This paper presents a new developed multisensory five-fingered dexterous robot hand : the DLR/HIT Hand II. The hand has an independent palm and five identical modular fingers, each finger has three DOFs and four joints. All the actuators and electronics are integrated in the finger body and the palm. By using powerful super flat brushless DC motors, tiny harmonic drivers and BGA form DSPs and FPGAs, the whole finger's size is about one third smaller than the former finger in the DLR/HIT Hand I. By using the steel coupling mechanism, the phalanx distal's transmission ratio is exact 1:1 in the whole movement range. At the same time, the multisensory dexterous hand integrates position, force/torque and temperature sensors. The hierarchical hardware structure of the hand consists of the finger DSPs, the finger FPGAs, the palm FPGA and the PCI based DSP/FPGA board. The hand can communicate with external with PPSeCo , CAN and Internet. Instead of extra cover, the packing mechanism of the hand is implemented directly in the finger body and palm to make the hand smaller and more human like. The whole weight of the hand is about 1.5Kg and the fingertip force can reach 10N.

We studied dampness and mold in China in relation to rhinitis, ocular, throat and dermal symptoms, headache and fatigue. A questionnaire study was performed in six cities including 36 541 randomized parents of young children. Seven self‐reported signs of dampness were evaluated. Multilevel logistic regression models were used to calculate odds ratios (ORs). Totally, 3.1% had weekly rhinitis, 2.8% eye, 4.1% throat and 4.8% skin symptoms, 3.0% headache and 13.9% fatigue. Overall, 6.3% of the homes had mold, 11.1% damp stains, 35.3% damp bed clothing, 12.8% water damage, 45.4% window pane condensation, 11.1% mold odor, and 37.5% humid air. All dampness signs were associated with symptoms (ORs from 1.2 to 4.6; P < 0.001), including rhinitis (ORs from 1.4 to 3.2; P < 0.001), and ORs increased by number of dampness signs. The strongest associations were for mold odor (ORs from 2.3 to 4.6) and humid air (ORs from 2.8 to 4.8). Associations were stronger among men and stronger in Beijing as compared to south China. In conclusion, dampness and mold are common in Chinese homes and associated with rhinitis and ocular, throat and dermal symptoms, headache and fatigue. Men can be more sensitive to dampness and health effects of dampness can be stronger in northern China.

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