Learn More
An anthropomorphic hand arm system using variable stiffness actuation has been developed at DLR. It is aimed to reach its human archetype regarding size, weight and performance. The main focus of our development is put on robustness, dynamic performance and dexterity. Therefore, a paradigm change from impedance controlled, but mechanically stiff joints to(More)
This is a PDF file of an unedited manuscript that has been accepted for publication. As a service to our customers we are providing this early version of the manuscript. The manuscript will undergo copyediting, typesetting, and review of the resulting proof before it is published in its final form. Please note that during the production process errors may(More)
Whereas short-term memory lasts from minutes to hours, long-term memory (LTM) can last for days or even an entire lifetime. LTM generally forms after spaced repeated training sessions and involves the regulation of gene expression, thereby implicating transcription factors in the initial steps of LTM establishment. However, the direct participation of(More)
2011 In memory of my great-great-grandfather Carl Heinrich Främbs who was expelled from ETH in the Bolley incident on July 31 st , 1864. ii Acknowledgments First of all, I would like to thank Roland Siegwart for having me as a PhD student over the past four years and for providing the extremely inspiring en-viroment and all the necessary resources that made(More)
The paper presents a new energy shaping control design for a class of underactuated Euler-Lagrange systems. Flexible joint robots, Series Elastic Actuators, and Variable Impedance Actuated Robots Albu-Schäffer et al. [2008] belong for example to this class. First, classical PD control with feed-forward compensation is revisited and a novel, straightforward(More)
Robots with joint elasticity find increasing interest in many research areas. A common design goal is to achieve as little mechanical joint damping as possible. To still achieve system damping often control systems are used. Here, we present a model-free approach to achieve damping via exploiting the kinetic to potential energy transformation process of the(More)
Deltakephalin, Tyr-D-Thr-Gly-Phe-Leu-Thr (DTLET) was rationally designed as pure delta-probe from proposed models of mu and delta opiate receptors. On peripheral organs, deltakephalin displays a 3000 times higher inhibitory potency on the electrically stimulated mouse vas deferens (IC50 = 0.15 nM) as on the guinea pig ileum (IC50 = 460 nM). As expected(More)
The effects of the specific delta-agonist of opiate receptors, DTLET (Tyr-D-Thr-Gly-Phe-Leu-Thr), the specific mu-agonist DAGO (Tyr-D-Ala-Gly-(Me)Phe-Gly-ol) and of kelatorphan (N-((2R)-3-(hydroxyaminocarbonyl-2-benzyl-1-oxopropyl)-L-alanine), a potent inhibitor of the enkephalin-degrading enzymes, on the spontaneous release of [3H]dopamine ([3H]DA)(More)
Trimegestone is a novel norpregnane progestin that is being developed, in combination with estradiol, for the treatment of menopausal symptoms. The pharmacological characteristics of trimegestone have been evaluated in both in vitro and in vivo test systems, and compared with reference progestins. Interaction with hormonal steroid receptors from animal(More)
The present work investigated whether neurotrophins could differentially affect in vitro growth and maturation of two related subsets of hypothalamic neurons, hypophysiotropic somatostatin (SRIH) neurons projecting from the periventricular area and arcuate SRIH interneurons. For this purpose, the hypothalamus of 17-day-old rat fetuses was sampled and(More)