ORCID Profile
0000-0003-3035-147X
Current Organisations
Friedrich-Alexander-Universität Erlangen-Nürnberg
,
Aalborg University
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Publisher: Springer International Publishing
Date: 13-10-2016
Publisher: IOP Publishing
Date: 22-08-2016
DOI: 10.1088/1748-3190/11/5/051002
Abstract: This review paper provides a synthetic yet critical overview of the key biomechanical principles of human bipedal walking and their current implementation in robotic platforms. We describe the functional role of human joints, addressing in particular the relevance of the compliant properties of the different degrees of freedom throughout the gait cycle. We focused on three basic functional units involved in locomotion, i.e. the ankle-foot complex, the knee, and the hip-pelvis complex, and their relevance to whole-body performance. We present an extensive review of the current implementations of these mechanisms into robotic platforms, discussing their potentialities and limitations from the functional and energetic perspectives. We specifically targeted humanoid robots, but also revised evidence from the field of lower-limb prosthetics, which presents innovative solutions still unexploited in the current humanoids. Finally, we identified the main critical aspects of the process of translating human principles into actual machines, providing a number of relevant challenges that should be addressed in future research.
Publisher: Springer International Publishing
Date: 16-10-2018
Publisher: Springer Science and Business Media LLC
Date: 26-05-2017
Publisher: The Company of Biologists
Date: 15-02-2021
DOI: 10.1242/DEV.197566
Abstract: During development, gene regulatory networks allocate cell fates by partitioning tissues into spatially organised domains of gene expression. How the sharp boundaries that delineate these gene expression patterns arise, despite the stochasticity associated with gene regulation, is poorly understood. We show, in the vertebrate neural tube, using perturbations of coding and regulatory regions, that the structure of the regulatory network contributes to boundary precision. This is achieved, not by reducing noise in in idual genes, but by the configuration of the network modulating the ability of stochastic fluctuations to initiate gene expression changes. We use a computational screen to identify network properties that influence boundary precision, revealing two dynamical mechanisms by which small gene circuits attenuate the effect of noise in order to increase patterning precision. These results highlight design principles of gene regulatory networks that produce precise patterns of gene expression.
Publisher: Springer International Publishing
Date: 13-10-2017
Publisher: Frontiers Media SA
Date: 17-09-2015
Publisher: IOP Publishing
Date: 22-10-2018
Abstract: Robotic prosthetic limbs promise to replace mechanical function of lost biological extremities and restore utees' capacity of moving and interacting with the environment. Despite recent advances in biocompatible electrodes, surgical procedures, and mechatronics, the impact of current solutions is h ered by the lack of intuitive and robust man-machine interfaces. This work presents a biomimetic interface that synthetizes the musculoskeletal function of an in idual's phantom limb as controlled by neural surrogates, i.e. electromyography-derived neural activations. With respect to current approaches based on machine learning, our method employs explicit representations of the musculoskeletal system to reduce the space of feasible solutions in the translation of electromyograms into prosthesis control commands. Electromyograms are mapped onto mechanical forces that belong to a subspace contained within the broader operational space of an in idual's musculoskeletal system. Our results show that this constraint makes the approach applicable to real-world scenarios and robust to movement artefacts. This stems from the fact that any control command must always exist within the musculoskeletal model operational space and be therefore physiologically plausible. The approach was effective both on intact-limbed in iduals and a transradial utee displaying robust online control of multi-functional prostheses across a large repertoire of challenging tasks. The development and translation of man-machine interfaces that account for an in idual's neuromusculoskeletal system creates unprecedented opportunities to understand how disrupted neuro-mechanical processes can be restored or replaced via biomimetic wearable assistive technologies.
Publisher: Elsevier BV
Date: 2018
Publisher: Cold Spring Harbor Laboratory
Date: 31-07-2019
DOI: 10.1101/721043
Abstract: During development, gene regulatory networks allocate cell fates by partitioning tissues into spatially organised domains of gene expression. How the sharp boundaries that delineate these gene expression patterns arise, despite the stochasticity associated with gene regulation, is poorly understood. We show, in the vertebrate neural tube, using perturbations of coding and regulatory regions, that the structure of the regulatory network contributes to boundary precision. This is achieved, not by reducing noise in in idual genes, but by the configuration of the network modulating the ability of stochastic fluctuations to initiate gene expression changes. We use a computational screen to identify network properties that influence boundary precision, revealing two dynamical mechanisms by which small gene circuits attenuate the effect of noise in order to increase patterning precision. These results highlight design principles of gene regulatory networks that produce precise patterns of gene expression.
Publisher: Springer Science and Business Media LLC
Date: 05-11-2022
DOI: 10.1186/S12984-022-01097-1
Abstract: The development of bionic legs has seen substantial improvements in the past years but people with lower-limb utation still suffer from impairments in mobility (e.g., altered balance and gait control) due to significant limitations of the contemporary prostheses. Approaching the problem from a human-centered perspective by focusing on user-specific needs can allow identifying critical improvements that can increase the quality of life. While there are several reviews of user needs regarding upper limb prostheses, a comprehensive summary of such needs for those affected by lower limb loss does not exist. We have conducted a systematic review of the literature to extract important needs of the users of lower-limb prostheses. The review included 56 articles in which a need (desire, wish) was reported explicitly by the recruited people with lower limb utation (N = 8149). An exhaustive list of user needs was collected and sub ided into functional, psychological, cognitive, ergonomics, and other domain. Where appropriate, we have also briefly discussed the developments in prosthetic devices that are related to or could have an impact on those needs. In summary, the users would like to lead an independent life and reintegrate into society by coming back to work and participating in social and leisure activities. Efficient, versatile, and stable gait, but also support to other activities (e.g., sit to stand), contribute to safety and confidence, while appearance and comfort are important for the body image. However, the relation between specific needs, objective measures of performance, and overall satisfaction and quality of life is still an open question. Identifying user needs is a critical step for the development of new generation lower limb prostheses that aim to improve the quality of life of their users. However, this is not a simple task, as the needs interact with each other and depend on multiple factors (e.g., mobility level, age, gender), while evolving in time with the use of the device. Hence, novel assessment methods are required that can evaluate the impact of the system from a holistic perspective, capturing objective outcomes but also overall user experience and satisfaction in the relevant environment (daily life).
Publisher: eLife Sciences Publications, Ltd
Date: 05-10-2016
DOI: 10.7554/ELIFE.20304
Abstract: Cholesterol is necessary for the function of many G-protein coupled receptors (GPCRs). We find that cholesterol is not just necessary but also sufficient to activate signaling by the Hedgehog (Hh) pathway, a prominent cell-cell communication system in development. Cholesterol influences Hh signaling by directly activating Smoothened (SMO), an orphan GPCR that transmits the Hh signal across the membrane in all animals. Unlike many GPCRs, which are regulated by cholesterol through their heptahelical transmembrane domains, SMO is activated by cholesterol through its extracellular cysteine-rich domain (CRD). Residues shown to mediate cholesterol binding to the CRD in a recent structural analysis also dictate SMO activation, both in response to cholesterol and to native Hh ligands. Our results show that cholesterol can initiate signaling from the cell surface by engaging the extracellular domain of a GPCR and suggest that SMO activity may be regulated by local changes in cholesterol abundance or accessibility.
Publisher: IEEE
Date: 09-2007
Publisher: IEEE
Date: 09-2007
Publisher: Springer International Publishing
Date: 2014
Location: United Kingdom of Great Britain and Northern Ireland
Location: Germany
Location: United Kingdom of Great Britain and Northern Ireland
No related grants have been discovered for Strahinja Dosen.