Integral admittance shaping: A unified framework for active exoskeleton control

© 2015 Elsevier B.V. Current strategies for lower-limb exoskeleton control include motion intent estimation, which is subject to inaccuracies in muscle torque estimation as well as modeling error. Approaches that rely on the phases of a uniform gait cycle have proven effective, but lack flexibility to aid other kinds of movement. This research aims at developing a more versatile control that can assist the lower limbs independently of the movement attempted. Our control strategy is based on modifying the dynamic response of the human limbs, specifically their mechanical admittance. Increasing the admittance makes the lower limbs more responsive to any muscle torque generated by the human user. We present Integral Admittance Shaping, a unified mathematical framework for: (a) determining the desired dynamic response of the coupled system formed by the human limb and the exoskeleton, and (b) synthesizing an exoskeleton controller capable of achieving said response. The present control formulation focuses on single degree-of-freedom exoskeleton devices providing performance augmentation. The algorithm generates a desired shape for the frequency response magnitude of the integral admittance (torque-to-angle relationship) of the coupled system. Simultaneously, it generates an optimal feedback controller capable of achieving the desired response while guaranteeing coupled stability and passivity. The potential effects of the exoskeleton's assistance are motion amplification for the same joint torque, and torque reduction for the same joint motion. The robustness of the derived exoskeleton controllers to parameter uncertainties is analyzed and discussed. Results from initial trials using the controller on an experimental exoskeleton are presented as well

An admittance shaping controller for exoskeleton assistance of the lower extremities

We present a method for lower-limb exoskeleton control that defines assistance as a desired dynamic response for the human leg. Wearing the exoskeleton can be seen as replacing the leg's natural admittance with the equivalent admittance of the coupled system. The control goal is to make the leg obey an admittance model defined by target values of natural frequency, peak magnitude and zero-frequency response. No estimation of muscle torques or motion intent is necessary. Instead, the controller scales up the coupled system's sensitivity transfer function by means of a compensator employing positive feedback. This approach increases the leg's mobility and makes the exoskeleton an active device capable of performing net positive work on the limb. Although positive feedback is usually considered destabilizing, here performance and robust stability are successfully achieved through a constrained optimization that maximizes the system's gain margins while ensuring the desired location of its dominant poles

Integral Admittance Shaping for Exoskeleton Control

A wide variety of strategies have been developed for assisting human locomotion using powered exoskeletons. Although these strategies differ in their aims as well as the control methods employed, they have the implicit property of causing a virtual modification of the dynamic response of the human limb. We use this property of the exoskeletons action to formulate a unified control design framework called Integral Admittance Shaping, which designs exoskeleton controllers capable of producing the desired dynamic response for the assisted limb. In this framework, a virtual increase in the admittance of the limb is produced by coupling it to an exoskeleton that exhibits active behavior. Specifically, our framework shapes the magnitude profile of the integral admittance (i.e. torque-to-angle relationship) of the coupled human-exoskeleton system, such that the desired assistance is achieved. This framework also ensures that the coupled stability and passivity are guaranteed. This paper presents a formulation of Integral Admittance Shaping for single degree-of-freedom (1-DOF) exoskeleton devices. We also present experimental results on a modified version of Honda’s Stride Management Assist (SMA) device that successfully demonstrate motion amplification of the assisted hip joint during walking

Psychosocial functioning in adolescents with and without borderline personality disorder.

Little is known about the psychosocial functioning of adolescents with borderline personality disorder (BPD). The main objective of this paper is to compare the psychosocial functioning of a group of adolescents with BPD to a group of psychiatrically healthy adolescents. The present cross-sectional study included 104 adolescent inpatients with BPD, compared with 60 age-matched psychiatrically healthy comparison subjects. All participants were rigorously diagnosed using three semi-structured interviews: the Structured Clinical Interview for DSM-IV Childhood Diagnoses, the Revised Diagnostic Interview for Borderlines and the Childhood Interview for DSM-IV Borderline Personality. All subjects were also interviewed using the adolescent version of the Background Information Schedule to assess multiple facets of psychosocial functioning. Adolescents with BPD rated their relationships with their parents as significantly less positive, were more likely to date, but spent more time alone than their healthy counterparts. In addition, adolescents with BPD reported significantly more problems at work and school (i.e. lower frequency of having a good work or school history, higher frequency of being suspended or expelled from school) and significantly lower rates of participation in extra-curricular activities than their healthy counterparts. Taken together, the results of this study suggest that adolescents with BPD are more impaired in both the social and vocational areas of functioning than psychiatrically healthy comparison subjects. They might also suggest that an overlooked area of strength concerns their relationships with peers. Copyright © 2017 John Wiley & Sons, Ltd

Selective activation of memristive interfaces in TaOx-based devices by controlling oxygen vacancies dynamics at the nanoscale

The development of novel devices for neuromorphic computing and non-traditional logic operations largely relies on the fabrication of well controlled memristive systems with functionalities beyond standard bipolar behavior and digital ON-OFF states. In the present work we demonstrate for Ta2O5-based devices that it is possible to selectively activate/deactivate two series memristive interfaces in order to obtain clockwise or counter-clockwise multilevel squared remanent resistance loops, just by controlling both the electroforming process and the (a)symmetry of the applied stimuli, and independently of the nature of the used metallic electrodes. Based on our thorough characterization, analysis and modeling, we show that the physical origin of this electrical behavior relies on controlled oxygen vacancies electromigration between three different nanoscopic zones of the active Ta2O5-x layer: a central one and two quasi-symmetric interfaces with reduced TaO2-h(y) layers. Our devices fabrication process is rather simple as it implies the room temperature deposition of only one CMOS compatible oxide - Ta-oxide - and one metal, suggesting that it might be possible to take advantage of these properties at low cost and with easy scability. The tunable opposite remanent resistance loops circulations with multiple - analogic - intermediate stable states allows mimicking the adaptable synaptic weight of biological systems and presents potential for non-standard logic devices.Fil: Ferreyra, Cristian Daniel. Consejo Nacional de Investigaciones Cientificas y Tecnicas. Oficina de Coordinacion Administrativa Ciudad Universitaria. Unidad Ejecutora Instituto de Nanociencia y Nanotecnologia. Unidad Ejecutora Instituto de Nanociencia y Nanotecnologia - Nodo Constituyentes | Comision Nacional de Energia Atomica. Unidad Ejecutora Instituto de Nanociencia y Nanotecnologia. Unidad Ejecutora Instituto de Nanociencia y Nanotecnologia - Nodo Constituyentes.; ArgentinaFil: Sánchez, M.J.. Comisión Nacional de Energía Atómica; ArgentinaFil: Aguirre, Myriam. Universidad de Zaragoza; EspañaFil: Acha, Carlos Enrique. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Física de Buenos Aires. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Física de Buenos Aires; ArgentinaFil: Bengió, Silvina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Unidad Ejecutora Instituto de Nanociencia y Nanotecnología. Unidad Ejecutora Instituto de Nanociencia y Nanotecnología - Nodo Bariloche | Comisión Nacional de Energía Atómica. Unidad Ejecutora Instituto de Nanociencia y Nanotecnología. Unidad Ejecutora Instituto de Nanociencia y Nanotecnología - Nodo Bariloche; ArgentinaFil: Lecourt, J.. Centre National de la Recherche Scientifique; FranciaFil: Lüders, U.. Centre National de la Recherche Scientifique; FranciaFil: Rubi, Diego. Consejo Nacional de Investigaciones Cientificas y Tecnicas. Oficina de Coordinacion Administrativa Ciudad Universitaria. Unidad Ejecutora Instituto de Nanociencia y Nanotecnologia. Unidad Ejecutora Instituto de Nanociencia y Nanotecnologia - Nodo Constituyentes | Comision Nacional de Energia Atomica. Unidad Ejecutora Instituto de Nanociencia y Nanotecnologia. Unidad Ejecutora Instituto de Nanociencia y Nanotecnologia - Nodo Constituyentes.; Argentin

Multiple universes, cosmic coincidences, and other dark matters

Even when completely and consistently formulated, a fundamental theory of physics and cosmological boundary conditions may not give unambiguous and unique predictions for the universe we observe; indeed inflation, string/M theory, and quantum cosmology all arguably suggest that we can observe only one member of an ensemble with diverse properties. How, then, can such theories be tested? It has been variously asserted that in a future measurement we should observe the a priori most probable set of predicted properties (the ``bottom-up'' approach), or the most probable set compatible with all current observations (the ``top-down'' approach), or the most probable set consistent with the existence of observers (the ``anthropic'' approach). These inhabit a spectrum of levels of conditionalization and can lead to qualitatively different predictions. For example, in a context in which the densities of various species of dark matter vary among members of an ensemble of otherwise similar regions, from the top-down or anthropic viewpoints -- but not the bottom-up -- it would be natural for us to observe multiple types of dark matter with similar contributions to the observed dark matter density. In the anthropic approach it is also possible in principle to strengthen this argument and the limit the number of likely dark matter sub-components. In both cases the argument may be extendible to dark energy or primordial density perturbations. This implies that the anthropic approach to cosmology, introduced in part to explain "coincidences" between unrelated constituents of our universe, predicts that more, as-yet-unobserved coincidences should come to light.Comment: 18 JCAP-style pages, accepted by JCAP. Revised version adds references and some clarification

Quality of live and quality of work life in organic versus conventional farmers

Quality of life (QOL) and quality of work life (QOWL) play a key role in the overall concept of sustainability. In this paper we analyze QOL and QOWL variables in relation to the type of livestock farm (organic/conventional) and the use of some quality label (PDO Protected Designation of Origin, PGI Protected Geographical Indication). Data were collected through regular visits in 2011 to 70 small ruminant farms in Spain using five-point Likert items with 1-5 range. Of all the 70 farms, 6 are organics, 39 have a quality label and 17 use traditional manufacturing methods. The possession of quality labels in the small ruminant farms analyzed seems not to be related with the quality of life and work. Farmers with traditional production show higher valuation of quality of life but not of quality of work. Organic farms provide quality of life and quality of work significantly better than conventional ones

A Computer Application to Predict Adverse Events in the Short-Term Evolution of Patients With Exacerbation of Chronic Obstructive Pulmonary Disease

Background: Chronic obstructive pulmonary disease (COPD) is a common chronic disease. Exacerbations of COPD (eCOPD) contribute to the worsening of the disease and the patient’s evolution. There are some clinical prediction rules that may help to stratify patients with eCOPD by their risk of poor evolution or adverse events. The translation of these clinical prediction rules into computer applications would allow their implementation in clinical practice. Objective: The goal of this study was to create a computer application to predict various outcomes related to adverse events of short-term evolution in eCOPD patients attending an emergency department (ED) based on valid and reliable clinical prediction rules. Methods: A computer application, Prediction of Evolution of patients with eCOPD (PrEveCOPD), was created to predict 2 outcomes related to adverse events: (1) mortality during hospital admission or within a week after an ED visit and (2) admission to an intensive care unit (ICU) or an intermediate respiratory care unit (IRCU) during the eCOPD episode. The algorithms included in the computer tool were based on clinical prediction rules previously developed and validated within the Investigación en Resultados y Servicios de Salud COPD study. The app was developed for Windows and Android systems, using Visual Studio 2008 and Eclipse, respectively. Results: The PrEveCOPD computer application implements the prediction models previously developed and validated for 2 relevant adverse events in the short-term evolution of patients with eCOPD. The application runs under Windows and Android systems and it can be used locally or remotely as a Web application. Full description of the clinical prediction rules as well as the original references is included on the screen. Input of the predictive variables is controlled for out-of-range and missing values. Language can be switched between English and Spanish. The application is available for downloading and installing on a computer, as a mobile app, or to be used remotely via internet. Conclusions: The PrEveCOPD app shows how clinical prediction rules can be summarized into simple and easy to use tools, which allow for the estimation of the risk of short-term mortality and ICU or IRCU admission for patients with eCOPD. The app can be used on any computer device, including mobile phones or tablets, and it can guide the clinicians to a valid stratification of patients attending the ED with eCOPD.Fondo de Investigación Sanitaria (PI 06\1010, PI06\1017, PI06\714, PI06\0326, PI06\0664) Departamento de Salud del Gobierno Vasco (2012111008) Departamento de Educación, Política Lingüística y Cultura del Gobierno Vasco (IT620-13) Ministerio de Economía y Competitividad del Gobierno Español and FEDER (MTM2013-40941-P and MTM2016-74931-P) the Research Committee of the Hospital Galdakao the thematic networks -REDISSEC (Red de Investigación en Servicios de Salud en Enfermedades Crónicas) - of the Instituto de Salud Carlos III

CMB B-polarization to map the Large-scale Structures of the Universe

We explore the possibility of using the B-type polarization of the CMB to map the large-scale structures of the Universe taking advantage of the lens effects on the CMB polarization. The functional relation between the B component with the primordial CMB polarization and the line-of-sight mass distribution is explicited. Noting that a sizeable fraction (at least 40%) of the dark halo population which is responsible of this effect can also be detected in galaxy weak lensing survey, we present statistical quantities that should exhibit a strong sensitivity to this overlapping. We stress that it would be a sound test of the gravitational instability picture, independent on many systematic effects that may hamper lensing detection in CMB or galaxy survey alone. Moreover we estimate the intrinsic cosmic variance of the amplitude of this effect to be less than 8% for a 100, deg^2 survey with a 10' CMB beam. Its measurement would then provide us with an original mean for constraining the cosmological parameters, more particularly, as it turns out, the cosmological constant Lambda.Comment: Latex2e with REVTEX ; 14 pages, 8 figure