case presentation the patient was a 65-year-old female with sps diagnosed 1 year before. assessments were performed, such as range of motion, muscle strength, pain, balance, and functional mobility. she had shoulder pain, with a score of 5/10 on the numerical pain rating scale for both shoulders. moreover, her muscle strength was impaired. although the patient could not maintain an upright posi...

This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller,...

long time integration of large stiff systems of initial value problems, arising from chemical reactions, demands efficient methods with good accuracy and extensive absolute stability region. in this paper, we apply second derivative general linear methods to solve some stiff chemical problems such as chemical akzo nobel problem, hires problem and orego problem.