@article{KetelhutKolditzGoelletal.2019, author = {Ketelhut, Maike and Kolditz, Melanie and G{\"o}ll, Fabian and Braunstein, Bjoern and Albracht, Kirsten and Abel, Dirk}, title = {Admittance control of an industrial robot during resistance training}, series = {IFAC-PapersOnLine}, volume = {52}, journal = {IFAC-PapersOnLine}, number = {19}, publisher = {Elsevier}, address = {Amsterdam}, issn = {2405-8963}, doi = {10.1016/j.ifacol.2019.12.102}, pages = {223 -- 228}, year = {2019}, abstract = {Neuromuscular strength training of the leg extensor muscles plays an important role in the rehabilitation and prevention of age and wealth related diseases. In this paper, we focus on the design and implementation of a Cartesian admittance control scheme for isotonic training, i.e. leg extension and flexion against a predefined weight. For preliminary testing and validation of the designed algorithm an experimental research and development platform consisting of an industrial robot and a force plate mounted at its end-effector has been used. Linear, diagonal and arbitrary two-dimensional motion trajectories with different weights for the leg extension and flexion part are applied. The proposed algorithm is easily adaptable to trajectories consisting of arbitrary six-dimensional poses and allows the implementation of individualized trajectories.}, language = {en} } @inproceedings{KetelhutGoellBraunsteinetal.2019, author = {Ketelhut, Maike and G{\"o}ll, Fabian and Braunstein, Bjoern and Albracht, Kirsten and Abel, Dirk}, title = {Iterative learning control of an industrial robot for neuromuscular training}, series = {2019 IEEE Conference on Control Technology and Applications}, booktitle = {2019 IEEE Conference on Control Technology and Applications}, publisher = {IEEE}, address = {New York}, isbn = {978-1-7281-2767-5 (ePub)}, doi = {10.1109/CCTA.2019.8920659}, pages = {7 Seiten}, year = {2019}, abstract = {Effective training requires high muscle forces potentially leading to training-induced injuries. Thus, continuous monitoring and controlling of the loadings applied to the musculoskeletal system along the motion trajectory is required. In this paper, a norm-optimal iterative learning control algorithm for the robot-assisted training is developed. The algorithm aims at minimizing the external knee joint moment, which is commonly used to quantify the loading of the medial compartment. To estimate the external knee joint moment, a musculoskeletal lower extremity model is implemented in OpenSim and coupled with a model of an industrial robot and a force plate mounted at its end-effector. The algorithm is tested in simulation for patients with varus, normal and valgus alignment of the knee. The results show that the algorithm is able to minimize the external knee joint moment in all three cases and converges after less than seven iterations.}, language = {en} } @misc{BlottnerHastermannMuckeltetal.2019, author = {Blottner, Dieter and Hastermann, Maria and Muckelt, Paul and Albracht, Kirsten and Schoenrock, Britt and Salanova, Michele and Warner, Martin and Gunga, Hans-Christian and Stokes, Maria}, title = {MYOTONES - Inflight muscle health status monitoring during long-duration space missions onboard the International Space Station: a single case study}, series = {IAC Papers Archive}, journal = {IAC Papers Archive}, publisher = {Pergamon}, address = {Oxford}, issn = {00741795}, pages = {2 Seiten}, year = {2019}, abstract = {The MYOTONES experiment is the first to monitor changes in the basic biomechanical properties (tone, elasticity and stiffness) of the resting human myofascial system due to microgravity with a oninvasive, portable device on board the ISS. The MyotonPRO device applies several brief mechanical stimuli to the surface of the skin, and the natural oscillation signals of the tissue beneath are detected and computed by the MyotonPRO. Thus, an objective, quick and easy determination of the state of the underlying tissue is possible. Two preflight, four inflight and four post flight measurements were performed on a male astronaut using the same 10 measurement points (MP) for each session. MPs were located on the plantar fascia, Achilles tendon, M. soleus, M. gastrocnemius, M. multifidus, M. splenius capitis, M. deltoideus anterior, M. rectus femoris, infrapatellar tendon, M. tibialis anterior. Subcutaneous tissues thickness above the MPs was measured using ultrasound imaging. Magnetic resonance images (MRI) of lower limb muscles and functional tests were also performed pre- and postflight. Our first measurements on board the ISS confirmed increased tone and stiffness of the lumbar multifidus muscle, an important trunk stabilizer, dysfunction of which is known to be associated with back pain. Furthermore, reduced tone and stiffness of Achilles tendon and plantar fascia were observed inflight vs. preflight, confirming previous findings from terrestrial analog studies and parabolic flights. Unexpectedly, the deltoid showed negative inflight changes in tone and stiffness, and increased elasticity, suggesting a potential risk of muscle atrophy in longer spaceflight that should be addressed by adequate inflight countermeasure protocols. Most values from limb and back MPS showed deflected patterns (in either directions) from inflight shortly after the re-entry phase on the landing day and one week later. Most parameter values then normalized to baseline after 3 weeks likely due to 1G re-adaptation and possible outcome of the reconditioning protocol. No major changes in subcutaneous tissues thickness above the MPs were found inflight vs preflight, suggesting no bias (i.e., fluid shift, extreme tissue thickening or loss). Pre- and postflight MRI and functional tests showed negligible changes in calf muscle size, power and force, which is likely due to training effects from current inflight exercise protocols. The MYOTONES experiment is currently ongoing to collect data from further crew members. The potential impact of this research is to better understand the effects of microgravity and countermeasures over the time course of an ISS mission cycle. This will enable exercise countermeasures to be tailored}, language = {en} } @article{WerkhausenCroninAlbrachtetal.2019, author = {Werkhausen, Amelie and Cronin, Neil J. and Albracht, Kirsten and Paulsen, G{\o}ran and Larsen, Askild V. and Bojsen-M{\o}ller, Jens and Seynnes, Olivier R.}, title = {Training-induced increase in Achilles tendon stiffness affects tendon strain pattern during running}, series = {PeerJ}, journal = {PeerJ}, publisher = {Peer}, address = {London}, issn = {21678359}, doi = {10.7717/peerj.6764}, pages = {18 Seiten}, year = {2019}, abstract = {Background During the stance phase of running, the elasticity of the Achilles tendon enables the utilisation of elastic energy and allows beneficial contractile conditions for the triceps surae muscles. However, the effect of changes in tendon mechanical properties induced by chronic loading is still poorly understood. We tested the hypothesis that a training-induced increase in Achilles tendon stiffness would result in reduced tendon strain during the stance phase of running, which would reduce fascicle strains in the triceps surae muscles, particularly in the mono-articular soleus. Methods Eleven subjects were assigned to a training group performing isometric singleleg plantarflexion contractions three times per week for ten weeks, and another ten subjects formed a control group. Before and after the training period, Achilles tendon stiffness was estimated, and muscle-tendon mechanics were assessed during running at preferred speed using ultrasonography, kinematics and kinetics. Results Achilles tendon stiffness increased by 18\% (P <0:01) in the training group, but the associated reduction in strain seen during isometric contractions was not statistically significant. Tendon elongation during the stance phase of running was similar after training, but tendon recoil was reduced by 30\% (P <0:01), while estimated tendon force remained unchanged. Neither gastrocnemius medialis nor soleus fascicle shortening during stance was affected by training. Discussion These results show that a training-induced increase in Achilles tendon stiffness altered tendon behaviour during running. Despite training-induced changes in tendon mechanical properties and recoil behaviour, the data suggest that fascicle shortening patterns were preserved for the running speed that we examined. The asymmetrical changes in tendon strain patterns supports the notion that simple inseries models do not fully explain the mechanical output of the muscle-tendon unit during a complex task like running.}, language = {en} } @article{KetelhutGoellBraunsteinetal.2018, author = {Ketelhut, Maike and G{\"o}ll, Fabian and Braunstein, Bj{\"o}rn and Albracht, Kirsten and Abel, Dirk}, title = {Comparison of different training algorithms for the leg extension training with an industrial robot}, series = {Current Directions in Biomedical Engineering}, volume = {4}, journal = {Current Directions in Biomedical Engineering}, number = {1}, publisher = {De Gruyter}, address = {Berlin}, issn = {2364-5504}, doi = {10.1515/cdbme-2018-0005}, pages = {17 -- 20}, year = {2018}, abstract = {In the past, different training scenarios have been developed and implemented on robotic research platforms, but no systematic analysis and comparison have been done so far. This paper deals with the comparison of an isokinematic (motion with constant velocity) and an isotonic (motion against constant weight) training algorithm. Both algorithms are designed for a robotic research platform consisting of a 3D force plate and a high payload industrial robot, which allows leg extension training with arbitrary six-dimensional motion trajectories. In the isokinematic as well as the isotonic training algorithm, individual paths are defined i n C artesian s pace by sufficient s upport p oses. I n t he i sotonic t raining s cenario, the trajectory is adapted to the measured force as the robot should only move along the trajectory as long as the force applied by the user exceeds a minimum threshold. In the isotonic training scenario however, the robot's acceleration is a function of the force applied by the user. To validate these findings, a simulative experiment with a simple linear trajectory is performed. For this purpose, the same force path is applied in both training scenarios. The results illustrate that the algorithms differ in the force dependent trajectory adaption.}, language = {en} } @book{StaatDigelTrzewiketal.2024, author = {Staat, Manfred and Digel, Ilya and Trzewik, J{\"u}rgen and Sielemann, Stefanie and Erni, Daniel and Zylka, Waldemar}, title = {Symposium Proceedings; 4th YRA MedTech Symposium 2024 : February 1 / 2024 / FH Aachen}, publisher = {Universit{\"a}t Duisburg-Essen}, address = {Duisburg}, organization = {MedTech Symposium}, isbn = {978-3-940402-65-3}, doi = {10.17185/duepublico/81475}, pages = {40 Seiten}, year = {2024}, language = {en} } @inproceedings{SchmitzApandiSpillneretal.2024, author = {Schmitz, Annika and Apandi, Shah Eiman Amzar Shah and Spillner, Jan and Hima, Flutura and Behbahani, Mehdi}, title = {Effect of different cannula positions in the pulmonary artery on blood flow and gas exchange using computational fluid dynamics analysis}, series = {YRA MedTech Symposium (2024)}, booktitle = {YRA MedTech Symposium (2024)}, editor = {Digel, Ilya and Staat, Manfred and Trzewik, J{\"u}rgen and Sielemann, Stefanie and Erni, Daniel and Zylka, Waldemar}, publisher = {Universit{\"a}t Duisburg-Essen}, address = {Duisburg}, organization = {MedTech Symposium}, isbn = {978-3-940402-65-3}, doi = {10.17185/duepublico/81475}, pages = {29 -- 30}, year = {2024}, abstract = {Pulmonary arterial cannulation is a common and effective method for percutaneous mechanical circulatory support for concurrent right heart and respiratory failure [1]. However, limited data exists to what effect the positioning of the cannula has on the oxygen perfusion throughout the pulmonary artery (PA). This study aims to evaluate, using computational fluid dynamics (CFD), the effect of different cannula positions in the PA with respect to the oxygenation of the different branching vessels in order for an optimal cannula position to be determined. The four chosen different positions (see Fig. 1) of the cannulas are, in the lower part of the main pulmonary artery (MPA), in the MPA at the junction between the right pulmonary artery (RPA) and the left pulmonary artery (LPA), in the RPA at the first branch of the RPA and in the LPA at the first branch of the LPA.}, language = {en} } @inproceedings{SherelkhanAlibekova2024, author = {Sherelkhan, Dinara and Alibekova, Alina}, title = {EEM spectroscopy characterization of humic substances of biomedical importance}, series = {YRA MedTech Symposium (2024)}, booktitle = {YRA MedTech Symposium (2024)}, editor = {Digel, Ilya and Staat, Manfred and Trzewik, J{\"u}rgen and Sielemann, Stefanie and Erni, Daniel and Zylka, Waldemar}, publisher = {Universit{\"a}t Duisburg-Essen}, address = {Duisburg}, organization = {MedTech Symposium}, isbn = {978-3-940402-65-3}, doi = {10.17185/duepublico/81475}, pages = {31 -- 32}, year = {2024}, abstract = {Humic substances possess distinctive chemical features enabling their use in many advanced applications, including biomedical fields. No chemicals in nature have the same combination of specific chemical and biological properties as humic substances. Traditional medicine and modern research have demonstrated that humic substances from different sources possess immunomodulatory and anti-inflammatory properties, which makes them suitable for the prevention and treatment of chronic dermatoses, allergic rhinitis, atopic dermatitis, and other conditions characterized by inflammatory and allergic responses [1-4]. The use of humic compounds as agentswith antifungal and antiviral properties shows great potential [5-7].}, language = {en} } @inproceedings{Tepecik2024, author = {Tepecik, Atakan}, title = {AstroBioLab: Review of technical and bioanalytical approaches}, series = {YRA MedTech Symposium (2024)}, booktitle = {YRA MedTech Symposium (2024)}, editor = {Digel, Ilya and Staat, Manfred and Trzewik, J{\"u}rgen and Sielemann, Stefanie and Erni, Daniel and Zylka, Waldemar}, publisher = {Universit{\"a}t Duisburg-Essen}, address = {Duisburg}, organization = {MedTech Symposium}, isbn = {978-3-940402-65-3}, doi = {10.17185/duepublico/81475}, pages = {33 -- 34}, year = {2024}, abstract = {This study presents the concept of AstroBioLab, an autonomous astrobiological field laboratory tailored for the exploration of (sub)glacial habitats. AstroBioLab is an integral component of the TRIPLE (Technologies for Rapid Ice Penetration and subglacial Lake Exploration) DLR-funded project, aimed at advancing astrobiology research through the development and deployment of innovative technologies. AstroBioLab integrates diverse measurement techniques such as fluorescence microscopy, DNA sequencing and fluorescence spectrometry, while leveraging microfluidics for efficient sample delivery and preparation.}, language = {en} } @article{StaeudleSeynnesLapsetal.2022, author = {St{\"a}udle, Benjamin and Seynnes, Olivier and Laps, Guido and Br{\"u}ggemann, Gert-Peter and Albracht, Kirsten}, title = {Altered gastrocnemius contractile behavior in former achilles tendon rupture patients during walking}, series = {Frontiers in Physiology}, volume = {13}, journal = {Frontiers in Physiology}, publisher = {Frontiers Research Foundation}, address = {Lausanne}, issn = {1664-042X}, doi = {10.3389/fphys.2022.792576}, pages = {12 Seiten}, year = {2022}, abstract = {Achilles tendon rupture (ATR) remains associated with functional limitations years after injury. Architectural remodeling of the gastrocnemius medialis (GM) muscle is typically observed in the affected leg and may compensate force deficits caused by a longer tendon. Yet patients seem to retain functional limitations during—low-force—walking gait. To explore the potential limits imposed by the remodeled GM muscle-tendon unit (MTU) on walking gait, we examined the contractile behavior of muscle fascicles during the stance phase. In a cross-sectional design, we studied nine former patients (males; age: 45 ± 9 years; height: 180 ± 7 cm; weight: 83 ± 6 kg) with a history of complete unilateral ATR, approximately 4 years post-surgery. Using ultrasonography, GM tendon morphology, muscle architecture at rest, and fascicular behavior were assessed during walking at 1.5 m⋅s-1 on a treadmill. Walking patterns were recorded with a motion capture system. The unaffected leg served as control. Lower limbs kinematics were largely similar between legs during walking. Typical features of ATR-related MTU remodeling were observed during the stance sub-phases corresponding to series elastic element (SEE) lengthening (energy storage) and SEE shortening (energy release), with shorter GM fascicles (36 and 36\%, respectively) and greater pennation angles (8° and 12°, respectively). However, relative to the optimal fascicle length for force production, fascicles operated at comparable length in both legs. Similarly, when expressed relative to optimal fascicle length, fascicle contraction velocity was not different between sides, except at the time-point of peak series elastic element (SEE) length, where it was 39 ± 49\% lower in the affected leg. Concomitantly, fascicles rotation during contraction was greater in the affected leg during the whole stance-phase, and architectural gear ratios (AGR) was larger during SEE lengthening. Under the present testing conditions, former ATR patients had recovered a relatively symmetrical walking gait pattern. Differences in seen AGR seem to accommodate the profound changes in MTU architecture, limiting the required fascicle shortening velocity. Overall, the contractile behavior of the GM fascicles does not restrict length- or velocity-dependent force potentials during this locomotor task.}, language = {en} }