Biocybernetics and Biomedical Engineering最新文献

{"title":"Numerical aspects of modeling flow through the cerebral artery system with multiple small perforators","authors":"Michał Tomaszewski ,&nbsp;Michał Kucewicz ,&nbsp;Radosław Rzepliński ,&nbsp;Jerzy Małachowski ,&nbsp;Bogdan Ciszek","doi":"10.1016/j.bbe.2024.04.002","DOIUrl":"https://doi.org/10.1016/j.bbe.2024.04.002","url":null,"abstract":"<div><p>This study investigates the flow and hemodynamics of small perforator blood vessels that branch from the basilar artery (BA) in the brain. Using advanced imaging techniques and computational fluid dynamics (CFD) simulations, detailed 3D geometries of the perforators were acquired through barium contrast injection, micro-CT scans, and data processing. The hybrid geometry, combining micro-CT scans and mesh extraction algorithms, provided accurate vessel models. The influence of different types of finite volume on the analysis was examined, with polyhedral elements showing the most efficient ratio of the analysis time to convergence level. Additionally, the effect of boundary conditions on hemodynamic parameters was studied. Simulations using 0.0 mmHg pressure conditions at the outlets directed flow mainly through the BA, neglecting the perforator branches. In contrast, non-zero outlet pressure conditions significantly increased the flow in the perforators, leading to non-physiological flow velocities and overestimation of hemodynamic parameters. The assumption of pressure conditions of 0 mmHg at outlets was found to be valid for simple single vessel geometries, but not for more complex vascular systems. This research contributes valuable information on the complex flow patterns and hemodynamics of small perforator blood vessels in the brain and emphasizes the importance of accurately modeling geometry and boundary conditions in such studies.</p></div>","PeriodicalId":55381,"journal":{"name":"Biocybernetics and Biomedical Engineering","volume":"44 2","pages":"Pages 341-357"},"PeriodicalIF":6.4,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140645474","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Improving the insulin therapy for diabetic patients using optimal impulsive disturbance rejection: Continuous time approach","authors":"Martin Dodek,&nbsp;Eva Miklovičová,&nbsp;Miroslav Halás","doi":"10.1016/j.bbe.2024.05.003","DOIUrl":"https://doi.org/10.1016/j.bbe.2024.05.003","url":null,"abstract":"<div><p>The paper proposes a new model-based optimization approach to improve the clinical efficiency of compensatory insulin bolus treatment in diabetic patients, aiming to mitigate the consequences of diabetes. The most important contribution of this paper is a novel methodology for determining the optimal parameters of insulin treatment, namely the size and timing of insulin boluses, to effectively compensate for carbohydrate intake. This concept can be seen as the so-called optimal model-based bolus calculator. The presented theoretical framework deals with the problem of optimal disturbance rejection in impulsive systems by minimizing an integral quadratic cost function. The methodology considers a personalized empirical transfer function model with static gains and time constants as the only parameters assumed to be known, making the bolus calculator more straightforward to implement in clinical practice. Contrary to other techniques, the proposed methodology considers impulsive insulin administration in the form of boluses, which is more feasible than continuous infusion. In contrast to the conventional bolus calculator, the proposed algorithm allows for maximizing therapy performance by optimizing the relative time of insulin bolus administration with respect to carbohydrate intake. Another feature to highlight is that the solution of the optimization problem can be obtained analytically, hence no numerical iterative solvers are required. Additionally, the continuous-time domain approach allows for a much finer adjustments of the insulin administration timing compared to discrete-time models. The proposed approach was validated in an in-silico study, which demonstrated the importance of systematically determined insulin–carbohydrate ratio and the relative delay between disturbance and its compensation. The results showed that the proposed optimal bolus calculator outperforms the traditional suboptimal formula.</p></div>","PeriodicalId":55381,"journal":{"name":"Biocybernetics and Biomedical Engineering","volume":"44 2","pages":"Pages 414-430"},"PeriodicalIF":6.4,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141241422","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Discriminative features pyramid network for medical image segmentation","authors":"Xiwang Xie ,&nbsp;Lijie Xie ,&nbsp;Guanyu Li ,&nbsp;Hao Guo ,&nbsp;Weidong Zhang ,&nbsp;Feng Shao ,&nbsp;Wenyi Zhao ,&nbsp;Ling Tong ,&nbsp;Xipeng Pan ,&nbsp;Jubai An","doi":"10.1016/j.bbe.2024.04.001","DOIUrl":"https://doi.org/10.1016/j.bbe.2024.04.001","url":null,"abstract":"<div><p>The diverse shapes and scales, complicated backgrounds, blurred boundaries, and similar appearances challenge the current organ segmentation methods in medical scene images. It is difficult to acquire satisfactory performance to directly extend the object segmentation methods in the natural scene images to the medical scene images. In this paper, we propose a discriminant feature pyramid (DFPNet) network for organ segmentation in the original medical images, which consists of two sub-networks: the feature steered network and the border network. To be specific, the feature steered network takes a top-down step-wise manner to extract abundant context information, which is conducive to suppressing the cluttered background and perceiving the scale variation of objects. The border network utilizes a bottom-up step-wise manner to optimize the boundary feature map, which aims at distinguishing adjacent edge features with similar appearances but diverse labels. A series of experiments were conducted on three publicly available medical datasets ( i.e., LUNA 16, RIM-ONE-R1, and VNC datasets) to evaluate the validity and generalization of the proposed DFPNet. Experimental results indicate that our network achieves superior performance in terms of the receiver operating characteristic (ROC) curve, F-Score, Jaccard index, and Hausdorff distance. The code will be available at: <span>https://github.com/Xie-Xiwang/DFPNet</span><svg><path></path></svg>.</p></div>","PeriodicalId":55381,"journal":{"name":"Biocybernetics and Biomedical Engineering","volume":"44 2","pages":"Pages 327-340"},"PeriodicalIF":6.4,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140605225","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A linear-attention-combined convolutional neural network for EEG-based visual stimulus recognition","authors":"Junjie Huang,&nbsp;Wanzhong Chen,&nbsp;Tao Zhang","doi":"10.1016/j.bbe.2024.05.001","DOIUrl":"https://doi.org/10.1016/j.bbe.2024.05.001","url":null,"abstract":"<div><p>The recognition task of visual stimuli based on EEG (Electroencephalogram) has become a major and important topic in the field of Brain–Computer Interfaces (BCI) research. Although the underlying spatial features of EEG can effectively represent visual stimulus information, it still remains a highly challenging task to explore the local–global information of the underlying EEG to achieve better decoding performance. Therefore, in this paper we propose a deep learning architecture called Linear-Attention-combined Convolutional Neural Network (LACNN) for visual stimuli EEG-based classification task. The proposed architecture combines the modules of Convolutional Neural Networks (CNN) and Linear Attention, effectively extracting local and global features of EEG for decoding while maintaining low computational complexity and model parameters. We conducted extensive experiments on a public EEG dataset from the Stanford Digital Repository. The experimental results demonstrate that LACNN achieves an average decoding accuracy of 54.13% and 29.83% in 6-category and 72-exemplar classification tasks respectively, outperforming the state-of-the-art methods, which indicates that our method can effectively decode visual stimuli from EEG. Further analysis of LACNN shows that the Linear Attention module improves the separability between different category features and localizes key brain region information that aligns with the paradigm principles.</p></div>","PeriodicalId":55381,"journal":{"name":"Biocybernetics and Biomedical Engineering","volume":"44 2","pages":"Pages 369-379"},"PeriodicalIF":6.4,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140924425","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Comparison of entropy rate measures for the evaluation of time series complexity: Simulations and application to heart rate and respiratory variability","authors":"Chiara Barà ,&nbsp;Riccardo Pernice ,&nbsp;Cristina Angela Catania ,&nbsp;Mirvana Hilal ,&nbsp;Alberto Porta ,&nbsp;Anne Humeau-Heurtier ,&nbsp;Luca Faes","doi":"10.1016/j.bbe.2024.04.004","DOIUrl":"https://doi.org/10.1016/j.bbe.2024.04.004","url":null,"abstract":"<div><p>Most real-world systems are characterised by dynamics and correlations emerging at multiple time scales, and are therefore referred to as complex systems. In this work, the complexity of time series produced by complex systems was investigated in the frame of information theory computing the entropy rate via the conditional entropy (CE) measure. A comparative investigation of several CE estimators, based on linear parametric and non-linear model-free representations of the process dynamics, was performed considering simulated linear autoregressive (AR) and mixed non-linear deterministic and linear stochastic dynamics processes, as well as physiological time series reflecting short-term cardiorespiratory dynamics. In simulations, the estimated CE values decreased when reducing the system complexity through an increase in the pole radius of the AR process or with the predominance of the deterministic behaviour in the mixed dynamics. In the application to cardiorespiratory dynamics, a reduction in physiological complexity was observed resulting from a regularization of the time series of heart rate and respiratory volume when decreasing the breathing rate. Our results evidence how simple and fast approaches based on linear parametric or permutation-based model-free estimators allow efficient discrimination of complexity changes in the short-term evolution of complex dynamic systems. However, in the presence of non-linear dynamics, the superiority of the more general but computationally expensive nearest-neighbour method is highlighted. These findings have implications for the assessment of complex dynamics both in clinical settings and in physiological monitoring.</p></div>","PeriodicalId":55381,"journal":{"name":"Biocybernetics and Biomedical Engineering","volume":"44 2","pages":"Pages 380-392"},"PeriodicalIF":6.4,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0208521624000287/pdfft?md5=7f496472fa37f0bb2608dbfe903fcbcf&pid=1-s2.0-S0208521624000287-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140924517","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A comparative analysis of coronary bypass implants: Experimental and fluid-structure interaction analysis","authors":"Shirin Changizi ,&nbsp;Nima Afrasiabian ,&nbsp;Aisa Rassoli ,&nbsp;Nasser Fatouraee ,&nbsp;Seyed Hossein Ahmadi Tafti","doi":"10.1016/j.bbe.2024.05.002","DOIUrl":"https://doi.org/10.1016/j.bbe.2024.05.002","url":null,"abstract":"<div><p>Bypass surgery is a commonly employed method for treating coronary artery diseases, involving the use of grafts to bypass occluded arteries. However, graft occlusion remains a concern due to mechanical disparities between the grafts and native arteries. This study aims to compare the mechanical properties of three frequently used grafts in coronary bypass surgeries: human saphenous veins, mammary arteries, and radial arteries. Stress-relaxation tests were conducted on samples obtained from these vessels, and their mechanical properties were characterized. The stress–strain curves of each sample were fitted using the quasi-linear viscoelastic (QLV) model, with MATLAB software used to extract the model's constants. Additionally, fluid–structure simulations were performed employing the extracted viscoelastic mechanical properties of the vessels. The analysis revealed that the saphenous vein exhibited the highest elastic coefficient (0.5247) and non-linearity coefficient (0.8135) among the studied grafts. The mammary artery demonstrated nearly seven times greater viscoelasticity compared to the other graft options. Furthermore, the examination of shear stress distribution indicated lower shear stress regions in the radial and mammary artery specimens compared to the saphenous specimens. Notably, the lower wall of the host artery exhibited the greatest oscillatory shear index (OSI), with the radial specimen displaying the highest oscillation in this region compared to the other two specimens. The mechanical characterization results presented in this study hold potential applications in pathogenic and clinical investigations of heart diseases, aiding in the development of appropriate treatment approaches.</p></div>","PeriodicalId":55381,"journal":{"name":"Biocybernetics and Biomedical Engineering","volume":"44 2","pages":"Pages 393-401"},"PeriodicalIF":6.4,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141072923","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Prediction of central nervous system oxygen toxicity symptoms using electrodermal activity and machine learning","authors":"Md-Billal Hossain ,&nbsp;Kia Golzari ,&nbsp;Youngsun Kong ,&nbsp;Bruce J. Derrick ,&nbsp;Richard E. Moon ,&nbsp;Michael J. Natoli ,&nbsp;M. Claire Ellis ,&nbsp;Christopher Winstead-Derlega ,&nbsp;Sara I. Gonzalez ,&nbsp;Christopher M. Allen ,&nbsp;Mathew S. Makowski ,&nbsp;Brian M. Keuski ,&nbsp;John J. Freiberger ,&nbsp;Hugo F. Posada-Quintero ,&nbsp;Ki H. Chon","doi":"10.1016/j.bbe.2024.03.004","DOIUrl":"https://doi.org/10.1016/j.bbe.2024.03.004","url":null,"abstract":"<div><h3>Objective</h3><p>Breathing elevated oxygen partial pressures (PO₂) prior to SCUBA diving increases the risk of developing central nervous system oxygen toxicity (CNS-OT), which could impair performance or result in seizure and subsequent drowning. We aimed to study the dynamics of electrodermal activity (EDA) while breathing elevated PO₂ in the hyperbaric environment (HBO₂) as a possible means to predict impending CNS-OT. To this end, we used machine learning to automatically detect and predict the onset of symptoms associated with CNS-OT in humans by using features derived from EDA in both time and frequency domains.</p></div><div><h3>Methods</h3><p>We collected electrodermal activity (EDA) data from forty-nine exposures to HBO₂ while subjects were undergoing cognitive load and exercise in a hyperbaric oxygen chamber. Four independent experts were present during the experiment to monitor and classify any symptoms associated with hyperbaric oxygen toxicity. We computed a highly sensitive time varying spectral EDA index, named TVSymp, and extracted informative features from skin conductance responses (SCRs). Machine learning algorithms were trained and validated for classifying features from SCRs and TVSymp as CNS-OT related or non-CNS-OT related. Machine learning models were validated using a subject-independent leave one subject out (LOSO) validation scheme.</p></div><div><h3>Results</h3><p>Our machine learning model was able to classify EDA dynamics related to CNS-OT with 100 % sensitivity and 84 % specificity via LOSO validation. Moreover, the median prediction time for CNS-OT symptoms was ∼ 250 s preceding the occurrence of actual symptoms.</p></div><div><h3>Significance</h3><p>This study shows that EDA can potentially be used for early prediction of CNS-OT in divers with a high sensitivity and sufficient prediction time for countermeasures. While the study results are promising, independent validation datasets are warranted to confirm the findings. However, the current results are well corroborated in an animal study, which consistently showed seizure prediction time of 2 min prior to seizure.</p></div>","PeriodicalId":55381,"journal":{"name":"Biocybernetics and Biomedical Engineering","volume":"44 2","pages":"Pages 304-311"},"PeriodicalIF":6.4,"publicationDate":"2024-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0208521624000226/pdfft?md5=6ad239b693b9abf97054efb9220f787c&pid=1-s2.0-S0208521624000226-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140296630","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Robust adaptive observer-based control of blood glucose level for type 1 diabetic patient","authors":"Masoud Seyedabadi,&nbsp;Ali Akbarzadeh Kalat","doi":"10.1016/j.bbe.2024.03.003","DOIUrl":"https://doi.org/10.1016/j.bbe.2024.03.003","url":null,"abstract":"<div><p>In this paper, an adaptive controller is designed to regulate the blood glucose level of type 1 diabetes mellitus while not all states of the system are measurable and also its parameters are unknown. The main goal in the control of diabetes is to preserve blood glucose level within a safe rang by a suitable injecting insulin rate to the patient. Herein, it is achieved by measuring the blood glucose level and proposed an observer based adaptive control system. In the proposed method, firstly, the dynamic equations of nonlinear Bergman minimal model (BMM) are transformed into a companion form. Then an adaptive observer is presented to simultaneously estimate the state variables and the system’s parameters. Afterward, based on the designed observer and using a new meal simulation model, an adaptive control is presented to bring back the blood glucose level to its safe range. The overall stability of the developed adaptive control is established using the Lyapunov direct method. Simulation results have been performed to verify the effectiveness of the proposed approach in tracking the desired blood glucose.</p></div>","PeriodicalId":55381,"journal":{"name":"Biocybernetics and Biomedical Engineering","volume":"44 2","pages":"Pages 295-303"},"PeriodicalIF":6.4,"publicationDate":"2024-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140139023","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Evaluation on safety and efficacy of ultrasound assisted thrombolysis in a sheep artificial heart pump","authors":"Yongchun Cui ,&nbsp;Xiaobing Zheng ,&nbsp;Shuo Wang ,&nbsp;Jianye Zhou ,&nbsp;Guangxin Yue ,&nbsp;Peng Peng ,&nbsp;Qiuju Li ,&nbsp;Jubo Li ,&nbsp;Yue Li ,&nbsp;Jiafei Luo ,&nbsp;Qi Zhang ,&nbsp;Xue Zhang ,&nbsp;Yongjian Li ,&nbsp;Xin Wang","doi":"10.1016/j.bbe.2024.02.003","DOIUrl":"https://doi.org/10.1016/j.bbe.2024.02.003","url":null,"abstract":"<div><p>Thrombosis is a major and serious complication in patients with artificial heart pump assist device (HPAD). There is an urgent need for an efficient and safe method to solve the clinical challenge. We have developed a new type of ultrasound integrated heart pump assist device (uHPAD) with a pair of ultrasonic transducer rings installed around the pump. Based on the <em>in-vitro</em> experiments, the sonothrombolysis protocol was determined. Then, <em>in-vivo</em> experiments were performed on sheep to evaluate the efficacy and safety of the novel uHPAD. It is found that the ultrasound assisted thrombolysis with the drug-loaded microbubbles can accelerate the dissolution of the thrombus in the pump, while have no significant negative effect on blood cell components, coagulation-hemolysis system, and the structure and function of main organs. The ultrasound assisted thrombolysis is demonstrated to be a promising method to solve the clinical problem of thrombosis in the HPAD.</p></div>","PeriodicalId":55381,"journal":{"name":"Biocybernetics and Biomedical Engineering","volume":"44 2","pages":"Pages 277-285"},"PeriodicalIF":6.4,"publicationDate":"2024-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0208521624000093/pdfft?md5=424e0ba33dbbd811d478d1a145588826&pid=1-s2.0-S0208521624000093-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140122895","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A comprehensive analysis of task-specific hand kinematic, muscle and force synergies","authors":"Martina Lapresa,&nbsp;Virginia Corradini,&nbsp;Antonio Iacca,&nbsp;Francesco Scotto di Luzio,&nbsp;Loredana Zollo,&nbsp;Francesca Cordella","doi":"10.1016/j.bbe.2024.01.006","DOIUrl":"https://doi.org/10.1016/j.bbe.2024.01.006","url":null,"abstract":"<div><p>Synergies were demonstrated to exist in the kinematic, force and muscular domains, and their task-specificity and subject-specificity was also highlighted in literature. Despite that, no works have extracted synergies on specific grasp classes to analyze task-specific synergistic patterns. Moreover, only few studies focused on the combined analysis of kinematic, force and muscle synergies.</p><p>The aim of this work was to (i) identify the grasp classes on which to extract task-specific synergies; (ii) extract subject-specific and task-specific synergies in the three domains and (iii) calculate the similarity of the extracted synergies among subjects and define average generalized synergies.</p><p>8 subjects were recruited to perform 21 reach-to-grasp tasks and the kinematics, contact forces and muscular activation of the hand were acquired. A LDA classifier allowed distinguishing power and precision grasp classes with an average accuracy of 89% considering kinematic data alone and combined kinematic, muscle and force data. Subject and task-specific synergies were therefore extracted on these two classes. Kinematic and force synergies were distinctive for the two classes, and highly similar among subjects, thus suggesting the possibility of adopting generalized synergies to describe grasp strategies. Conversely, muscle synergies did not differ particularly for the two classes. The combined analysis of force and kinematic data suggested that the hand posture may be somehow modulated by the optimal distribution of contact forces to perform stable grasps. Simulations with a virtual hand confirmed that stability significantly increased when grasps were generated by activating combined kinematic and force synergies rather than kinematic synergies only.</p></div>","PeriodicalId":55381,"journal":{"name":"Biocybernetics and Biomedical Engineering","volume":"44 1","pages":"Pages 218-230"},"PeriodicalIF":6.4,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0208521624000068/pdfft?md5=4434ff398e6bc5dc4662763f930b4ef1&pid=1-s2.0-S0208521624000068-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139738437","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}