Abstract: Aspects of the present disclosure are directed toward apparatuses and methods for rendering haptic environments, such as may be used in rehabilitation. As may be implemented in accordance with one or more embodiments, haptic rehabilitative movement is effected by providing feedback signals characterizing sensed engagement of a user's lower extremity with a crank coupled to a shaft that is driven by a motor, and controlling movement of the crank in response to the feedback signals. Force may be provided by the motor and shaft, by applying control inputs to the motor that cause the motor and crank to render respective haptic environments while engaged with the user's lower extremity, via rotation of the shaft. The haptic environments may include one or both of impedance-based haptic environments and admittance-based haptic environments.

Abstract: Aspects of the present disclosure are directed toward apparatuses and methods for rendering haptic environments, such as may be used in rehabilitation. As may be implemented in accordance with one or more embodiments, haptic rehabilitative movement is effected by providing feedback signals characterizing sensed engagement of a user's lower extremity with a crank coupled to a shaft that is driven by a motor, and controlling movement of the crank in response to the feedback signals. Force may be provided by the motor and shaft, by applying control inputs to the motor that cause the motor and crank to render respective haptic environments while engaged with the user's lower extremity, via rotation of the shaft. The haptic environments may include one or both of impedance-based haptic environments and admittance-based haptic environments.

Abstract: An embedded help system for a software application; said facility providing embedded help data to a user in response to a help query from said user; said embedded help data comprising base embedded help data and user added embedded help data; said embedded help data pertinent to the operation of said software application.

Abstract: An additive mixture useful as a flame retardant is described. The mixture is comprised of (i) a poly(bromophenyl)alkane having in the molecule in the range of 13 to 60 carbon atoms and in the range of two to four aryl groups and (ii) a poly(bromophenyl)bromoalkane having in the molecule in the range of 13 to 60 carbon atoms and in the range of two to four aryl groups, said poly(bromophenyl)bromoalkane being in an amount which is greater than 25 wt %, based on the total weight of the additive mixture. A facile process for making the poly(bromophenyl)bromoalkane is also described.