jumping

跳跃
  • 文章类型: Journal Article
    肌肉是动物运动的普遍媒介,因此,对肌肉性能的限制是动物行为不可或缺的一个方面,生态学,和进化。对运动的机械观点使其适合从第一原理进行分析,因此,将简单物理定律的看似确定性带到了复杂生物系统的挑战性比较研究中。运动生物力学的早期贡献认为肌肉能量输出受到肌肉工作能力的限制,Wmax;由1960年代后期的开创性工作引发,现在广泛认为,对肌肉能量输出的完整分析也要考虑肌肉力量能力,因为任何工作单位都不能在任意短的时间内交付。这里,我们对这种权力限制的范式概念采取了批判的立场,并认为肌肉能量输出的替代约束是由特征动能容量施加的,Kmax,由驱动肌肉可以缩短的最大速度决定。现在可以直接比较两种临界能量,并定义生理相似性指数,Γ=Kmax/Wmax。正是这种比较的解释力赋予了从肌肉力量到动能能力的视角的转变,正如通过一系列简短的说明性例子所论证的那样。Γ是肌肉骨骼动力学中重要的无量纲数,并引发了关于肌肉骨骼“设计”中功能适应的新假设,这些假设与几何相似性的简约进化零假设背道而驰。
    Muscle is the universal agent of animal movement, and limits to muscle performance are therefore an integral aspect of animal behaviour, ecology, and evolution. A mechanical perspective on movement makes it amenable to analysis from first principles, and so brings the seeming certitude of simple physical laws to the challenging comparative study of complex biological systems. Early contributions on movement biomechanics considered muscle energy output to be limited by muscle work capacity, Wmax; triggered by seminal work in the late 1960s, it is now held broadly that a complete analysis of muscle energy output is to also consider muscle power capacity, for no unit of work can be delivered in arbitrarily brief time. Here, we adopt a critical stance towards this paradigmatic notion of a power-limit, and argue that the alternative constraint to muscle energy output is instead imposed by a characteristic kinetic energy capacity, Kmax, dictated by the maximum speed with which the actuating muscle can shorten. The two critical energies can now be directly compared, and define the physiological similarity index, Γ=Kmax/Wmax. It is the explanatory power of this comparison that lends weight to a shift in perspective from muscle power to kinetic energy capacity, as is argued through a series of brief illustrative examples. Γ emerges as an important dimensionless number in musculoskeletal dynamics, and sparks novel hypotheses on functional adaptations in musculoskeletal \"design\" that depart from the parsimonious evolutionary null hypothesis of geometric similarity.
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  • 文章类型: Journal Article
    在跳跃活动中增强峰值着陆力并确保下肢更快稳定,可以显着提高表现并降低篮球运动员受伤的风险。这项研究旨在比较单侧(uPJT)和双侧屈光度跳跃训练(bPJT)计划对各种表现指标的影响,包括反运动跳跃(CMJ),深蹲跳跃(SJ),以及单腿陆地和陆地(SLLH)测试结果,使用测力板进行评估。采用随机多臂研究设计,包括两个实验组(n=25;uPJT和n=25;bPJT)和一个对照组(n=25),与青年男性区域级篮球运动员(16.3±0.6岁)进行。参与者接受了两次评估,在为期8周的干预训练期之前和之后。uPJT程序专门涉及补强钻(例如,垂直跳跃练习;水平跳跃练习)侧重于单腿练习,而bPJT计划同时使用涉及两条腿的训练。分析的结果包括CMJ峰值着陆力,CMJ峰值功率,SJ峰值力,SJ最大负位移,SLLH稳定时间,和SLLH峰值着陆力。与uPJT(p<0.001)和bPJT(p<0.030)组相比,对照组表现出显著更长的SLLH稳定时间。此外,bPJT的稳定时间也显著高于uPJT(p=0.042)。干预后SLLH峰值着陆力组间比较显示,uPJT的值明显小于bPJT(p=0.043)和对照组(p<0.001)。在CMJ和SJ的其余结果中,与对照组相比,uPJT和bPJT均显示出显着改善(p>0.05),尽管它们之间没有显着差异。总之,我们的研究表明,利用uPJT与bPJT在提高双侧跳跃测试中的表现方面同样有效。然而,在单腿着陆和保持测试期间,它在提高稳定时间和峰值着陆力方面显着优于bPJT。uPJT不仅有利于性能最大化,而且还有利于通过增强单腿动作期间的控制和平衡来降低受伤风险。这在篮球中很常见。
    Enhancing peak landing forces and ensuring faster stabilization in the lower limbs during jumping activities can significantly improve performance and decrease the risk of injury among basketball players. This study aimed to compare the effects of unilateral (uPJT) and bilateral plyometric jump training (bPJT) programs on various performance measures, including countermovement jump (CMJ), squat jump (SJ), and single-leg land and hold (SLLH) test outcomes, assessed using force plates. A randomized multi-arm study design was employed, comprising two experimental groups (n = 25; uPJT and n = 25; bPJT) and one control group (n = 25), conducted with youth male regional-level basketball players (16.3 ± 0.6 years old). Participants underwent assessment twice, both before and after an 8-week intervention training period. The uPJT program exclusively involved plyometric drills (e.g., vertical jump exercises; horizontal jump exercises) focusing on single-leg exercises, whereas the bPJT program utilized drills involving both legs simultaneously. The outcomes analyzed included CMJ peak landing force, CMJ peak power, SJ peak force, SJ maximum negative displacement, SLLH time to stabilization, and SLLH peak landing force. The control group exhibited significantly greater SLLH time to stabilization compared to both the uPJT (p < 0.001) and bPJT (p < 0.030) groups. Additionally, time to stabilization was also significantly higher in bPJT than in uPJT (p = 0.042). Comparisons between groups in regards SLLH peak landing force after intervention revealed that the value was significantly smaller in uPJT than in bPJT (p = 0.043) and control (p < 0.001). In the remaining outcomes of CMJ and SJ, both uPJT and bPJT showed significant improvement compared to the control group (p > 0.05), although there was no significant difference between them. In conclusion, our study suggests that utilizing uPJT is equally effective as bPJT in enhancing performance in bilateral jump tests. However, it significantly outperforms bPJT in improving time to stabilization and peak landing forces during single-leg land and hold test. uPJT could be advantageous not for maximizing performance but also for potentially decreasing injury risk by enhancing control and balance during single-leg actions, which are common in basketball.
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  • 文章类型: Journal Article
    前交叉韧带重建(ACLR)继续与可变的运动恢复率和进一步的前交叉韧带损伤率相关。持续的功能缺陷可以解释这些结果,并支持需要不断探索下肢功能指标,尤其是在垂直跳跃时.这将有助于通过恢复运动连续体改善康复,并改善术后结果。
    ACLR后7个月患者的垂直跳跃表现指数受损。
    横断面研究;证据水平,3.
    共有202名接受ACLR的患者和50名健康参与者进行了单腿垂直跳跃(SLVJ)和单腿下降跳跃(SLDJ)测试。评估跳高(H)和反应强度指数(RSI),并比较两组之间每个参数的肢体对称指数(LSI)。还比较了健康参与者与ACLR患者的受伤和对侧腿之间的垂直跳跃指数。在两组中计算每个参数表现出LSI>90%的参与者的频率分析(卡方检验)。SLVJ-H之间的关联水平,SLDJ-H,和SLDJ-RSI使用皮尔逊系数(r)进行评估。
    术后6.6±0.7个月(平均值±SD),ACLR后的参与者在所有参数方面均表现出比对照组差的LSI(79.1±14.8vs93.9±4.5,77.3±14.6vs93.4±5.2和71.9±17.4vs93.4±3.8;所有P<.001;对于SLVJ-H,SLDJ-H,和SLDJ-RSI,分别)。与健康参与者相比,受伤和对侧腿的垂直跳跃表现均较低(所有P<.001)。只有27%,25%,16%的ACLR患者表现出SLVJ-H的LSI>90%,SLDJ-H,和SLDJ-RSI,分别,与80%相比,72%,对照组为86%。在ACLR组中,SLDJ-H与SLVJ-H之间(r=0.494;P<.001)以及SLDJ-RSI与SLVJ-H之间(r=0.488;P<.001)存在中等相关性。
    垂直跳跃指数(对称性和绝对值)在ACLR后7个月高度受损。反应强度能力的缺陷更为明显。临床医生应重点恢复垂直跳跃能力,以提高ACLR后的功能表现。
    UNASSIGNED: Anterior cruciate ligament reconstruction (ACLR) continues to be associated with a variable rate of return to sports and a concerning rate of further anterior cruciate ligament injury. Persistent functional deficits may explain these results and support the need to keep exploring lower limb functional indexes, especially during vertical jumping. This would help improve rehabilitation through the return-to-sports continuum and improve postoperative outcomes.
    UNASSIGNED: Vertical jumping performance indexes are impaired among patients 7 months after ACLR.
    UNASSIGNED: Cross-sectional study; Level of evidence, 3.
    UNASSIGNED: A total of 202 patients who underwent ACLR and 50 healthy participants performed single-leg vertical jump (SLVJ) and single-leg drop jump (SLDJ) testing. Jump height (H) as well as reactive strength index (RSI) were assessed and the limb symmetry index (LSI) of each parameter was compared between both groups. Vertical jumping indexes were also compared between healthy participants and the injured and contralateral legs of ACLR patients. Frequency analysis (chi-square test) of participants exhibiting an LSI >90% for each parameter was calculated in both groups. The level of association between SLVJ-H, SLDJ-H, and SLDJ-RSI was evaluated using the Pearson coefficient (r).
    UNASSIGNED: At 6.6 ± 0.7 months (mean ± SD) postoperatively, participants after ACLR exhibited poorer LSI than the control group for all parameters (79.1 ± 14.8 vs 93.9 ± 4.5, 77.3 ± 14.6 vs 93.4 ± 5.2, and 71.9 ± 17.4 vs 93.4 ± 3.8; all P < .001; for the SLVJ-H, SLDJ-H, and SLDJ-RSI, respectively). Vertical jumping performance was lower on both injured and contralateral legs compared with healthy participants (all P < .001). Only 27%, 25%, and 16% of the ACLR patients exhibited an LSI >90% for the SLVJ-H, SLDJ-H, and SLDJ-RSI, respectively, in comparison with 80%, 72%, and 86% in the control group. Moderate correlations were observed between SLDJ-H and SLVJ-H (r = 0.494; P < .001) as well as between SLDJ-RSI and SLVJ-H (r = 0.488; P < .001) in the ACLR group.
    UNASSIGNED: Vertical jumping indexes (both symmetry and absolute values) were highly impaired 7 months after ACLR. Deficits were more marked for reactive strength ability. Clinicians should focus on restoring vertical jumping abilities to improve functional performance after ACLR.
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  • 文章类型: Journal Article
    目的:目的是评估髌骨肌腱病患者在跳跃和功能方面的表现特征,并比较短期和中期各种肌腱病治疗的变化。作为次要目标,本研究旨在验证不同治疗组VISA-P评估的膝关节功能变化与跳跃能力之间的关系.
    方法:一项双盲随机对照试验。
    方法:在体育俱乐部进行招募,48例髌腱病变参与者纳入研究。参与者被随机分为:干刺(DN),经皮电解(PNE),以假针刺为对照组(CG),所有这些都与偏心运动(EE)相结合。跳跃过程中的功能和性能,包括深蹲跳跃(SJ)和反移动跳跃(CMJ),被评估。
    结果:在测试前和测试后评估之间的功能存在显着差异,以及在预测试和后续评估之间,在所有三组中(p<0.001)。DN组的偏心功率有所改善(p=0.021)。在测试前和测试后的功能变化与SJ最大同心力之间发现了中等相关性(r=0.63,p<0.01,CI:0.1;0.8),CMJ最大同心力(r=0.52,p=0.05,CI:-0.01;0.8),DN组的CMJ偏心功率(r=0.63,p=0.01,CI:0.1;0.8)。
    结论:偏心运动可以有效改善髌腱病变的功能,DN可以改善跳跃表现的偏心力。此外,DN组的功能增强与偏心力和同心力的跳跃性能改善相关。
    OBJECTIVE: The aim is to assess performance characteristics in jumps and functionality in participants with patellar tendinopathy and compare changes with various tendinopathy treatments in the short and medium term. As a secondary objective, the study aims to verify the relationship between changes in knee functionality assessed by the VISA-P and jump capacity in the different treatment groups.
    METHODS: A double-blinded randomized controlled trial.
    METHODS: Recruitment was conducted at sport clubs, with 48 participants with patellar tendinopathy included in the study. Participants were randomized into groups: dry needling (DN), percutaneous electrolysis (PNE), and sham needling as the control group (CG), all combined with eccentric exercise (EE). Functionality and performance during jumps, including squat jump (SJ) and counter movement jump (CMJ), were assessed.
    RESULTS: Significant differences were found in functionality between the pre-test and post-test evaluations, as well as between the pre-test and follow-up evaluations, in all three groups (p < 0.001). The DN group experienced an improvement in eccentric power (p = 0.021). A moderate correlation was found between the pre-test and post-test changes in functionality and SJ maximum concentric force (r = 0.63, p < 0.01, CI: 0.1; 0.8), CMJ maximum concentric force (r = 0.52, p = 0.05, CI: -0.01; 0.8), and CMJ eccentric power in the DN group (r = 0.63, p = 0.01, CI: 0.1; 0.8).
    CONCLUSIONS: Eccentric exercise could be effective in improving functionality in patellar tendinopathy and DN could improve eccentric power in jumps performance. Moreover, the DN group experienced an increase in functionality that correlated with the improvements found in jump performance in eccentric power and concentric strength.
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  • 文章类型: Journal Article
    手球是一项与身体接触的奥林匹克球类运动,其特点是快节奏的防守和进攻动作。球员必须协调爆炸性的动作(例如改变方向)和手球特定的技能(例如传球)。最大的表现需要一个系统的方法来训练,包括身体,心理,技术,战术准备。目的:这项研究的目的是确定基于运动(MOV;非特定运动刺激)或基于游戏(GAM;运动特定刺激)的飞轮阻力训练干预对训练有素的青年手球运动员的影响。方法:25名训练有素的青年男子手球运动员每周完成两次飞轮阻力训练(MOV,n=12;GAM,在7周的干预期内,n=13)。在干预前后进行了方向变化测试(双腿和测试的180º方向变化速度测试)和手球投掷测试。结果:两组V-cut均有明显改善,和180º方向变化速度测试性能(p<.05;d=0.79-2.05)。尽管如此,与MOV组相比,GAM组在V-cut和COD180ASY方面表现出更大的改善(p<.05),效果较小。手球投掷速度表现与训练条件无关(p>.05)。结论:这些发现为“特异性”的训练原则提供了进一步的支持,并强调了在阻力训练中包括基于游戏的训练刺激的重要性。对于希望提高青少年手球运动员身体表现的教练来说,这是一个关键的考虑因素。
    Handball is a body-contact Olympic ball sport that is characterized by fast-paced defensive and offensive actions. Players must coordinate explosive movements (e.g. changing of direction) and handball-specific skills (e.g. passing). Maximizing performance requires a systematic approach to training that includes physical, psychological, technical, and tactical preparation. Purpose: The aim of this study is to determine the effects of movement-based (MOV; unspecific sport stimulus) or game-based (GAM; sport-specific stimulus) flywheel resistance training intervention in highly trained youth handball players. Method:Twenty-five highly trained youth male handball players completed two sessions per week of flywheel resistance training (MOV, n = 12; GAM, n = 13) over the 7-week intervention period. Change-of-direction tests (180º change-of-direction speed test of both legs and test) and handball-throwing test were conducted before and after the intervention. Results: Both groups significantly improved V-cut, and 180º Change-of-direction speed test performance (p < .05; d = 0.79-2.05). Notwithstanding, the GAM group demonstrated greater improvements in V-cut and COD180ASY compared with the MOV group (p < .05) with small effect. Handball throwing speed performance remained unchanged independently of training condition (p > .05). Conclusions: These findings provide further support for the training principle of \"specificity\" and highlight the importance of including a game-based training stimulus during resistance training. This is a key consideration for coaches wanting to enhance physical performance in youth handball players.
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  • 文章类型: Journal Article
    研究了使用传统(TS)或集群集(CS)安排的两种启动练习协议对6小时后爆炸性能的影响。16名男性大学运动员进行了3次测试课程(一个基线在早上没有任何运动,两个实验课程),相隔72小时。参与者以随机顺序完成了两个上午(上午9-11点)的启动方案,使用TS(重复之间没有休息)或CS(重复之间休息30秒)配置。协议包括3组×3次重复杠铃后深蹲,最多1次重复的85%,两组之间休息4分钟。在每次审判的下午(下午3-5点),经过6小时的休息,进行了物理测试电池,重复了基线测试,包括反运动跳跃,20米直线冲刺,和T检验能力。在这两种情况下,参与者表现出增加的反运动跳跃高度,与基线相比,20米冲刺时间和T检验时间(P<0.05)。反动跳跃高度(4.4±5.4%;P=0.008)和20米冲刺时间(1.3±1.7%;P=0.022)的改善,但不是T检验时间(+1.1±3.3%;P=0.585),CS明显高于TS。总之,与传统的布景相比,使用群集集配置的基于上午的启动协议在下午带来了出色的爆炸性性能优势。
    The impact of two priming exercise protocols using traditional (TS) or cluster-set (CS) arrangements on explosive performance 6 hours later were examined. Sixteen male collegiate athletes performed three testing sessions (one baseline without any prior exercise in the morning and two experimental sessions) separated by 72 hours. Participants completed two morning (9-11 am) priming protocols in a randomized order, either using a TS (no rest between repetitions) or CS (30 seconds of rest between repetitions) configuration. The protocols consisted of 3 sets × 3 repetitions of barbell back squat at 85% of 1 repetition maximum, with 4 minutes of rest between sets. In the afternoon (3-5 pm) of each trial, after a 6-hour rest period, a physical test battery was conducted that replicated baseline testing, including countermovement jump, 20-meter straight-line sprint, and T-test abilities. Across both conditions, participants exhibited increased countermovement jump height, 20-meter sprint time and T-test time compared to baseline (P < 0.05). Improvements in countermovement jump height (+4.4 ± 5.4%; P = 0.008) and 20-meter sprint time (+1.3 ± 1.7%; P = 0.022), but not T-test time (+1.1 ± 3.3%; P = 0.585), were significantly greater for CS than TS. In conclusion, compared to a traditional set arrangement, a morning-based priming protocol using a cluster-set configuration led to superior explosive performance benefits in the afternoon.
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  • 文章类型: Journal Article
    这项研究的目的是检查患病率和特征(受害者简介,围绕事件的情况,和采用的方法)在雅典更广阔的地区进行了12年的复杂和复杂的自杀,希腊。对从2011年1月1日至2022年12月31日在雅典国立和卡波迪桑大学法医学和毒理学系进行的5568例尸检病例进行了回顾性分析。在总共5568份尸检样本中,确认了360例自杀案件,其中14人(3.9%)被列为复杂自杀,1例(0.3%)被确定为复杂自杀。在受害者中,78.6%为男性。受害者的年龄范围在25至82岁之间。复杂自杀的最普遍方法是使用尖锐物体,然后从高处跳下来(42.8%)。下一个最常见的方法组合是中毒(21.4%)和悬挂。先前的自杀企图和自杀记录分别占16.7%和8.3%。总的来说,在上述14例中,总共使用了9种不同的方法。只有一半(50.0%)的受害者有明确的精神病诊断。在确定复杂或复杂自杀案件的死因时,法医病理学家收集和分析警方提供的所有可用信息至关重要,受害者的亲属以及对现场的彻底调查,详细的尸检和毒理学分析.
    The purpose of this study was to examine the prevalence and characteristics (victims\' profiles, circumstances surrounding the incidents, and methods employed) of complex and complicated suicides over a 12-year period in the broader area of Athens, Greece. A retrospective analysis of 5,568 autopsy cases performed at the Department of Forensic Medicine and Toxicology of the National and Kapodistrian University of Athens from January 1, 2011, to December 31, 2022, was carried out. Out of a total sample of 5,568 autopsies, 360 suicide cases were identified, among which 14 (3.9%) were classified as complex suicides, and one case (0.3%) was identified as complicated suicide. Among the victims, 78.6% were males. The age range of the victims varied between 25 and 82 years old. The most prevalent method of complex suicide was the use of sharp objects followed by jumping from a height (42.8%). The next most common combination of methods was poisoning (21.4%) along with hanging. Prior suicidal attempts and suicide note were mentioned in 16.7% and 8.3% of the cases respectively. Overall, a total of 9 different methods were used in the above 14 cases. Only half (50.0%) of the victims had an established psychiatric diagnosis. In determining the cause of death in cases of a complex or complicated suicides, it is of utmost importance for the forensic pathologist to gather and analyze all available information provided by the police, the victim\'s relatives along with a thorough investigation of the scene, a detailed autopsy and a toxicological analysis.
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  • 文章类型: Journal Article
    巴甫洛夫恐惧条件已被广泛用于研究防御系统的行为和神经基础。在一个典型的程序中,提示与脚部电击配对,随后的线索呈现引发了冻结,理论上与捕食者检测有关的行为。此后的研究表明,恐惧条件提示可以引起运动,一种除了跳跃之外的行为,和饲养-理论上与即将发生的捕食有关。对观察恐惧条件提示引起的运动的研究的批评是,反应是非联想性的。我们在寻求奖励的基线上给了老鼠巴甫洛夫恐惧歧视。TTL触发的摄像机捕获了提示呈现周围的5个行为帧/秒。实验1研究了恐惧获得中危险特定行为的出现。实验2研究了恐惧灭绝中特定于危险的行为的表达。总的来说,我们对九个离散行为类别进行了112,000帧的评分。时序图显示,在采集过程中,恐惧条件提示抑制奖励寻求并引发冻结,但也引发了运动,跳跃,和饲养-当脚休克迫在眉睫时,所有这些都是最大的。在灭绝期间,恐惧条件线索最突出地抑制了奖励寻求,并引发了与电击递送定时的运动。在这两个实验中,这些行为的独立表达揭示了一种恐惧条件的线索,以协调一系列时间组织的行为。
    Pavlovian fear conditioning has been extensively used to study the behavioral and neural basis of defensive systems. In a typical procedure, a cue is paired with foot shock, and subsequent cue presentation elicits freezing, a behavior theoretically linked to predator detection. Studies have since shown a fear conditioned cue can elicit locomotion, a behavior that - in addition to jumping, and rearing - is theoretically linked to imminent or occurring predation. A criticism of studies observing fear conditioned cue-elicited locomotion is that responding is non-associative. We gave rats Pavlovian fear discrimination over a baseline of reward seeking. TTL-triggered cameras captured 5 behavior frames/s around cue presentation. Experiment 1 examined the emergence of danger-specific behaviors over fear acquisition. Experiment 2 examined the expression of danger-specific behaviors in fear extinction. In total, we scored 112,000 frames for nine discrete behavior categories. Temporal ethograms show that during acquisition, a fear conditioned cue suppresses reward seeking and elicits freezing, but also elicits locomotion, jumping, and rearing - all of which are maximal when foot shock is imminent. During extinction, a fear conditioned cue most prominently suppresses reward seeking, and elicits locomotion that is timed to shock delivery. The independent expression of these behaviors in both experiments reveals a fear conditioned cue to orchestrate a temporally organized suite of behaviors.
    Knowing that an animal is fearful is crucial for many psychology and neuroscience studies. For instance, this knowledge allows researchers to examine the brain pathways involved in processing and responding to fear. Typically, researchers consider that a rodent is experiencing fear if it ‘freezes’ – a response which, in the wild, helps to evade detection by predators. In Pavlovian fear conditioning experiments, for example, rats and mice freeze when exposed to a stimulus (often a specific sound) previously associated with unpleasant sensations. However, rodents can also respond more actively to threats, for instance by running or jumping away. It remains unclear whether the ‘fearful stimuli’ used in Pavlovian approaches specifically elicits only freezing, or other fear-related behaviors as well. To investigate this, Chu et al. used high-speed cameras to record rats’ responses to a sound cue they had ‘learned’ to associate with a mild foot shock. In addition to freezing, the animals ran, jumped, stood on their hind legs and stopped their usual reward-seeking behavior in response to the cue. Crucially, these reactions were absent when the rats were exposed to sound cues not associated with pain. Overall, these experiments demonstrate that Pavlovian conditioning can elicit a full range of fear-related behaviors beyond freezing. Understanding the neural activity behind these diverse responses could lead to more targeted therapies and interventions addressing the various ways stress and anxiety manifest in people.
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  • 文章类型: Journal Article
    跳跃的微型机器人和昆虫通过弹簧和闩锁系统为其令人印象深刻的飞跃提供动力。使用弹簧和闩锁,而不是马达或肌肉,作为动力跳跃的执行器对控制跳跃的性能提出了新的挑战。在本文中,我们展示了如何调整电机和弹簧相对于彼此在扭矩反转锁存器可以导致控制跳跃输出的能力,产生可调谐(可变)或刻板的跳跃。我们开发并利用一个简单的数学模型来探索底层设计,动力学,和扭矩反转机构的控制,通过几何之间的相互作用提供了实现不同结果的机会,弹簧属性,和电机电压。我们将系统设计和控制参数与性能相关联,以指导扭矩反转机构的设计,以实现可变或定型的跳跃性能。然后,我们构建一个356毫克的小型微型机器人,并表征组成成分(例如,电机和弹簧)。通过相对于扭矩反转机构的几何形状调整致动器和弹簧,我们证明,我们可以实现跳跃微型机器人,在给定执行器输入(可变跳跃)的情况下以不同的起飞速度跳跃,以及那些在执行器输入(刻板的跳跃)下以几乎相同的起飞速度跳跃的人。该系统中弹簧特性和几何形状之间的耦合对于资源有限的微型机器人具有优势,我们的工作强调了对产出有协同影响的设计组合,与其他限制它的人相比。这项工作将指导新的设计原则,以实现对资源有限的跳跃微型机器人的控制。
    Jumping microrobots and insects power their impressive leaps through systems of springs and latches. Using springs and latches, rather than motors or muscles, as actuators to power jumps imposes new challenges on controlling the performance of the jump. In this paper, we show how tuning the motor and spring relative to one another in a torque reversal latch can lead to an ability to control jump output, producing either tuneable (variable) or stereotyped jumps. We develop and utilize a simple mathematical model to explore the underlying design, dynamics, and control of a torque reversal mechanism, provides the opportunity to achieve different outcomes through the interaction between geometry, spring properties, and motor voltage. We relate system design and control parameters to performance to guide the design of torque reversal mechanisms for either variable or stereotyped jump performance. We then build a small (356 mg) microrobot and characterize the constituent components (e.g. motor and spring). Through tuning the actuator and spring relative to the geometry of the torque reversal mechanism, we demonstrate that we can achieve jumping microrobots that both jump with different take-off velocities given the actuator input (variable jumping), and those that jump with nearly the same take-off velocity with actuator input (stereotyped jumping). The coupling between spring characteristics and geometry in this system has benefits for resource-limited microrobots, and our work highlights design combinations that have synergistic impacts on output, compared to others that constrain it. This work will guide new design principles for enabling control in resource-limited jumping microrobots.
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  • 文章类型: Journal Article
    现代五项(MP)包括马术跳跃学科,马被不熟悉的骑手盲目地吸引。在东京2020年夏季奥运会上,对马术不足的担忧对国会议员产生了不利的宣传。东京的传统体育场跳跃为比较两个最接近的奥林匹克马术跳跃学科提供了机会。这项研究的目的是完成对东京MP骑行阶段的客观分析,并检验以下假设:女子和男子东京比赛中的MP骑行失误比个人跳台资格赛(JQ)更为频繁。根据已发布的官方结果和对每次比赛的在线视频的详细观察,列出了东京MP(n=71名骑手)和JQ(n=73名骑手)的故障类型。使用卡方分析比较了故障分布(P<0.05时的显著性)。MP骑手的跳跃故障(15.4%)比JQ(7.8%,P<.0001)。MP和JQ车手在oxers都有更多的故障(17.1%,P<.0001和9.7%,分别为P=0.0171)比垂直(14.5%和6.2%)。JQ(9.8%,P=.0093),但不是MP(15.7%,p=.5166)与上半场相比,下半场的车手故障更多(5.7%和15.0%,分别)。JQ(34.2%)的两次清晰回合(无跳跃或时间错误)的可能性是MP(6.9%:P<0.0001)的4.9倍。降低MP故障频率的建议解决方案包括降低最大围栏高度,更少的跳跃努力,和更自由的重乘政策。
    Modern Pentathlon (MP) includes an equestrian Jumping discipline, with horses drawn blindly by unfamiliar riders. At the Tokyo 2020 Olympic Summer Games, concerns regarding inadequate horsemanship generated adverse publicity for MP. Conventional stadium Jumping in Tokyo provided an opportunity for comparison of the two closest Olympic equestrian Jumping disciplines. The objectives of this study were to complete an objective analysis of the Tokyo MP riding phases, and to test the hypothesis that MP riding faults in women\'s and men\'s Tokyo competitions combined were more frequent than in the Individual Jumping Qualifier (JQ). Types of faults for Tokyo MP (n = 71 riders) and JQ (n = 73 riders) were tabulated from published official results and detailed observation of online videos of each competition. Fault distributions were compared using Chi-square analysis (significance at P < .05). MP riders had more jumping faults (15.4 %) than JQ (7.8 %, P < .0001). Both MP and JQ riders had more faults at oxers (17.1 %, P < .0001 and 9.7 %, P = .0171, respectively) than verticals (14.5 % and 6.2 %). JQ (9.8 %, P = .0093) but not MP (15.7 %, p = .5166) riders had more faults in the second half of the course compared to the first half (5.7 % and 15.0 %, respectively). Double clear rounds (no jumping or time faults) were 4.9 times more likely in JQ (34.2 %) than in MP (6.9 %: P < .0001). Proposed solutions to decrease MP fault frequency include lower maximum fence heights, fewer jumping efforts, and a more liberal re-ride policy.
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