Abstract: The invention relates to a medical instrument having an elongated shaft, a movable tool at a distal end of the shaft, a handle with a movable grip part at a proximal end of the shaft, and a force transmission element which can be moved in the longitudinal direction of the instrument and is operatively connected to the movable grip part and to the tool such that an actuation of the movable grip part is converted into a movement of the tool. The instrument has a spring assembly that is arranged on the handle and has at least one leg spring, which has at least one winding and two legs, and a pin, wherein the at least one winding extends about the pin. When the movable grip part is actuated, a force is applied to at least one of the legs of the leg spring, said force reducing the friction between the winding and the pin such that the leg spring can be rotated about the pin and the force transmission element and the tool can be moved.

Abstract: A humidifying device for transferring water and/or water vapour from waste air of a waste air flow to supply air of a supply air flow is provided. In the compensating chamber of the housing of the humidifying device, at least one spreading means is arranged, which spreads apart the plate stack of the humidifying device and the housing cover closing the housing in the direction of the longitudinal axis.

Abstract: The disclosure provides multimeric proteins comprising three, four, or more monomer polypeptides, each comprising a first 4-1BB-targeting moiety, an oligomerization moiety, and optionally a linker. The monomer polypeptide may further comprise one or more additional targeting moieties. The oligomerization moiety promotes the trimerization, tetramerization, or higher state of oligomerization of the monomer polypeptides. Such multimeric proteins can be used in many pharmaceutical applications, for example, as anti-cancer agents and/or immune modulators. The present disclosure also concerns methods of making the multimeric proteins described herein as well as compositions comprising such multimeric proteins. The present disclosure further relates to nucleic acid molecules encoding such multimeric proteins and methods for the generation of such multimeric proteins and nucleic acid molecules.

Abstract: In an electric steering device, a plurality of periodic disturbances (M(f1o), M(f2o), . . . M(fno)) can occur which are to be compensated, while additionally occurring, in particular non-periodic, disturbances (Mstoer) are not to be compensated.

Abstract: In an electric steering device, a plurality of periodic disturbances (M(f1o), M(f2o), . . . M(fno)) can occur which are to be compensated, while additionally occurring, in particular non-periodic, disturbances (Mstoer) are not to be compensated. So as to enable simultaneous compensation of a plurality of such periodic disturbances based on a model (Gnom(s)) of the steering device, it is proposed to map the further disturbances Mstoer occurring in addition to the disturbances M(f1o), M(f2o), (Mfno) to be compensated, together with inaccuracies or modeling errors (?s) of the model (Gnom(s)) in the form of an unstructured disturbance (Mstoer).

Abstract: A torque actuator is regulated so as to permit an activation of the torque actuator such that steering wheel rotary oscillations that occur can be compensated. For this purpose, in one embodiment, a torsion bar torque is detected. A compensation torque is determined as a function of the detected torsion bar torque by means of a variable-frequency disturbance variable and state variable calculator. The compensation torque or a signal corresponding to the compensation torque is then taken into consideration during activation of the torque actuator.

Abstract: A torque actuator is regulated so as to permit an activation of the torque actuator such that steering wheel rotary oscillations that occur can be compensated. For this purpose, in one embodiment, a torsion bar torque is detected. A compensation torque is determined as a function of the detected torsion bar torque by means of a variable-frequency disturbance variable and state variable calculator. The compensation torque or a signal corresponding to the compensation torque is then taken into consideration during activation of the torque actuator.

Abstract: Provided is a way of using an estimator to determine a force (Fz), which acts from the outside on a steering gear of a steering device in a vehicle by way of a steering linkage, wherein a motor for generating a steering torque is assigned to the steering device. This is achieved by estimating the force (Fz) acting from the outside as a function of an effective motor torque (tor_RAeff), wherein the effective motor torque (tor_RAeff) is determined as a function of a motor torque and an efficiency, the efficiency being determined as a function of the estimated force (Fz).

Abstract: So as to provide, with high accuracy, an actuating variable for actuating a torque control element in an electric vehicle steering system and achieve this with reduced complexity as compared to the known methods and devices, an actual torsion-bar torque (MD) is detected, a differential torque is found from a predefined target torsion-bar torque (MD,ref) and the actual torsion-bar torque (MD), and the actuating variable is determined by means of an output feedback controller, as a function of the differential torque.

Abstract: Provided is a way of using an estimator to determine a force (Fz), which acts from the outside on a steering gear of a steering device in a vehicle by way of a steering linkage, wherein a motor for generating a steering torque is assigned to the steering device. This is achieved by estimating the force (Fz) acting from the outside as a function of an effective motor torque (tor_RAeff), wherein the effective motor torque (tor_RAeff) is determined as a function of a motor torque and an efficiency, the efficiency being determined as a function of the estimated force (Fz).

Abstract: So as to provide, with high accuracy, an actuating variable for actuating a torque control element in an electric vehicle steering system and achieve this with reduced complexity as compared to the known methods and devices, an actual torsion-bar torque (MD) is detected, a differential torque is found from a predefined target torsion-bar torque (MD,ref) and the actual torsion-bar torque (MD), and the actuating variable is determined by means of an output feedback controller, as a function of the differential torque.

Abstract: A method is disclosed for operating a power steering system in which a motor torque is computed by an electronic processor and established by suitable motor actuation, wherein a plausibility check is carried out for the computed motor torque as part of a 3-level design, wherein integration of a part above a motor torque limit curve and decrementation of an integrator with a part below the motor torque limit curve are performed, the target motor torque being limited to a first integration threshold in level 1, and the limitation is monitored in level 2, with an intrinsically safe motor torque limit curve being used as a function of an actual torque.