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Owing to inherent flexibility, compliant actuator with physical elastic elements can implement compliant interactions between robot and environment. Nonlinear stiffness elastic actuators (NSEAs) use one motor to adjust position and stiffness, which improve compactness of variable stiffness actuators, and consider high torque/force resolution and high bandwidth. The primary challenge of designing a NSEA is designing a reliable compliant mechanism with a given torque-deflection profile. In this study, a general design method of torsional compliant mechanism through given discrete torque-deflection points was proposed, where a chain algorithm based on 2R pseudo-rigid-body model was used to describe the large deformation in elastic elements. Moreover, the theoretical model of stiffness of a compliant mechanism based on series flexible beams was developed. Based on the proposed model, the dimensional parameters of proposed compliant mechanism were designed satisfying the condition of the given torque-deflection points. Finally, simulation and physical experiment of the designed compliant mechanism through three given torque-deflection points are conducted to show the effectiveness of the proposed method. The designed compliant mechanism was tested and evaluated in the self-developed NSEA.
The COVID-19 caused a world pandemic, posing a huge threat to global health. Widespread vaccination is the most effective way to control the pandemic. Vaccination with the third dose of the COVID-19 vaccine is currently underway. We aimed to determine the attitude of adolescents toward the third dose of COVID-19 vaccine.
A structured questionnaire was administered between 16 August and 28 October 2021 among adolescents aged 12–17 years in three provinces of eastern region of China based on convenience sampling. The questionnaire was specifically developed to assess the adolescents’ attitude toward and willingness to accept a third dose of the COVID-19 vaccine.
In total, 94.3% (1742/1847) of the adolescents intended to accept the third dose of the COVID-19 vaccine. Age between 15–17 years, no worry about vaccine safety, confidence for vaccine effectiveness, and supporting opinion from parents were independently associated with acceptance of the third dose (p < 0.05).
It is necessary for governments and school administrators to raise adolescents’ and parents’ awareness of the benefits and safety of the third dose of vaccination, which should be effective to increase the vaccination coverage among adolescents.
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