gait response under two simultaneous stimuli. The linear models developed in this study fit the actual data from experiments with the r-squared values of 0.95 or more. 

Abstract Direct transfer of pre-patterned device-grade nano-to-microscale materials highly benefits many existing and potential, high performance, heterogeneously integrated functional systems over conventional lithography-based microfabrication. We present, in combined theory and experiment, a self-delamination-driven pattern transfer of a single crystalline silicon thin membrane via well-controlled interfacial design in liquid media. This pattern transfer allows the usage of an intermediate or mediator substrate where both front and back sides of a thin membrane are capable of being integrated with standard lithographical processing, thereby achieving deterministic assembly of the thin membrane into a multi-functional system. Implementations of these capabilities are demonstrated in broad variety of applications ranging from electronics to microelectromechanical systems, wetting and filtration, and metamaterials.