Energy Efficient Actuation with Variable Stiffness Actuators

Research effort in the field of variable stiffness actuators is steadily increasing, due to their wide range of possible applications and their advantages. In literature, var- ious control methods have been proposed, solving particular problems in human-robot and robot-environment interaction applications, in which the mechanical compliance introduced by variable stiffness actuators has been shown to be beneficial. In this work, we focus on achieving energy efficient actuation of robotic systems using variable stiffness actuators. In particular, we aim to exploit the energy storing properties of the internal elastic elements

Human-like Walking with Compliant Legs

This work presents a novel approach to robotic bipedal walking. Based on the bipedal spring-mass model, which is known to closely describe human-like walking behavior, a robot has been designed that approaches the ideal model as closely as possible. The compliance of the springs is controllable by means of variable stiffness actuators. The controllable stiffness allows the gait to be stabilized against external disturbances

Mechatronic design of the Twente humanoid head

This paper describes the mechatronic design of the Twente humanoid head, which has been realized in the purpose of having a research platform for human-machine interaction. The design features a fast, four degree of freedom neck, with long range of motion, and a vision system with three degrees of freedom, mimicking the eyes. To achieve fast target tracking, two degrees of freedom in the neck are combined in a differential drive, resulting in a low moving mass and the possibility to use powerful actuators. The performance of the neck has been optimized by minimizing backlash in the mechanisms, and using gravity compensation. The vision system is based on a saliency algorithm that uses the camera images to determine where the humanoid head should look at, i.e. the focus of attention computed according to biological studies. The motion control algorithm receives, as input, the output of the vision algorithm and controls the humanoid head to focus on and follow the target point. The control architecture exploits the redundancy of the system to show human-like motions while looking at a target. The head has a translucent plastic cover, onto which an internal LED system projects the mouth and the eyebrows, realizing human-like facial expressions

Variable Stiffness Actuators:A Port-Based Power-Flow Analysis

Variable stiffness actuators realize a novel class of actuators, which are capable of changing the apparent output stiffness independently of the output position. This is mechanically achieved by the internal introduction of a number of elastic elements and a number of actuated degrees of freedom (DOFs), which determine how the elastic elements are sensed at the output. During the nominal behavior of these actuators, the power flow from the internal actuated DOFs can be such that energy is undesirably stored in the elastic elements because of the specific kinematic structure of the actuator. In this study, we focus on the analysis of the power flow in variable stiffness actuators. More specifically, the analysis is restricted to the kinematic structure of the actuators, in order to show the influence of the topological structure on the power flow, rather than on the realization choices. We define a measure that indicates the ratio between the total amount of power that is injected by the internal actuated DOFs and the power that is captured by the internal elastic elements which, therefore, cannot be used to do work on the load. In order to define the power-flow ratio, we exploit a generic port-based model of variable stiffness actuators, which highlights the kinematic properties of the design and the power flows in the actuator structure

The Leiden Ranking 2011/2012: Data collection, indicators, and interpretation

The Leiden Ranking 2011/2012 is a ranking of universities based on bibliometric indicators of publication output, citation impact, and scientific collaboration. The ranking includes 500 major universities from 41 different countries. This paper provides an extensive discussion of the Leiden Ranking 2011/2012. The ranking is compared with other global university rankings, in particular the Academic Ranking of World Universities (commonly known as the Shanghai Ranking) and the Times Higher Education World University Rankings. Also, a detailed description is offered of the data collection methodology of the Leiden Ranking 2011/2012 and of the indicators used in the ranking. Various innovations in the Leiden Ranking 2011/2012 are presented. These innovations include (1) an indicator based on counting a university's highly cited publications, (2) indicators based on fractional rather than full counting of collaborative publications, (3) the possibility of excluding non-English language publications, and (4) the use of stability intervals. Finally, some comments are made on the interpretation of the ranking, and a number of limitations of the ranking are pointed out

Brown-Vialetto-Van Laere and Fazio Londe syndrome is associated with a riboflavin transporter defect mimicking mild MADD: a new inborn error of metabolism with potential treatment

We report on three patients (two siblings and one unrelated) presenting in infancy with progressive muscle weakness and paralysis of the diaphragm. Metabolic studies revealed a profile of plasma acylcarnitines and urine organic acids suggestive of a mild form of the multiple acyl-CoA dehydrogenation defect (MADD, ethylmalonic/adipic acid syndrome). Subsequently, a profound flavin deficiency in spite of a normal dietary riboflavin intake was established in the plasma of all three children, suggesting a riboflavin transporter defect. Genetic analysis of these patients demonstrated mutations in the C20orf54 gene which encodes the human homolog of a rat riboflavin transporter. This gene was recently implicated in the Brown-Vialetto-Van Laere syndrome, a rare neurological disorder which may either present in infancy with neurological deterioration with hypotonia, respiratory insufficiency and early death, or later in life with deafness and progressive ponto-bulbar palsy. Supplementation of riboflavin rapidly improved the clinical symptoms as well as the biochemical abnormalities in our patients, demonstrating that high dose riboflavin is a potential treatment for the Brown-Vialetto-Van Laere syndrome as well as for the Fazio Londe syndrome which is considered to be the same disease entity without the deafnes

Towards a new crown indicator: an empirical analysis

We present an empirical comparison between two normalization mechanisms for citation-based indicators of research performance. These mechanisms aim to normalize citation counts for the field and the year in which a publication was published. One mechanism is applied in the current so-called crown indicator of our institute. The other mechanism is applied in the new crown indicator that our institute is currently exploring. We find that at high aggregation levels, such as at the level of large research institutions or at the level of countries, the differences between the two mechanisms are very small. At lower aggregation levels, such as at the level of research groups or at the level of journals, the differences between the two mechanisms are somewhat larger. We pay special attention to the way in which recent publications are handled. These publications typically have very low citation counts and should therefore be handled with special care

Observer variability of absolute and relative thrombus density measurements in patients with acute ischemic stroke

Introduction: Thrombus density may be a predictor for acute ischemic stroke treatment success. However, only limited data on observer variability for thrombus density measurements exist. This study assesses the variability and bias of four common thrombus density measurement methods by expert and non-expert observers. Methods: For 132 consecutive patients with acute ischemic stroke, three experts and two trained observers determined thrombus density by placing three standardized regions of interest (ROIs) in the thrombus and corresponding contralateral arterial segment. Subsequently, absolute and relative thrombus densities were determined using either one or three ROIs. Intraclass correlation coefficient (ICC) was determined, and Bland–Altman analysis was performed to evaluate interobserver and intermethod agreement. Accuracy of the trained observer was evaluated with a reference expert observer using the same statistical analysis. Results: The highest interobserver agreement was obtained for absolute thrombus measurements using three ROIs (ICCs ranging from 0.54 to 0.91). In general, interobserver agreement was lower for relative measurements, and for using one instead of three ROIs. Interobserver agreement of trained non-experts and experts was similar. Accuracy of the trained observer measurements was comparable to the expert interobserver agreement and was better for absolute measurements and with three ROIs. The agreement between the one ROI and three ROI methods was good. Conclusion: Absolute thrombus density measurement has superior interobserver agreement compared to relative density measurement. Interobserver variation is smaller when multiple ROIs are used. Trained non-expert observers can accurately and reproducibly assess absolute thrombus densities using three ROIs