No abstract

Impedance control is a well-established framework to manage the interaction of the end effector of a robot manipulator with the environment, For the execution of six-degree-of-freedom (DOF) tasks, both the end-effector position and orientation must be handled. The operational space control schemes typically utilize minimal representations of end-effector orientation; however, such representations do not lead to a physically meaningful definition of the rotational part of the impedance equation, and they suffer from the occurrence of representation singularities. In this work a new approach to six-DOF impedance control is proposed, where the end-effector orientation displacement is derived from the rotation matrix expressing the mutual orientation between the compliant frame and the desired frame, An alternative Euler angles-based description is proposed which mitigates the effects of representation singularities. Then, a class of angle/axis representations are considered to derive the dynamic equation for the rotational part of a six-DOF impedance at the end effector, using an energy-based argument. The unit quaternion representation is selected to further analyze the properties of the rotational impedance, The resulting impedance controllers are designed according to an inverse dynamics strategy with contact force and moment measurements, where an inner loop acting on the end-effector position and orientation error is adopted to confer robustness to unmodeled dynamics and external disturbances. Experiments on an industrial robot with open control architecture and force/torque sensor have been carried out, and the results in a number of case studies are discussed

No abstract

No abstract

No abstract

Celiac disease (CD) is a multifactorial disorder influenced by environmental, genetic and immunological factors. Increasing evidence showed CTLA-4 gene as an important susceptibility locus for autoimmune disorders. A native soluble cytotoxic T-lymphocyte-associated protein-4 (sCTLA-4), lacking of transmembrane sequence, has been described in several autoimmune diseases. We aimed to evaluate the presence of increased sCTLA-4 concentration in the serum of patients with CD and the possible immunoregulatory function. Blood samples were collected from 160 CD patients; sCTLA-4 levels were evaluated by ELISA, western blot and reverse transcription-PCR. The capability of serum sCTLA-4 to modulate T-lymphocyte proliferation in vitro was evaluated by two-way mixed leukocyte reaction assay. We demonstrated high levels of sCTLA-4 in serum of untreated celiac patients. Additionally, we observed that sCTLA-4 concentrations are related to gluten intake and that a correlation between autoantibodies to tissue transglutaminase and sCTLA-4 concentration exists. Moreover, sCTLA-4 levels correlate with the degree of mucosal damage. Conversely, no correlation between sCTLA4 levels and the HLA-related risk was observed. Finally, we show that sCTLA-4 from sera of CD patients displays functional activities. These results strongly suggest a regulation of sCTLA-4 synthesis depending on the presence or absence of dietary gluten and imply a possible immunomodulatory effect on cytotoxic T lymphocyte functions. In gluten-exposed patients, serum sCTLA-4 levels might provide insight about mucosal injury.

Optimal school integration significantly contributes to the likelihood of good compliance. A better understanding within the school environment about CD-related issues could improve motivation to adhere to a gluten-free diet.

This paper summarizes recent activities carried out for the development of an innovative anthropomorphic robotic hand called the DEXMART Hand. The main goal of this research is to face the problems that affect current robotic hands by introducing suitable design solutions aimed at achieving simplification and cost reduction while possibly enhancing robustness and performance. While certain aspects of the DEXMART Hand development have been presented in previous papers, this paper is the first to give a comprehensive description of the final hand version and its use to replicate human-like grasping. In this paper, particular emphasis is placed on the kinematics of the fingers and of the thumb, the wrist architecture, the dimensioning of the actuation system, and the final implementation of the position, force and tactile sensors. The paper focuses also on how these solutions have been integrated into the mechanical structure of this innovative robotic hand to enable precise force and displacement control of the whole system. Another important aspect is the lack of suitable control tools that severely limits the development of robotic hand applications. To address this issue, a new method for the observation of human hand behavior during interaction with common day-to-day objects by means of a 3D computer vision system is presented in this work together with a strategy for mapping human hand postures to the robotic hand. A simple control strategy based on postural synergies has been used to reduce the complexity of the grasp planning problem. As a preliminary evaluation of the DEXMART Hand's capabilities, this approach has been adopted in this paper to simplify and speed up the transfer of human actions to the robotic hand, showing its effectiveness in reproducing human-like grasping