Narrow Results

An adaptive impedance control method based on dexterity for compliant interaction is proposed for the problem of compliance and motion performance of the human’s healthy side interacting with the manipulator in bilateral mirror rehabilitation motion-assisted training, and constructs a local virtual force field to hinder the movement of the manipulator to the low motion performance region, thus improving the motion performance of the manipulator. Firstly, the dynamic model of the manipulator and the human–robot interaction model based on impedance control are established. Then, a dexterity index based on the condition number is established, and an adaptive impedance control method based on the dexterity is proposed to construct a local virtual force field to hinder the movement of the manipulator to the low motion performance region. Finally, the effectiveness of the proposed method is demonstrated by experiments. The results have shown that the adaptive impedance control method based on dexterity can construct a local virtual force field, which can constrain the motion of the manipulator and keep the robot with good motion performance. It also laid the foundation for the training strategy of bilateral mirror rehabilitation.

There is a growing need for integrated approaches that align community priorities with strategies that build resilience to climate hazards, societal shocks, and economic crises to ensure more equitable and sustainable outcomes. We anticipate that adaptive management and resilience learning are central elements for these approaches. In this paper, we describe an approach to build and test a Resilience Learning System to support research and implementation of a resilience strategy developed for the Greater Miami and the Beaches or the Resilient305 Strategy. Elements foundational to the design of this integrated research strategy and replicable Resilience Learning System are: (1) strong partnerships among community members, government and non-government organization leaders, and researchers from multiple academic institutions; (2) contributions of subject matter expertise and local knowledge to identify information and translational gaps, formulate metrics and evaluate outcomes of Resilient305 Strategy actions from the community perspective; and (3) a comprehensive understanding of civic engagement activities, technological tools, and resilience-building capacities, including policy and financial innovations, from which to advance socio-technological, smart and connected regional-to-hyperlocal community translation through co-design/co-production. Initial results on co-produced metrics are provided. This work produces a new, replicable framework for resilience research that includes a comprehensive set of metrics, translation to communities through structured dialogues, a collaborative process involving all stakeholders and researchers, and evaluation of resilience actions to inform new investments and improve understanding and effectiveness over time.