This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

BACKGROUND AND PURPOSE Three percent of the population has an unruptured intracranial aneurysm (UIA). We aimed to identify independent risk factors from lifestyle and medical history for the presence of UIAs and to investigate the combined effect of well-established risk factors. METHODS We studied 206 patients with an UIA who never had a subarachnoid hemorrhage and 574 controls who were rand...

BACKGROUND Delays and deficits in joint attention and symbolic play constitute two important developmental problems in young children with autism. These areas of deficit have been well studied in autism but have rarely been the focus of treatment efforts (see Kasari, Freeman, & Paparella, 2001). In this study, we examine the efficacy of targeted interventions of joint attention and symbolic pla...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

Antagonistic Driven Compliant Joints (ADCJs) are object of great interest in current robotics research, representing one of the most widely applied solutions to develop human-like and safe joints for humanrobot interaction. Providing the joint with ‘‘actively” adjustable hardware compliance, ADCJs have two distinctive features: (1) the joint is powered by two independent ‘‘actuation units” and ...

background :falls have been strongly associated with decreased physical activity and impaired mobility. reduced range of motion, as a consequence of muscle stiffness, has been indicated to assume a positive relationship to fall incidence. also clinical observations suggest that maintaining the normal spinal curves is associated with the prevention of spinal, knee and hip disorders. thus, the ai...