Wrist-driven orthotics have been designed to assist people with C6-7 spinal cord injury, however, the kinematic constraint imposed by such a control strategy can impede mobility and lead to abnormal body motion. This study characterizes body compensation using the novel Tenodesis Grasp Emulator, an adaptor orthotic that allows for the investigation of tenodesis grasping in subjects with unimpaired hand function. Subjects perform a series of grasp-and-release tasks in order to compare normal (test control) and constrained wrist-driven modes, showing significant compensation as a result of the constraint. A motor-augmented mode is also compared against traditional wrist-driven operation, to explore the potential role of hybrid human-robot control. We find that both the passive wrist-driven and motor-augmented modes fulfill different roles throughout various tasks tested. Thus, we conclude that a flexible control scheme that can alter intervention based on the task at hand holds the potential to reduce compensation in future work.

For those with upper limb absence, body-powered prostheses continue to be popular for many activities despite being an old technology; these devices can provide both inherent haptic feedback and mechanical robustness. Yet, they can also result in strain and fatigue. Body-powered prosthetic graspers typically consist of a simple lever providing a relatively constant transmission ratio between the input forces from the user's shoulder harness and the grip force of their prosthetic prehensor. In the field of robotic hand design, new continuously varying transmissions demonstrate particular promise in generating a wide range of grasping speeds without sacrificing grip strength. These benefits, if applied to shoulder-driven prosthetic grippers, have the potential to both reduce shoulder exertion and fatigue. This work presents the integration of a continuously variable transmission into a body-powered, voluntary close prosthetic testbed. We introduce the design and validate its performance in a benchtop experiment. We compare constant transmission conditions with a force-dependent, continually varying condition. The device is mounted on a prosthetic emulator for a preliminary wearable demonstration.

RNA-sequencing (RNA-seq) has a wide variety of applications, but no single analysis pipeline can be used in all cases. We review all of the major steps in RNA-seq data analysis, including experimental design, quality control, read alignment, quantification of gene and transcript levels, visualization, differential gene expression, alternative splicing, functional analysis, gene fusion detection and eQTL mapping. We highlight the challenges associated with each step. We discuss the analysis of small RNAs and the integration of RNA-seq with other functional genomics techniques. Finally, we discuss the outlook for novel technologies that are changing the state of the art in transcriptomics.

Chromosomal instability (CIN) and epigenetic alterations are characteristics of advanced and metastatic cancers^1-4, but whether they are mechanistically linked is unknown. Here we show that missegregation of mitotic chromosomes, their sequestration in micronuclei^5,6 and subsequent rupture of the micronuclear envelope⁷ profoundly disrupt normal histone post-translational modifications (PTMs), a phenomenon conserved across humans and mice, as well as in cancer and non-transformed cells. Some of the changes in histone PTMs occur because of the rupture of the micronuclear envelope, whereas others are inherited from mitotic abnormalities before the micronucleus is formed. Using orthogonal approaches, we demonstrate that micronuclei exhibit extensive differences in chromatin accessibility, with a strong positional bias between promoters and distal or intergenic regions, in line with observed redistributions of histone PTMs. Inducing CIN causes widespread epigenetic dysregulation, and chromosomes that transit in micronuclei experience heritable abnormalities in their accessibility long after they have been reincorporated into the primary nucleus. Thus, as well as altering genomic copy number, CIN promotes epigenetic reprogramming and heterogeneity in cancer.

Primary triple-negative breast cancers (TNBCs), a tumour type defined by lack of oestrogen receptor, progesterone receptor and ERBB2 gene amplification, represent approximately 16% of all breast cancers. Here we show in 104 TNBC cases that at the time of diagnosis these cancers exhibit a wide and continuous spectrum of genomic evolution, with some having only a handful of coding somatic aberrations in a few pathways, whereas others contain hundreds of coding somatic mutations. High-throughput RNA sequencing (RNA-seq) revealed that only approximately 36% of mutations are expressed. Using deep re-sequencing measurements of allelic abundance for 2,414 somatic mutations, we determine for the first time-to our knowledge-in an epithelial tumour subtype, the relative abundance of clonal frequencies among cases representative of the population. We show that TNBCs vary widely in their clonal frequencies at the time of diagnosis, with the basal subtype of TNBC showing more variation than non-basal TNBC. Although p53 (also known as TP53), PIK3CA and PTEN somatic mutations seem to be clonally dominant compared to other genes, in some tumours their clonal frequencies are incompatible with founder status. Mutations in cytoskeletal, cell shape and motility proteins occurred at lower clonal frequencies, suggesting that they occurred later during tumour progression. Taken together, our results show that understanding the biology and therapeutic responses of patients with TNBC will require the determination of individual tumour clonal genotypes.