Results 41 to 50 of about 45,923 (289)

Safe Online Gain Optimization for Variable Impedance Control

CoRR, 2021
Smooth behaviors are preferable for many contact-rich manipulation tasks. Impedance control arises as an effective way to regulate robot movements by mimicking a mass-spring-damping system. Consequently, the robot behavior can be determined by the impedance gains.
Changhao Wang, Zhian Kuang, Xiang Zhang 0020, Masayoshi Tomizuka   +3 more
openaire   +2 more sources

Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance

, 2011
The paper gives an overview on the developments at the German Aerospace enter DLR towards anthropomorphic robots which not only try to approach the force and velocity performance of humans, but also have similar safety and robustness features based on a ...
Hirzinger, Gerd, Thomas Wimböck, Fuchs, Matthias, Markus Grebenstein, Haddadin, Sami, Gerd Hirzinger, Stemmer, Andreas, Borst, Christoph, Matthias Fuchs, Sami Haddadin, Christian Ott, Grebenstein, Markus, Oliver Eiberger, Albu-Schäffer, Alin Olimpiu, Sebastian Wolf, Andreas Stemmer, Wimböck, Thomas, Christoph Borst, Ott, Christian, Alin Albu-Schäffer, Eiberger, Oliver, Wolf, Sebastian   +21 more
core   +1 more source

Modal Limit Cycle Control for Variable Stiffness Actuated Robots

, 2013
This paper presents a control approach to stabilize limit cycle motions along a mechanical mode of variable stiffness actuated (VSA) robots. Thereby, first a PD controller with gravity and Coriolis/centrifugal compensation shapes a desired dynamics ...
Garofalo, Gianluca, Gianluca Garofalo, Albu-Schäffer, Alin Olimpiu, Florian Petit, Petit, Florian, Dominic Lakatos, Alin Albu-Schaffer, Lakatos, Dominic, Ott, Christian, Christian Ott   +9 more
core   +1 more source

Nonlinear Oscillations for Cyclic Movements in Variable Impedance Actuated Robotic Arms

, 2013
Biologically inspired Variable Impedance Actuators (VIA) offer the capability to execute cyclic and/or explosive multi degree of freedom (DoF) motions efficiently by storing elastic energy.
Albu-Schäffer, Alin Olimpiu, Florian Petit, Petit, Florian, Dominic Lakatos, Alin Albu-Schaffer, Lakatos, Dominic   +5 more
core   +1 more source

Deep Sequencing of FLT3‐ITD Enables Response Evaluation and Post‐Treatment Monitoring in Childhood AML: An Exploratory Study

Pediatric Blood &Cancer, EarlyView.
ABSTRACT Background An internal tandem duplication in the gene encoding Fms‐like tyrosine kinase 3 (FLT3‐ITD) is associated with high relapse risk and poor prognosis in acute myeloid leukemia (AML) and plays a crucial role in treatment decisions. Measurable residual disease (MRD) analysis of FLT3‐ITD during and after treatment has shown prognostic ...
Sofie Johansson Alm, Bea Tornberg, Erik Delsing Malmberg, Henrik Hasle, Kristian Løvvik Juul‐Dam, Lars Palmqvist, Borhan R. Saeed, Giti Shah Barkhordar, Anastasia Soboli, Anna Staffas, Jonas Abrahamsson, Linda Fogelstrand   +11 more
wiley   +1 more source

The Role of Hematopoietic Cell Transplantation in Ataxia‐Telangiectasia

Pediatric Blood &Cancer, EarlyView.
ABSTRACT Background Ataxia‐telangiectasia (A‐T) is a DNA repair disorder characterized by neurodegeneration, immunodeficiency, and cancer predisposition. Hematopoietic cell transplantation (HCT) is an established therapy in related disorders such as Fanconi anemia (FA) and Nijmegen breakage syndrome (NBS), but its role in A‐T is unclear.
Laila Alkhouli, Seth Rotz, Masatoshi Takagi, Richa Sharma   +3 more
wiley   +1 more source

Therapeutic Apheresis in Nigeria: A Multi‐Center Summary of Abstracts From the Inaugural Nigerian Society for Apheresis Scientific Meeting

Therapeutic Apheresis and Dialysis, EarlyView.
ABSTRACT Background Therapeutic apheresis (TA) is an established treatment modality for hematologic, neurologic, and immunologic disorders, yet access remains severely limited in sub‐Saharan Africa. Donor apheresis, including platelet apheresis collection from healthy donors, represents an important complementary modality supporting blood product ...
Nosa Bazuaye, Chimezie Okwuonu, Evelyn Idam, Folasade Adelekan‐Popoola, Shakirat Gold‐Olufadi, Olufunto Olufela Kalejaiye, Abdullateef Ogala, Zinnah Aloziem, Blossom Amamchukwu, Patience Elimia, Mkpoikanabasi Obot‐Obot, Henry Mbakwe, Praises Maduagwuna, Olatunji Akinrodoye, Chiamaka Anyanwu, Benjamin Anyanwu, Adedamola Akinsiku, Oluwatoyin A. Akinsiku, Muzamil O. Hassan, Fatiu A. Arogundade, Olalekan E. Ojo, Homayemem Weli, Jesupelumi Adenihun, Aderemi Adelaja, Ebun Bamgboye, Olalekan Olatise, Ade E. Faponle, Ayoola Odeyemi, Michael Muoka, Stephen Asaolu, Qudrat Busari, Blessing Dawudu, Michael Naiyeju, Rasheed A. Balogun   +33 more
wiley   +1 more source

Grasping Force Optimization and DDPG Impedance Control for Apple Picking Robot End-Effector

Agriculture
To minimize mechanical damage caused by an apple picking robot end-effector during the apple grasping process, and on the basis of optimizing the minimum stable grasping force of apple, a variable impedance control strategy based on a reinforcement ...
Xiaowei Yu, Wei Ji, Hongwei Zhang, Chengzhi Ruan, Bo Xu, Kaiyang Wu   +5 more
doaj   +1 more source

Impedance control for variable stiffness mechanisms with nonlinear joint coupling [PDF]

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008
The current discussion on physical human robot interaction and the related safety aspects, but also the interest of neuro-scientists to validate their hypotheses on human motor skills with bio-mimetic robots, led to a recent revival of tendon-driven robots.
Thomas Wimböck, Christian Ott 0001, Alin Albu-Schäffer, Andreas Kugi, Gerd Hirzinger   +4 more
openaire   +2 more sources

Enteropathogenic E. coli shows delayed attachment and host response in human jejunum organoid‐derived monolayers compared to HeLa cells

FEBS Letters, EarlyView.
Enteropathogenic E. coli (EPEC) infects the human intestinal epithelium, resulting in severe illness and diarrhoea. In this study, we compared the infection of cancer‐derived cell lines with human organoid‐derived models of the small intestine. We observed a delayed in attachment, inflammation and cell death on primary cells, indicating that host ...
Mastura Neyazi, Pilar Samperio Ventayol, Natalie Burkard, Nicolas Schlegel, Carmen Aguilar, Sina Bartfeld   +5 more
wiley   +1 more source