A new conceptually simple approach to controlling compliant motions of a robot manipulator is presented. The “hybrid” technique described combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system. Analysis, simulation, and experiments are used to evaluate the controller’s ability to execute trajectories using feedback from a force sensing wrist and from position sensors found in the manipulator joints. The results show that the method achieves stable, accurate control of force and position trajectories for a variety of test conditions.

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Objective: To assess the relative risk of major congenital malformation (MCM) from in utero exposure to antiepileptic drug (AEDs). Methods: Prospective data collected by the UK Epilepsy and Pregnancy Register were analysed. The presence of MCMs recorded within the first three months of life was the main outcome measure. Results: Full outcome data were collected on 3607 cases. The overall MCM rate for all AED exposed cases was 4.2% (95% confidence interval (CI), 3.6% to 5.0%). The MCM rate was higher for polytherapy (6.0%) (n = 770) than for monotherapy (3.7%) (n = 2598) (crude odds ratio (OR) = 1.63 (p = 0.010), adjusted OR = 1.83 (p = 0.002)). The MCM rate for women with epilepsy who had not taken AEDs during pregnancy (n = 239) was 3.5% (1.8% to 6.8%). The MCM rate was greater for pregnancies exposed only to valproate (6.2% (95% CI, 4.6% to 8.2%) than only to carbamazepine (2.2% (1.4% to 3.4%) (OR = 2.78 (p,0.001); adjusted OR = 2.97 (p,0.001)). There were fewer MCMs for pregnancies exposed only to lamotrigine than only to valproate. A positive dose response for MCMs was found for lamotrigine (p = 0.006). Polytherapy combinations containing valproate carried a higher risk of MCM than combinations not containing valproate (OR = 2.49 (1.31 to 4.70)). Conclusions: Only 4.2% of live births to women with epilepsy had an MCM. The MCM rate for polytherapy exposure was greater than for monotherapy exposure. Polytherapy regimens containing valproate had significantly more MCMs than those not containing valproate. For monotherapy exposures, carbamazepine was associated with the lowest risk of MCM.

Bial, Eisai, GlaxoSmithKline, Janssen-Cilag, Novartis, Pfizer, Sanofi-Aventis, UCB, the Netherlands Epilepsy Foundation, and Stockholm County Council.

When an accurate dynamic model of a mechanical manipu lator is available, it may be used in a nonlinear, model-based scheme to control the manipulator. Such a control formula tion yields a controller that suppresses disturbances and tracks desired trajectories uniformly in all configurations of the manipulator. Use of a poor dynamic model with this kind of model-based decoupling and linearizing scheme, however, may result in performance that is inferior to a much simpler, fixed-gain scheme. In this paper, we develop a parameter-adaptive control scheme in a set of adaptive laws that can be added to the nonlinear, model-based controller. The scheme is unique be cause it is designed specifically for the nonlinear, model- based controller and has been proven stable in a full, nonlin ear setting. After adaptation, the error dynamics of the joints are decoupled with uniform disturbance rejection in all ma nipulator configurations. The issues of sufficient excitation and the effect of disturbances are also discussed. The theory is demonstrated with simulation results and also with data from an implementation for an industrial robot, the Adept One.