This paper presents two kinds of adaptive control schemes for robot manipulator which has the parametric uncertainties. In order to compensate these uncertainties, we use the FLS (fuzzy logic system) that has the capability to approximate any nonlinear function over the compact input space. In the proposed control schemes, we need not derive the linear formulation of robot dynamic equation and tune the parameters. We also suggest the robust adaptive control laws in all proposed schemes for decreasing the effect of approximation error. To reduce the number of fuzzy rules of the FLS, we consider the properties of robot dynamics and the decomposition of the uncertainty function. The proposed controllers are robust not only to the structured uncertainty such as payload parameter, but also to the unstructured one such as friction model and disturbance. The validity of the control scheme is shown by computer simulations of a two-link planar robot manipulator.

To assess the effects of a sensory integration programme involving applied interactive metronome training in a group of children with developmental disabilities. Methods: Ten children with various developmental disabilities participated in this study. Participants received sensory integration treatment in a group programme with applied interactive metronome training for 45 minutes a day for 4 weeks, exclusive of Saturday and Sunday. The treatments consisted of stimulations of the vestibular and tactile senses, and proprioceptive applied metronome training. Results: The effects of the programme were evaluated via measurements of short sensory profile, Corner's teacher rating scale, and DeGangi-Berk test. The data obtained before and after the treatment were analyzed using Wilcoxon's test. The findings of this study were that there were significantly positive effects on sensory processing, concentration, motor control, bilateral coordination, and reflex integration in the study group. Conclusion: Our results indicated that the sensory integration programme with applied interactive metronome training might be useful and improved the performance of the children with developmental disabilities. The results demonstrated the efficacy of this new approach. This pilot study provides new insights into the effective treatment of children with developmental disabilities.

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