It is believed that long-term memory (LTM) cannot be formed immediately because it must go through a protein synthesis-dependent consolidation process. However, the current study uses Drosophila aversive olfactory conditioning to show that such processes are dispensable for context-dependent LTM (cLTM). Single-trial conditioning yields cLTM that is formed immediately in a protein-synthesis independent manner and is sustained over 14 days without decay. Unlike retrieval of traditional LTM, which requires only the conditioned odour and is mediated by mushroom-body neurons, cLTM recall requires both the conditioned odour and reinstatement of the training-environmental context. It is mediated through lateral-horn neurons that connect to multiple sensory brain regions. The cLTM cannot be retrieved if synaptic transmission from any one of these centres is blocked, with effects similar to those of altered encoding context during retrieval. The present study provides strong evidence that long-term memory can be formed easily without the need for consolidation.

Abstract. Misalignment between the instantaneous center of rotation (ICR) of human joint and the ICR of wearable robotic exoskeleton widely exists among most of exoskeletons widely used in rehabilitation, which results in discomfort, even endangers human safety. In order to alleviate it, this study focuses on the solution of misalignment in knee joint of lower limb exoskeletons, and proposes a compliant five-bar parallel mechanism, which offers two mobility in sagittal plane, as well as the torsional springs mounted on this mechanism, have the potential to automatically adjust the ICR of output link connected to thigh with respect to the basis link connected to shank. To reach this goal, we build the stiffness model of the mechanism and optimize its variables. And the self-alignment of the compliant five-bar parallel mechanism is verified via experimental investigations.

Rehabilitation robotics has become a widely accepted method to deal with the training of people with motor dysfunction. In robotics medium training, shoulder repeated exercise training has been proven beneficial for improving motion ability of human limbs. An important and difficult paradigm for motor function rehabilitation training is the movement rhythm on the shoulder, which is not a single joint but complex and ingenious combination of bones, muscles, ligaments, and tendons. The most robots for rehabilitation were designed previously considering simplified biomechanical models only, which led to misalignment between robots and human shoulder. Current biomechanical models were merely developed for rehabilitation robotics design. This paper proposes a new hybrid spatial model based on joint geometry constraints to describe the movement of the shoulder skeletal system and establish the position analysis equation of the model by a homogeneous coordinate transformation matrix and vector method, which can be used to calculate the kinematics of human-robot integrated system. The shoulder rhythm, the most remarkable particularity in shoulder complex kinematics and important reference for shoulder training strategy using robotics, is described and analyzed via the proposed skeleton model by three independent variables in this paper. This method greatly simplifies the complexity of the shoulder movement description and provides an important reference for the training strategy making of upper limb rehabilitation via robotics.

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