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Robots based on simplified or abstracted biomechanical concepts can be a useful tool for investigating how and why animals move the way they do. In this paper we present an extremely simple quadruped robot, which is able to walk with no form of software or controller. Instead, individual leg movements are triggered directly by switches on each leg which detect leg loading and unloading. As the robot progresses, pitching and rolling movements of its body result in a gait emerging with a consistent leg movement order, despite variations in stride and stance time. This gait has similarities to the gaits used by walking primates and grazing livestock, and is close to the gait which was recently theorised to derive from animal body geometry. As well as presenting the design and construction of the robot, we present experimental measurements of the robot’s gait kinematics and ground reaction forces determined using high speed video and a pressure mat, and compare these to gait parameters of animals taken from literature. Our results support the theory that body geometry is a key determinant of animal gait at low speeds, and also demonstrate that steady state locomotion can be achieved with little to no active control.

Mechanical forces play an important role in the behavior and development of biological systems and disease at all spatial scales, from cells and their constituents to tissues and organs. Such forces have a profound influence on the health, structural integrity, and normal function of cells and organs. Accurate knowledge of cell and tissue biomechanical properties is essential to map the distribution of forces and mechanical cues in biological systems. Cell and tissue biomechanical properties are also known to be important on their own as indicators of health or disease states. Hence, optical elastography and biomechanics methods can aid in the understanding and clinical diagnosis of a wide variety of diseases. We provide a brief overview and highlight of the Optical Elastography and Tissue Biomechanics VI conference, which took place in San Francisco, February 2 and 3, 2019, as a part of Photonics West symposium.

A new computational methodology for the accurate numerical calculation of the Cauchy stress tensor, stress invariants, principal stress components, von Mises and Tresca tensors is developed. The methodology is based on the atomic stress approach which permits the calculation of stress tensors, widely used in continuum mechanics modeling of materials properties, using the output from the MD simulations of discrete atomic and \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{upgreek} \usepackage{mathrsfs} \setlength{\oddsidemargin}{-69pt} \begin{document} }{}\end{document}Cα-based coarse-grained structural models of biological particles. The methodology mapped into the software package TensorCalculator was successfully applied to the empty cowpea chlorotic mottle virus (CCMV) shell to explore the evolution of mechanical stress in this mechanically-tested specific example of a soft virus capsid. We found an inhomogeneous stress distribution in various portions of the CCMV structure and stress transfer from one portion of the virus structure to another, which also points to the importance of entropic effects, often ignored in finite element analysis and elastic network modeling. We formulate a criterion for elastic deformation using the first principal stress components. Furthermore, we show that von Mises and Tresca stress tensors can be used to predict the onset of a viral capsid’s mechanical failure, which leads to total structural collapse. TensorCalculator can be used to study stress evolution and dynamics of defects in viral capsids and other large-size protein assemblies.

Background Diagrammatic recording of finger joint angles by using two criss-crossed paper strips can be a quick substitute to the standard goniometry. As a preliminary step toward clinical validation of the diagrammatic technique, the current study employed healthy subjects and non-professional raters to explore whether reliability estimates of the diagrammatic goniometry are comparable with those of the standard procedure. Methods The study included two procedurally different parts, which were replicated by assigning 24 medical students to act interchangeably as 12 subjects and 12 raters. A larger component of the study was designed to compare goniometers side-by-side in measurement of finger joint angles varying from subject to subject. In the rest of the study, the instruments were compared by parallel evaluations of joint angles similar for all subjects in a situation of simulated change of joint range of motion over time. The subjects used special guides to position the joints of their left ring finger at varying angles of flexion and extension. The obtained diagrams of joint angles were converted to numerical values by computerized measurements. The statistical approaches included calculation of appropriate intraclass correlation coefficients, standard errors of measurements, proportions of measurement differences of 5 or less degrees, and significant differences between paired observations. Results Reliability estimates were similar for both goniometers. Intra-rater and inter-rater intraclass correlation coefficients ranged from 0.69 to 0.93. The corresponding standard errors of measurements ranged from 2.4 to 4.9 degrees. Repeated measurements of a considerable number of raters fell within clinically non-meaningful 5 degrees of each other in proportions comparable with a criterion value of 0.95. Data collected with both instruments could be similarly interpreted in a simulated situation of change of joint range of motion over time. Conclusions The paper goniometer and the standard goniometer can be used interchangeably by non-professional raters for evaluation of normal finger joints. The obtained results warrant further research to assess clinical performance of the paper strip technique.

Cadaveric lumbar spine specimens of "motion segments", each including two vertebrae and the linking disc and facet joints, were compressed. The pressure across the facet joints was measured using interposed pressure-recording paper. This was repeated for 12 pairs of facet joints at four angles of posture and with three different disc heights. The results were that pressure between the facets increased significantly with narrowing of the disc space and with increasing angles of extension. Extra-articular impingement was found to be caused, or worsened, by disc space narrowing. Increased pressure or impingement may be a source of pain in patients with reduced disc spaces.