background: multiple sclerosis (ms) is an autoimmune,  neuro- inflammatory disease  of  central nervous system affecting physical, emotional, and cognitive aspects of patients. association of vitamin d deficiency and ms has been shown in previous studies. the aim of this study was to evaluate serum vitamin d level in ms cases and their sex-matched healthy siblings (who are genetically near simi...

aim and background: this study reviewed the effectiveness of self-control training on quality of life in patients with multiple sclerosis (ms). to do so, 40 patients with ms were selected through convenient sampling method among the study subjects with multiple sclerosis recorded in ardabil in 2012 (estimation: n = 350). methods and materials: this was a clinical trial designed as pretest postt...

This paper describes an adaptive and autocalibrated method to track surfaces. To do so, a non time dependent impedance control system is proposed. This method fuses visual and force information to track a given trajectory maintaining the contact with the surface. The main contribution of the visual servoing approach employed by the impedance control system is the possibility of carrying out the...

My research focuses primarily on optimal control of systems in domains with contacts, equipped with variable impedance actuators. The control of such robots is non-trivial due to the the discontinuity in the dynamics which is introduced by mechanical contact with the environment. The traditional optimal control approach is designed to handle smooth continuous system dynamics for tasks over a pr...

This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment position and uncertainties in finger parameters. The control strategy is divided into two phases, which...

AIM Molecular alterations at membrane, cytosol and nuclear level in cancer cells/tissue show variations in bioimpedance measure. In the present study, bioimpedance assessment and comparison was investigated between oral squamous cell carcinoma (OSCC) and normal tissue. Study further involves clinicopathological correlation of bioimpedance values in OSCC. MATERIALS AND METHODS The present stud...

Impedance metasurface is composed of electrical small scatters in two dimensional plane, of which the surface impedance can be designed to produce desired reflection phase. Tunable reflection phase can be achieved by incorporating active element into the scatters, but the tuning range of the reflection phase is limited. In this paper, an active impedance metasurface with full 360° reflection ph...

The purpose of this paper is to propose adaptive and flexible expert masssage robot using multi-fingered robot. Towards this goal, the present paper gives a modeling of human skin muscle through robot perception of impedance, and control strategy using impedance control to implement adaptive control system, even if human condition is changed, or massage position is shifted, and person to be mas...

A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...