Design and Control of a Discrete Variable Stiffness Actuator With Instant Stiffness Switch for Safe Human-Robot Interaction

Variable Stiffness Actuators (VSA) have been proposed as an alternative actuation system for manipulators that are utilized for safe physical Human-Robot Interaction (pHRI).However, in the incidents of collision, the need of a fast response in stiffness tuning would rise to ensure safety.In this paper, we present a novel Discrete Variable Stiffness

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STI testing and subsequent clinic attendance amongst test negative asymptomatic users of an internet STI testing service; one-year retrospective study

Aim To explore the characteristics of online STI test users, and assess the frequency and factors associated with subsequent service use following a negative online STI test screen in individuals Hand Sinks without symptoms.Methods One-year retrospective study of online and clinic STI testing within a large integrated sexual health service (Umbrell

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