Analysis of the impact of sex and age on the variation in the prevalence of antinuclear autoantibodies in Polish population: a nationwide observational, cross-sectional study

The detection of antinuclear autoantibody (ANA) is dependent on many factors and varies between the populations. The aim of the study was first to assess the prevalence of ANA in the Polish adult population depending on age, sex and the cutoff threshold used for the results obtained. Second, we estimated the occurrence of individual types of ANA-staining patterns. We tested 1731 patient samples using commercially available IIFA using two cutoff thresholds of 1:100 and 1:160. We found ANA in 260 participants (15.0%), but the percentage of positive results strongly depended on the cutoff level. For a cutoff threshold 1:100, the positive population was 19.5% and for the 1:160 cutoff threshold, it was 11.7%. The most prevalent ANA-staining pattern was AC-2 Dense Fine speckled (50%), followed by AC-21 Reticular/AMA (14.38%) ANA more common in women (72%); 64% of ANA-positive patients were over 50 years of age. ANA prevalence in the Polish population is at a level observed in other highly developed countries and is more prevalent in women and elderly individuals. To reduce the number of positive results released, we suggest that Polish laboratories should set 1:160 as the cutoff threshold

Soft Robotics with Variable Stiffness Actuators: Tough Robots for Soft Human Robot Interaction

Robots that are not only robust, dynamic, and gentle in the human robot interaction, but are also able to perform precise and repeatable movements, need accurate dynamics modeling and a high-performance closed-loop control. As a technological basis we propose robots with intrinsically compliant joints, a stiff link structure, and a soft shell. The flexible joints are driven by Variable Stiffness Actuators (VSA) with a mechanical spring coupling between the motor and the actuator output and the ability to change the mechanical stiffness of the spring coupling. Several model based and model free control approaches have been developed for this technology, e.g. Cartesian stiffness control, optimal control, reactions, reflexes, and cyclic motion control