THE IMPACT OF GENDER NORMED SCORING OF THE BRIEF SYMPTOM INVENTORY ON TRANS* INDIVIDUALS

The purpose of this research was to investigate the significance of the choice of gender normed scoring on the Brief Symptom Inventory (BSI) (Derogatis, 1993) when assessing cisgender and trans* or gender non-conforming individuals. This study compared two groups, cisgender and trans* individuals, on male and female gender normed scoring for the BSI. Each participant’s responses on the BSI were scored using both male and female norms and the number of clinically significant elevations (T-score ≥ 63) was counted. Results indicated that regardless of gender identity or sex-assigned-at-birth (SAAB), a higher mean number of elevations was found when using male norms

Twijfelen mag!:Leerlingen kritisch leren lezen via de Lesson Studymethode

Docenten van een professionele leergemeenschap ontwierpen via de Lesson Studymethode een lessenserie waarbij de focus lag op kritisch leren lezen

Design, implementation and control of a deformable manipulator robot based on a compliant spine

International audienceThis paper presents the conception, the numerical modeling and the control of a dexterous, deformable manipulator bio-inspired by the skeletal spine found in vertebrate animals. Through the implementation of this new manipulator, we show a methodology based on numerical models and simulations, that goes from design to control of continuum and soft robots. The manipulator is modeled using Finite Element Method (FEM), using a set of beam elements that reproduce the lattice structure of the robot. The model is computed and inverted in real-time using optimisation methods. A closed-loop control strategy is implemented to account for the disparities between the model and the robot. This control strategy allows for accurate positioning, not only of the tip of the manipulator, but also the positioning of selected middle points along its backbone. In a scenario where the robot is piloted by a human operator, the command of the robot is enhanced by a haptic loop that renders the boundaries of its task space as well as the contact with its environment. The experimental validation of the model and control strategies is also presented in the form of an inspection task use case

Visual Servoing Control of Soft Robots based on Finite Element Model

International audienceIn this paper, we propose a strategy for the control of soft robots with visual tracking and simulation-based predictor. A kinematic model of soft robots is obtained thanks to the Finite Element Method (FEM) computed in real-time. The FEM allows to obtain a prediction of the Jacobian matrix of the robot. This allows a first control of the robot, in the actuator space. Then, a second control strategy based on the feedback of infrared cameras is developed to obtain a correction of the effector position. The robust stability of this closed-loop system is obtained based on Lyapunov stability theory. Otherwise, to deal with the problem of image features (the marker points placed on the end effector of soft robot) loss, a switched control strategy is proposed to combine both the open-loop controller and the closed-loop controller. Finally, experiments on a parallel soft robot driven by four cables are conducted and show the effectiveness of these methods for the real-time control of soft robots

Robust Fabrication of a Soft Mechanosensor based on Pneumatic Measurements

International audienceIn this extended abstract, we complement the work presented in a previous paper where we have shown the modeling of a novel soft pneumatic mechanosensor. With the objective of giving a demo at the RoboTac 2019 workshop, we discuss robust manufacturing techniques that enable us to fabricate such soft mechanosensors out of silicone with embedded cavities in a consistent manner

Finite element method-based kinematics and closed-loop control of soft, continuum manipulators

International audienceThis paper presents a modeling methodology and experimental validation for soft 1 manipulators to obtain forward and inverse kinematic models under quasistatic conditions. It offers a way to obtain the kinematic characteristics of this type of soft robots that is suitable for offline path planning and position control. The modeling methodology presented relies on continuum mechanics which does not provide analytic solutions in the general case. Our approach proposes a real-time numerical integration strategy based on Finite Element Method (FEM) with a numerical optimization based on Lagrangian Multipliers to obtain forward and inverse models. To reduce the dimension of the problem, at each step, a projection of the model to the constraint space (gathering actuators, sensors and end-effector) is performed to obtain the smallest number possible of mathematical equations to be solved. This methodology is applied to obtain the kinematics of two different manipulators with complex structural geometry. An experimental comparison is also performed in one of the robots, between two other geometric approaches and the approach that is showcased in this paper. A closed-loop controller based on a state estimator is proposed. The controller is experimentally validated and its robustness is evaluated using Lypunov stability method

The relationship of weight change trajectory with medial temporal lobe atrophy in patients with mild Alzheimer's disease:results from a cohort study

INTRODUCTION: Weight loss has been described in 20% to 45% of patients with Alzheimer’s disease (AD) and has been associated with adverse outcomes. Various mechanisms for weight loss in AD patients have been proposed, though none has been proven. This study aimed to elucidate a mechanism of weight loss in AD patients by examining the hypothesis that weight loss is associated with medial temporal lobe atrophy (MTA). METHODS: Patients from the Frisian Alzheimer’s disease cohort study (a retrospective, longitudinal study of 576 community-dwelling AD patients) were included when a brain MRI was performed on which MTA could be assessed. To investigate the hypothesis that weight loss is associated with MTA, we investigated whether the trajectory of body weight change depends on the severity of MTA at the time of diagnosis (that is baseline). We hypothesized that patients with more severe MTA at baseline would have a lower body weight at baseline and a faster decrease in body weight during the course of the disease. The generalized linear mixed model (GLMM) was used to determine the relationship of weight change trajectory with MTA severity. RESULTS: In total, 214 patients (median age 79 years, median MMSE 23, mean weight 73.9 kg) were included. Patients with moderate, severe or very severe MTA at baseline weighed 3.2 to 6.8 kg more than patients with no or mild MTA. During the 3.5 years, patients gained on average 1.7 kg in body weight, irrespective of the severity of their MTA at baseline. CONCLUSIONS: We found no evidence that MTA is associated with weight loss in AD patients. Moreover, contrary to what was expected, AD patients did not lose but gained weight during follow-up