Abstract: Input shapers for control inputs to the robotic surgical system and their method of controlling a linkage of a robot with a controller includes receiving a desired joint angle of a joint of the robot; and transmitting a first control signal to a motor to actuate the joint in response to a desired joint velocity, the desired joint velocity being a function of the desired joint angle and a current joint angle of the joint.

Abstract: A monitoring system comprising a monitor is disclosed that utilizes a vibration sensor to monitor the occurrence and properties of an event. The monitor does not require disassembly of the device to be monitored, or interfere with the operation of the device to be monitored, because the monitor is affixed to the exterior of a device to be monitored or a component thereof, or is integrated into the design of the device to be monitored. In a preferred embodiment, the device to be monitored is a drug delivery device, most preferably an inhaler or autoinjector. The monitoring system includes a display device such as a smartphone or tablet computer for analyzing data related to the device to be monitored usage and displaying information to a user, patient and/or caregiver before, during, and after a usage event. Preferred embodiment monitor the inhalation flow rate through an inhaler, and the dose delivered by an injector.

Abstract: A pair of rigid connectors is disposed in frictional arrangement between an optical flat and its supporting cell joined by resilient connectors. The first, axial connector consists of a block anchored to the cell's inner surface and tilted by a spring so that a line contact is established between the block and the flat's peripheral surface. The second, radial connector consists of a flat clip overlapping the gap between the optical flat and the cell, so that surface contacts are established between the clip and the side surfaces of both structures. Another, retaining spring coupling the first and second connectors ensures that such surface contacts are maintained. The frictional forces resulting from these connections prevent the axial and radial movement of the flat with respect to the cell when either component is subjected to vibrations under normal operating conditions.