IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, USA, pp. 2961--2966, 1997

This paper finds an analytical expression for the Jacobian matrix of a parallel manipulator, as well as for its derivatives (with respect to time or to a change in joint angles) of any order. The most important part in the presented procedures is the closed-form expression for the velocity closure equations of the manipulator

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This paper uses (linearized) Kalman filters to estimate first-order geometric parameters (i.e., orientation of contact normals and location of contact points) that occur in force-controlled compliant motions. The time variance of these parameters is also estimated. In addition, transitions between contact situations can be monitored. The contact between the manipulated object and its environment is general, i.e., multiple contacts can occur at the same time, and both the topology and the geometry of each single contact are arbitrary. The two major theoretical contributions are 1) the integration of the general contact model, developed previously by the authors, into a state-space form suitable for recursive processing; and 2) the use of the reciprocity constraint between ideal contact forces and motion freedoms as the “measurement equation ” of the Kalman filter. The theory is illustrated by full 3-D experiments

Estimating First Order Geometric Parameters and Monitoring Contact Transitions During Force Controlled Compliant Motion

This paper uses (linearized) Kalman Filters to estimate first-order geometric parameters (i.e., orientation of contact normals and location of contact points) and/or their time-variance that occur in force controlled compliant motions, adn to monitor transitions between contact situations. The contact between the manipulated object and its environment is general, i.e., multiple contacts can occur at the same time, and both the topology and the geometry of each single contact are arbitrary

A novel hypomorphic mutation in STIM1 results in a late-onset immunodeficiency

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Long-term Clinical Effectiveness of Ustekinumab in Patients with Crohn's Disease Who Failed Biologic Therapies: A National Cohort Study.

BACKGROUND: Ustekinumab [UST] was recently approved in Europe for the treatment of moderate to severe Crohn's disease [CD]. Long-term real-world data are currently scarce for CD patients previously exposed to several biologics. METHODS: This is an observational, national, retrospective multicentre study. Patients received intravenous UST ~6 mg/kg at baseline, with 90 mg subcutaneously thereafter every 8 weeks. Response and remission rates were assessed at Weeks 8, 16, and 52. RESULTS: Data from 152 patients were analysed. All patients were exposed to at least one anti-TNFalpha agent, with 69.7% were exposed to even two anti-TNFalpha and vedolizumab. After 1 year, 42.1% and 25.7% of patients had experienced clinical response and clinical remission, respectively, and 38.8% and 24.3% had achieved steroid-free clinical response and remission, respectively; 38.8% of patients discontinued therapy during the 12 months of follow-up. Colonic location was predictive of clinical response at 1 year, and low body mass index [BMI] at baseline was a negative predictor of clinical remission. Resolution of arthralgia was associated with clinical response over time. De novo arthralgia was reported by 17.9% of patients at Week 8 and 13.5% of patients at Week 52. No impact of UST on arthralgia was observed in patients with concomitant ankylosing spondylitis [n = 17]. Others adverse events were reported in 7.2% of patients. CONCLUSIONS: This real-world cohort study confirms the effectiveness of UST in CD patients previously exposed to several biologics. Ustekinumab was well tolerated with respect to adverse events. PODCAST: This article has an associated podcast which can be accessed at https://academic.oup.com/ecco-jcc/pages/podcast