Pacinian Corpuscle(PC)is the largest tactile vibration receptor in mammalian skin,with a layered structure that enables signal amplification and high-pass filtering functions.Modern robots feature vibro-tactile sensor...Pacinian Corpuscle(PC)is the largest tactile vibration receptor in mammalian skin,with a layered structure that enables signal amplification and high-pass filtering functions.Modern robots feature vibro-tactile sensors with excellent mechanical properties and fine resolution,but these sensors are prone to low-frequency noise interference when detecting high-frequency vibrations.In this study,a bionic PC with a longitudinally decreasing dynamic fractal structure is proposed.By creating a lumped parameter model of the PC’s layered structure,the bionic PC made of gelatin-chitosan based hydrogel can achieve high-pass filtering and specific frequency band signal amplification without requiring back-end circuits.The experimental results demonstrate that the bionic PC retains the structural characteristics of a natural PC,and the influence of structural factors,such as the number of layers in its shell,on filtration characteristics is explored.Additionally,a vibration source positioning experiment was conducted to simulate the earthquake sensing abilities of elephants.This natural structural design simplifies the filter circuit,is low-cost,cost-effective,stable in performance,and reduces redundancy in the robot’s signal circuit.Integrating this technology with robots can enhance their environmental perception,thereby improving the safety of interactions.展开更多
Pacinian corpuscle is a tactile receptor that responds to high-frequency(20-1000 Hz)vibration and has high-pass filtering and mechanical signal amplification functions.It is the main receptor of vibration tactility cl...Pacinian corpuscle is a tactile receptor that responds to high-frequency(20-1000 Hz)vibration and has high-pass filtering and mechanical signal amplification functions.It is the main receptor of vibration tactility closely related to fine touch sensation,which is the ability to perceive and localize objects’shape,texture,and size.Currently,it is still difficult to measure and calculate the friction generated by robots grasping objects.The resolution of touch and vibration sensors cannot satisfy the demand for understanding tribological behavior.The simulation of Pacinian corpuscles’structure and replication of its key functions will bring richer touch information to robots.In this review article,the structure and functions of Pacinian corpuscles are summarized from the internal structure of a single Pacinian corpuscle and the spatial distribution of multiple Pacinian corpuscles.Then,theoretical models and research on the bionics design of Pacinian corpuscles are introduced based on the three reception processes of Pacinian corpuscles:mechanical transmission,electromechanical transduction,and neural excitation.Finally,the bottlenecks of current research on the simulation of Pacinian corpuscles are summarized,followed by the proposal of research ideas on the simulation of Pacinian corpuscles.展开更多
目的:比较痔上黏膜环切钉合术(procedure for prolapse and hemorrhoids,PPH)和传统痔切扎术(Milligan-Morgan)临床术后近、远期控便功能与切除组织病理组织中的环层小体之间的相关性.方法:搜集苏州市中医医院肛肠科、江苏省中医院肛肠...目的:比较痔上黏膜环切钉合术(procedure for prolapse and hemorrhoids,PPH)和传统痔切扎术(Milligan-Morgan)临床术后近、远期控便功能与切除组织病理组织中的环层小体之间的相关性.方法:搜集苏州市中医医院肛肠科、江苏省中医院肛肠科和河南中医学院第三附属医院2013-06/2014-06行传统痔切扎术和PPH术的90例患者的临床资料,每组各45例,所有患者切除组织均行阿利新蓝、核固红染色,分析切除组织中环层小体数量的差异,与临床观察指标比较有无统计学意义.结果:两组近期控便自制功能比较有统计学差异(P<0.05),两组切除组织中环层小体计数有差异;与传统痔切扎术组相比,PPH术组环层小体数目明显升高(42.7个±9.86个vs 11.3个±6.11个),统计学具有显著性差异(P<0.05).环层小体数目与近期肛门自制功能评分呈正相关.结论:PPH手术与传统痔切扎术组相比远期控便能力无明显差异.PPH术组环层小体计数高于传统痔切扎术组,这可能是PPH术组手术近期肛门控便功能劣于传统痔切扎术组的原因.展开更多
t Touch sensation is critical for our social and environmental interactions. In mammals, most discriminative light touch sensation is mediated by the Aβ low-threshold mechanoreceptors. Cell bodies of Aβ low-threshol...t Touch sensation is critical for our social and environmental interactions. In mammals, most discriminative light touch sensation is mediated by the Aβ low-threshold mechanoreceptors. Cell bodies of Aβ low-threshold mechanoreceptors are located in the dorsal root ganglia and trigeminal ganglia, which extend a central projection innervating the spinal cord and brain stem and a peripheral projection innervating the specialized mechanosensory end organs. These specialized mechanosensory end organs include Meissner＇s corpuscles, Pacinian corpuscles, lanceolate endings, Merkel cells, and Ruffini corpuscles. The morphologies and physiological properties of these mechanosensory end organs and their innervating neurons have been investigated for over a century. In addition, recent advances in mouse genetics have enabled the identification of molecular mechanisms underlying the development of Aβ low- threshold mechanoreceptors, which highlight the crucial roles of neurotrophic factor signaling and transcription factor activity in this process. Here, we will review the anatomy, physiological properties, and development of mammalian low- threshold Aβ mechanoreceptors.展开更多
基金funded by the National Natural Science Foundation of China(No.52475190 and 52275191)China Postdoctoral Science Foundation Funded Project(No.2024M751165)the Tribology Science Fund of State Key Laboratory of Tribology in Advanced Equipment(No.SKLTKF24B17).
文摘Pacinian Corpuscle(PC)is the largest tactile vibration receptor in mammalian skin,with a layered structure that enables signal amplification and high-pass filtering functions.Modern robots feature vibro-tactile sensors with excellent mechanical properties and fine resolution,but these sensors are prone to low-frequency noise interference when detecting high-frequency vibrations.In this study,a bionic PC with a longitudinally decreasing dynamic fractal structure is proposed.By creating a lumped parameter model of the PC’s layered structure,the bionic PC made of gelatin-chitosan based hydrogel can achieve high-pass filtering and specific frequency band signal amplification without requiring back-end circuits.The experimental results demonstrate that the bionic PC retains the structural characteristics of a natural PC,and the influence of structural factors,such as the number of layers in its shell,on filtration characteristics is explored.Additionally,a vibration source positioning experiment was conducted to simulate the earthquake sensing abilities of elephants.This natural structural design simplifies the filter circuit,is low-cost,cost-effective,stable in performance,and reduces redundancy in the robot’s signal circuit.Integrating this technology with robots can enhance their environmental perception,thereby improving the safety of interactions.
基金support from the National Natural Science Foundation of China (No.51805218)Natural Science Foundation of Jiangsu Province (No.BK20170552)China Postdoctoral Science Foundation Funded Project (No.2018M632239).
文摘Pacinian corpuscle is a tactile receptor that responds to high-frequency(20-1000 Hz)vibration and has high-pass filtering and mechanical signal amplification functions.It is the main receptor of vibration tactility closely related to fine touch sensation,which is the ability to perceive and localize objects’shape,texture,and size.Currently,it is still difficult to measure and calculate the friction generated by robots grasping objects.The resolution of touch and vibration sensors cannot satisfy the demand for understanding tribological behavior.The simulation of Pacinian corpuscles’structure and replication of its key functions will bring richer touch information to robots.In this review article,the structure and functions of Pacinian corpuscles are summarized from the internal structure of a single Pacinian corpuscle and the spatial distribution of multiple Pacinian corpuscles.Then,theoretical models and research on the bionics design of Pacinian corpuscles are introduced based on the three reception processes of Pacinian corpuscles:mechanical transmission,electromechanical transduction,and neural excitation.Finally,the bottlenecks of current research on the simulation of Pacinian corpuscles are summarized,followed by the proposal of research ideas on the simulation of Pacinian corpuscles.
文摘目的:比较痔上黏膜环切钉合术(procedure for prolapse and hemorrhoids,PPH)和传统痔切扎术(Milligan-Morgan)临床术后近、远期控便功能与切除组织病理组织中的环层小体之间的相关性.方法:搜集苏州市中医医院肛肠科、江苏省中医院肛肠科和河南中医学院第三附属医院2013-06/2014-06行传统痔切扎术和PPH术的90例患者的临床资料,每组各45例,所有患者切除组织均行阿利新蓝、核固红染色,分析切除组织中环层小体数量的差异,与临床观察指标比较有无统计学意义.结果:两组近期控便自制功能比较有统计学差异(P<0.05),两组切除组织中环层小体计数有差异;与传统痔切扎术组相比,PPH术组环层小体数目明显升高(42.7个±9.86个vs 11.3个±6.11个),统计学具有显著性差异(P<0.05).环层小体数目与近期肛门自制功能评分呈正相关.结论:PPH手术与传统痔切扎术组相比远期控便能力无明显差异.PPH术组环层小体计数高于传统痔切扎术组,这可能是PPH术组手术近期肛门控便功能劣于传统痔切扎术组的原因.
文摘t Touch sensation is critical for our social and environmental interactions. In mammals, most discriminative light touch sensation is mediated by the Aβ low-threshold mechanoreceptors. Cell bodies of Aβ low-threshold mechanoreceptors are located in the dorsal root ganglia and trigeminal ganglia, which extend a central projection innervating the spinal cord and brain stem and a peripheral projection innervating the specialized mechanosensory end organs. These specialized mechanosensory end organs include Meissner＇s corpuscles, Pacinian corpuscles, lanceolate endings, Merkel cells, and Ruffini corpuscles. The morphologies and physiological properties of these mechanosensory end organs and their innervating neurons have been investigated for over a century. In addition, recent advances in mouse genetics have enabled the identification of molecular mechanisms underlying the development of Aβ low- threshold mechanoreceptors, which highlight the crucial roles of neurotrophic factor signaling and transcription factor activity in this process. Here, we will review the anatomy, physiological properties, and development of mammalian low- threshold Aβ mechanoreceptors.
