A Cartesian compliance based control scheme is presented for the kinematically redundant serial manipulator. The controller can be decomposed into three parts. The first part imposes the desired cartesian compliance of the end effector. The second part attempts to shape the cartesian compliance parameters of the virtual points by the avaiable joint torque null space. Finally, the additional ter...

OBJECTIVES Blood pressure (BP) is poorly controlled in many countries. Poor compliance was suggested as the main cause for poor BP control. The purpose of this study was to examine the association between compliance and the control of both casual blood pressure (BP) and 24-hr ambulatory BP in a Japanese elderly population. METHODS The study was a cross-sectional survey. Casual BP and 24-hr am...

Although the incidence of tuberculosis (TB) has increased in healthcare workers (HCWs) [1–3], several studies have shown that HCWs are not compliant with screening and/or preventive measures [4–7]. For example, a Portuguese study found that the estimated TB incidence was threeto seven-fold higher in HCWs than in the general population [8]. Latent TB infection (LTBI) diagnosis and treatment cons...

In this paper, we discuss an inherent problem occurring in former operational-based compliance control scheme. In order to obviate this problem, an independent joint-based compliance control scheme is proposed. This control method requires that for the adjustment of the operational compliance matrix, a manipulator should have at least the same number of joints as the number of independent compo...

Benefits At A glAnce Increased record capture y y Compliant recordkeeping practices y y Efficient document handling y y Effective correspondence management y y Reduced cost of storage y y Holistic view of archiving activity y y Collaborative document authoring y y Faced with the inefficiencies of multiple disparate information and records management systems, along with rapidly increasing volume...

We present BakeBot, a PR2 robot system that bakes cookies autonomously, from mise en place presentation through baking in a toaster oven. The baking planning and control system is implemented as a hierarchical finite state machine. We developed parameterized motion primitives for baking. The motion primitives utilize the existing sensing and manipulation capabilities of the PR2 platform and als...

Abstract—The paper deals with designing and developing a biped robot for research purposes. Robot’s mechanical structure and drives system are described hereunder in details. Moreover the new modified actuator is discussed. An industrial Ethernet-based real-time communication protocol is introduced and the communication ability between the robot-side hardware and PC-side control system is inves...

Abstract Introduction: Nurses' compliance with standard precautions is a viable tool for decreasing health hazards in health centers. Objective: This study aimed to identify factors affecting compliance with standard precautions (SPs) of infection control based on the health belief model (HBM) among emergency department nurses employed in the educational-therapeutic centers affiliated with G...

-To increase mobility and stability under real conditions and achieve superior performance related to walking robots that can travel on land with a configuration as close to real situations as possible, this paper presents studies and research for the integration of additional functions for the compliant control of HFPC walking robots. Starting from the basic functions of the control system, hy...

What are the common design and control principles of legged locomotion? To approach this question we ask about the internal leg function, e.g. the number of leg segments, the arrangements of muscles, ligaments and other soft tissue within the leg and the appropriate muscle activation patterns in order to generate a desired leg behavior. On the other hand we need to integrate the leg into an ove...