The invention relates to a fixing element (33) extending as a flat, particularly lamellar element along a preferred direction (34) and comprising a corrugated sheet metal core (18) as a central component, said core providing the fixing element (33) with the characteristic of being integrally rigid and permanently deformable by hand, and said core being covered by a cover (36, 37). For such a fixing element, a large range of use is achieved in that the corrugations of the corrugated core sheet (18) are oriented substantially parallel to the preferred direction (34), and that means (38, 39) for releasably attaching the fixing element (33) are disposed on the fixing element (33).

Orthopedic device for treating neuropathic ulcers and other injuries while allowing easy access to the wound site on the plantar surface of a patient's foot includes a base portion and a sole that is either movably connected or removably connected to either the base or to a strut member. The base or strut is maintained in position on the lower leg while the sole may be rotated, slid, or completely removed for allowing inspection and access to the plantar surface of the patient's foot.

A hammer toe treatment device to help uncurl a hammer toe and protect the toe including a base pad configured to extend in a neck portion of the between the toe mound and tip of the toe. The base pad including an arcuate top surface extending in the direction of the hammer toe and configured to produce a straightening force against the toe. The pad including a bottom surface generally opposite to the top surface that includes a generally flat surface configured to engage a shoe insole when the shoe is worn. The base pad further including a tubular toe sleeve fixed relative to the base pad and extending forwardly along a sleeve axis from a reward toe opening. The sleeve axis extending at a sleeve angle relative to the bottom surface and the sleeve being shaped to receive the hammer toe and cover a substantial portion of the toe.

A regenerated spent hydroprocessing catalyst treated with a chelating agent and having incorporated therein a polar additive.

A component part has a catalyst surface. This surface has metallic components and components of MnO2 (13) in contact with the former. The metallic components are preferably formed of Ag and/or Ni. These material pairs achieve a great improvement in catalyst action compared to the pure metals. Especially in the case of use of Ni, which is toxicologically safe, these surfaces, for example, may also find use in ambient air purification for reduction of the ozone content. The surface can be applied, for example, by a coating of the component part, in which case the metallic component and the component of MnO2 are applied in two layers.

A hydrogel tissue adhesive having decreased gelation time and decreased degradation time is described. The hydrogel tissue adhesive is formed by reacting an oxidized polysaccharide containing aldehyde groups with a water-dispersible, multi-arm amine in the presence of a thiol additive. The thiol additive accelerates the process to form the hydrogel and accelerates the degradation of the hydrogel formed. The hydrogel may be useful as a tissue adhesive or sealant for medical applications, such as a hemostat sealant or to prevent undesired tissue-to-tissue adhesions resulting from trauma or surgery.

A method for preparing lignin graft copolymer comprising: reacting lignocellulosic materials with an acrylic compound by bulk condensation under nitrogen atmosphere in the presence of a non-oxidizing strong organic acid as catalyst; separating the reaction mixture to obtain a solid phase mainly containing lignocellulosic materials and a liquid phase containing lignin graft copolymer and unreacted acrylic compound; and removing solvent from the liquid phase to obtain the lignin graft copolymer.

Biomaterials that support cell attachment and growth are provided. In one aspect, biomaterials are provided comprising a first polymer matrix comprising reactive amino moieties and a second polymer matrix that interpenetrates with the first polymer matrix, where the second polymer matrix comprises a poly(alkylene oxide) comprising two or more alkylene oxide oligomers joined by gamma-thioether carbonyl linkages. In another aspect, biomaterials are provided comprising at least one biopolymer comprising amino groups, thiol groups, and bifunctional modifiers connecting at least some of the amino groups to at least some of the thiol groups; and at least one poly(alkylene oxide) cross-linked to at least two thiol groups of the biopolymer. The biomaterials may further comprise a pharmacologically active agent or cells. Methods of administering such biomaterials to a patient in need thereof are also provided.

Devices and methods for gastrointestinal bypass are described. A gastrointestinal bypass device includes a gastrointestinal cuff and a gastrointestinal sleeve. The cuff may be configured to be attached in the esophagus, and may be sufficiently flexible to expand and collapse to conform with the inside of the esophagus to allow the esophagus to function substantially normally. The sleeve is configured to be coupled to the cuff, and may be made of a material that is floppy or flaccid but does not substantially expand radially.

A method for securing an implantable medical device onto a balloon which includes applying a coating, which includes a film-forming polymer and at least one solvent, to the outer surface of the balloon. The solvents can include alcohol, water, ether and combinations thereof. The film-forming polymer can include a zwitterionic polymer, such as, for example a phosphorylcholine polymer. The coating can be applied to the entire balloon surface or a portion of the surface. The implantable medical device is then positioned on the outer surface of the balloon and secured. The film-forming polymer is then allowed to cure in order to define an adhesive layer between an inner surface of the implantable medical device and the outer surface of the balloon. This method prevents or reduces the leaching or redistribution of any therapeutic agents dispersed within or on the surface of the implantable medical device.

A device and method for delivering a vascular device to a target site is provided that maintains a proximal portion of the vascular device within a tubular sleeve by positioning a stop of an inner member at a distal opening of the tubular sleeve to block the opening. Once the stop has been moved distally via movement of the inner member to clear the opening, a band of increased thickness on the inner member can urge the proximal portion of the vascular device out of the tubular sleeve to deploy the vascular device. The vascular device may be recaptured within a delivery sheath prior to the full deployment of the proximal portion of the vascular device from the tubular sleeve by re-positioning the stop at the distal opening to hold the vascular device within the tubular sleeve as the delivery device is retracted with respect to the delivery sheath.

An implantable device having a power source is provided. The power source uses reverse electrowetting technology to generate a charge to power the implantable device. The power source includes a flexible, non-conductive substrate having a first side and a second side opposite the first side with a channel between the first and second sides. Electrodes are arranged about the channel in a predefined pattern. A liquid is contained in the channel. The liquid includes a dielectric liquid and a conductive liquid that do not mix. The electric change is generated by moving the liquid back and forth across the electrodes. The force to pump or move the liquid is provided by organic means, such as, for example, the change in blood pressure between systolic and diastolic, the expansion and contraction of an organ, or the movement of a muscle.

Devices and methods for implantation at a native mitral valve. One embodiment of the device includes a valve support having a first region and a second region, and anchoring member having a longitudinal dimension with a first portion configured to contact tissue at the non-circular annulus, a second portion configured to be attached to the valve support, and a lateral portion transverse to the longitudinal dimension between the first portion and the second portion. The anchoring member and the valve support are configured to move from a low-profile configuration to an expanded configuration in which the first portion of the anchoring member at least partially adapts to the non-circular annulus of the native mitral valve and a shape of the first region of the valve support is at least partially independent of a shape of the first portion of the anchoring member.

The present invention provides an expandable fusion device capable of being installed inside an intervertebral disc space to maintain normal disc spacing and restore spinal stability, thereby facilitating an intervertebral fusion. In one embodiment, the fusion device includes a body portion, a first endplate, and a second endplate, the first and second endplates capable of being moved in a direction away from the body portion into an expanded configuration or capable of being moved towards the body portion into an unexpanded configuration. The fusion device is capable of being deployed and installed in both configurations.

An implantable medical device for implantation in a hip joint of a human patient is provided. The medical device comprises: at least one artificial hip joint surface adapted to replace at least the surface of at least one of the caput femur and acetabulum. At least one artificial hip joint surface comprises: a positioning hole with at least one opening in said at least one artificial hip joint surface. The hole is adapted to be placed and dimensioned such that the medical device is adapted to be fitted using a positioning shaft and at least partly surround the shaft, for positioning the at least one artificial hip joint surface in a desired position in the hip joint. The hole is adapted to be fitted using the positioning shaft, when the shaft is stabilized and placed in at least one of the femoral bone and the pelvic bone for positioning said medical device inside the hip joint.

The present invention comprises devices, systems, and methods for elongating bone using an extension implant having a first end and a second end. The first end of the extension implant is inserted into an opening in the live bone and the second end of the extension implant is combined with an enlarged implant. A plurality of channels extend through the components to serve as conduits for delivering fluids and physiological signals which induce bone formation. Some embodiments include a subcutaneous cage assembly for helping to support the implant as the bone heals around it.

A device for improving the function of a heart valve comprises a first loop-shaped support, which is configured to abut a first side of the heart valve, and a second loop-shaped support, which is configured to abut a second side of the heart valve opposite to said first side, whereby a portion of the valve tissue is trapped between the first and second supports. An outer boundary of the second support is greater than an outer boundary of the first support.

An azaindenofluorenedione derivative shown by the following formula (I), (IIa) or (IIb):

An organic light emitting device includes a substrate; a first electrode; a second electrode; and an organic layer including an emission layer between the first electrode and the second electrode. The organic layer includes a first intermediate layer including a first host and a first dopant, a second intermediate layer including the first dopant, and a third intermediate layer including a second host and the first dopant interposed between the first electrode and the emission layer. The organic light emitting device has a long lifetime.

The invention relates to a safety device (1) for detecting electrode breakage in an electric arc furnace, wherein an electrode (6) is secured on an electrode support arm (4), and wherein a conduit is filled with a medium under a constant pressure and a pressure drop is produced at an electrode breakage, which is detected as an alarm signal. Here, the conduit (7a-d,3) is integrated in a protective component that is arranged beneath the electrode support arm (4) thereon, wherein in case of an electrode breakage, the conduit (7a-d,3) is damaged by a produce electric arc and the pressure drop takes place.

An induction melting furnace having an asymmetrical sloping bottom. The melting furnace includes: an induction coil member provided on the melting furnace so as to melt waste contained in the furnace by vitrification; a bottom unit provided in a lower part of the melting furnace, the bottom unit asymmetrically sloping downward in a direction toward a glass discharge port that is formed through the bottom unit; and a cooling member integrated with the bottom unit. Due to the asymmetrical sloping bottom of the furnace, waste in the furnace can be completely melted and can be easily discharged to the outside and, accordingly, the time and cost required to treat the waste are reduced and this improves work efficiency when treating the waste. Further, due to the insulation material, the melting furnace can be protected from electric damage that may be caused by electric arc.

A method for treating spheroidal graphite iron includes the step: pouring molten spheroidal graphite iron into a pouring electrical furnace (1); covering the molten spheroidal graphite iron (5) with alkali slag (6) which is melted at high temperature and rich in alkali earth metal ion, rare earth metal ion, or mixture of them; connecting the molten spheroidal graphite iron (5) with the negative pole of the direct current source by one pole (7); connecting the alkali slag (6) with the positive pole of the direct current source by another pole (4), treating the molten spheroidal graphite iron (5) with the alkali slag (6) which is used as electrolyte. The method can prevent the spheroidized fading velocity of the spheroidal graphite iron. The pouring electrical furnace can be used for treating the molten spheroidal graphite iron.

A resonant power supply (900) for use with high inductive loads includes an input rectifier (903) and a switching inverter formed using a plurality of parallel connected half bridge networks for switching the voltage provided from the input rectifier (903). A transformer (927) is used whose primary is connected to the switching inverter and whose secondary is connected to load such as a crucible (931). A capacitor (929) is used in series with the primary of the transformer (927) for resonating the inductance in the secondary circuit at the frequency of the switching inverter to provide maximum power transfer to the crucible (931).

A device (10) for adjusting the locking point of the electrode of a smelting furnace includes a vice (120) for supporting said electrode and supplying it with power. A structure (13) is coupled with the vice (120), supports the electrode and moves the electrode vertically.

A movable device for injecting oxygen and other technical materials into an electric arc furnace includes a housing situated above a portion of a step of a crucible and equipped with a cooling coil, an injection lance of oxygen and other technical materials, a supporting and moving system of the lance between minimum and maximum range points of the liquid bath level contained therein, positioned in the housing, an opening situated in the housing and facing the inside of the crucible in which the lance is transferably guided, and a scraping member disposed between the opening and the lance.

A sealing device is arranged around a rod electrode extending vertically through an aperture made in the ceiling of an arc furnace and being vertically movable inside the furnace to prevent the access of gases from the furnace through the aperture to the atmosphere, and on the other hand to prevent air from flowing from the atmosphere into the furnace. The sealing device comprises a gas distribution chamber provided with an inlet channel for feeding essentially passive gas, such as nitrogen or air, into the gas distribution chamber. The sealing device also includes a slit nozzle encasing the electrode, through which nozzle a gas jet is arranged to be discharged from the gas distribution chamber towards the electrode in a direction that is at an angle with respect to the horizontal plane and has a slightly upwards inclined orientation, and that is, with respect to the furnace interior, pointed outwardly, so that the sealing is carried out owing to the effect of the created stagnation pressure.

The present invention relates generally to a ladle metallurgy furnace having an improved roof structure. The improved roof may comprise an internal surface structure having a substantially smooth exterior surface, an external surface structure spaced apart from the internal surface structure, a plurality of channels that are defined intermediate the internal and external surface structures, a supply port in fluid communication with at least one channel through the second surface structure and in further fluid communication with a supply line, and a return port in fluid communication with at least one channel through the external surface structure and in further fluid communication with a return line.

A device is described for generating a control signal for controlling a passenger protection arrangement of a motor vehicle, having a first acceleration sensor for generating a first acceleration signal, having a second acceleration sensor for generating a second acceleration signal, having a first structure-borne noise sensor for generating a first structure-borne noise signal, having a second structure-borne noise sensor for generating a second structure-borne noise signal, and having an evaluation circuit, the evaluation circuit (being configured for generating a combination signal from the first structure-borne noise signal and the second structure-borne noise signal, the evaluation circuit being configured for generating the control signal as a function of the first acceleration signal, the second acceleration signal and the combination signal.

The present invention describes an inoculation process for inoculating a nucleating additive to a cast iron alloy in a pouring distributor by means of using a transferred arc plasma torch, with an anode partially immersed in the cast iron alloy and a cathode located on the surface of said alloy, the anode or the cathode or both comprising graphite, preferably synthetic crystalline graphite, which supplies said nucleating additive to the iron alloy. The invention thus describes an inoculation device useful for carrying out the inoculation process.

In a sealing device (1) for sealing the through hole of an electrode, the pressurizing medium that generates the pressure of mechanical sealings against a rod electrode structure is an inert gas, such as nitrogen. The means for pressing the created sealing ring (6) against the rod electrode structure (4) include a gas distribution chamber (8) surrounding the sealing ring (6); a first channel (9) that is arranged to provide a flow path for the inert gas in between the hose (14) and the gas distribution chamber (8); an annular groove (10) in the sealing surface (7) of the sealing ring (6); and a second channel (11), which is placed in the sealing ring (6) and is arranged to provide a flow path for the gas from the gas distribution chamber to the groove (10) for extruding the gas in between the sealing surface (7) and the rod electrode structure (4).

A starting device of a spark-ignition multi-cylinder engine is provided. The device includes a multi-cylinder engine body having cylinders, fuel injection valves, ignition plugs, an intake valve drive mechanism for opening and closing intake valves, a hydraulic variable valve phase mechanism for changing a close timing of each intake valve, an engine-driven hydraulic pressure supply source for supplying a hydraulic pressure, and a start controller for controlling the fuel injection valves, the ignition plugs, and the variable valve phase mechanism. When the supplied hydraulic pressure is below a predetermined pressure, the variable valve phase mechanism locks the close timing. When an engine temperature in an engine-start is high, the start controller retards a fuel injection timing of the cylinder on intake stroke at an engine stopped timing and retards an ignition timing thereof. The start controller does not retard the close timing of the intake valve until the engine-start completes.

A torque limiting device, particularly for power transmission elements, is provided. The torque limiting device includes a first connecting member and a second connecting member, which is connected rotatably to a driven element. The first connecting member includes a motor driving disk and the second connecting member includes a sliding disk, and further includes a pin supporting body which comprises a drum that is assembled on the second connecting member and includes a plurality of radial holes, each one of which accommodates a pin that is pressed, toward the center of the drum, by elastic means, and abuts, with at least one of its faces which is inclined with respect to the central rotation axis of the second connecting member, against at least one corresponding abutment face.

A driveshaft containment system and a method of its use. In preferred embodiments, the invention takes the form of a two component system including a first component mounted to a device such as a differential housing, coupled to driveshaft, and a second component comprising a tubular driveshaft containment housing. A driveshaft containment ring is preferably mounted to the forward end of the tubular housing which in turn is provided with a mechanism at its rearward end for rotationally engaging and disengaging the first component. The first and second components are also provided with a mechanism for preventing relative rotational movement of the first and second components while engaged with one another.

A shaft portion of a joint outer ring where projections extending in an axial direction are provided is press-fitted into a hole portion of a hub wheel to thereby form recesses by the projections in an inner diameter surface of a shaft fitting hole of the hub wheel, by which a recess-projection fitting structure is constructed. An entire area of fitting sites of the projections and the recesses are brought into close contact. Moreover, a bolt member is fastened in a bolt hole provided in the shaft portion of the joint outer ring after the construction of the recess-projection fitting structure, which restricts separation between the hub wheel and the joint outer ring. As the bolt member, if an outer diameter of a seating surface thereof is d1 and a shaft diameter is d2, a bolt member satisfying a relational expression of 2.3≦(d1/d2)2≦4.9 is used.

A device for damping vibrations in a drive train, in particular for plug screws in the pulp and paper industries. The device is principally characterized in that a cylindrical shaft, preferably designed as a hollow shaft, is provided, wherein the cylindrical shaft is arranged between the halves of a coupling and at least one ring having friction surfaces is arranged around the cylindrical shaft. Stick-slip vibrations that occur can thereby be favorably eliminated, and thus the gearbox and the motor of the drive train can be protected.

A rotational vibration damper includes a primary side (32) and a secondary side (46) which is rotatable with respect to the primary side (32) around an axis of rotation (A) against the action of a damper element arrangement (28). At least one damper element unit (42) of the first group (70) and at least one damper element unit (42') of the second group (70') are pre-loaded, and the primary side (32) and the secondary side (46) are pre-loaded in a basic relative rotation position with respect to one another. Proceeding from the basic relative rotation position of the primary side (32) with respect to the secondary side (46), a pre-loading path (V, V') of at least one pre-loaded damper element unit (42) is shorter than a maximum relative rotation path of the primary side (32) with respect to the secondary side (46).

A wheel supporting device includes: a hub unit that has a rotary ring having a first spline on its axially inner end face; and a joint that has an outer ring having a second spline, meshing with the first spline, on its axially outer end face. At least one projection included in a plurality of projections of the first spline projects in the axial direction by a larger amount than the remaining projections of the first spline. When a crest of the at least one projection contacts a crest of one of projections of the second spline, a play is caused between the rotary ring and the outer ring due to the at least one projection that works as a fulcrum.

A coupling for connecting a rotating tube cleaning shaft to a tube cleaning machine where high pressure fluid is pumped through the coupling, where the coupling is sealed to contain the high pressure fluid, and where a machine driven rotary flexible shaft passes through the coupling.

A damper device configured with an input element, an intermediate element to which power is transferred from the input element through a first elastic body, and an output element to which power is transferred from the intermediate element through a second elastic body. One of the output element and the intermediate element has a protruding portion projecting in an axial direction. The other one of the output element and the intermediate element has a cutout portion corresponding to the protruding portion. The protruding portion has a restricting portion that is engaged with the cutout portion in a rotation direction so as to restrict rotation of the intermediate element relative to the output element, and a support portion that is engaged with the cutout portion so that the intermediate element is supported by the output element in a radial direction.

A lock-up device for a fluid coupling suppresses vibration caused by coil springs. The lock-up device includes an input rotation member, an output rotation member, a plurality of first elastic members, and a float member. The plurality of first elastic members are compressed in a rotational direction by the relative rotation of the input rotation member and the output rotation member. The float member is rotatable relative to the input rotation member to cause two of the first elastic members to act in series in a circumferential direction.

A device for generating limit torque with a function of yielding a torque change in real time includes a spring, a rotating portion having a cam surface formed therein, a transmitting portion transmitting an elastic force of the spring to the cam surface, a fixed portion with respect to which the relative rotation of the rotating portion is generated, and a limit-torque control portion provided to the fixed portion so as to control limit torque of the rotating portion by adjusting the elastic force of the spring. In the device, the limit-torque control portion controls the limit torque of the spring by changing the elastic force of the spring in real time.

A valve timing control device includes: a vane rotor having a plurality of vanes; a housing having the vane rotor inside so that an advance chamber is formed on one side of each vane and a retard chamber is formed on the other side; a lock pin inserted in a cylinder provided in the vane and moves to a lock position and to an unlock position; and a feeding passage for feeding oil into the cylinder from the retard chamber adjacent to the vane provided with the cylinder to make the lock pin move to the unlock position, and controls an oil supplying unit to supply oil to each retard chamber, wherein a flow passage cross sectional area of the branch passage connected with the retard chamber linking with the cylinder is larger than a flow passage cross sectional area of the branch passage connected with the other retard chamber.

A torsional vibration damping device is configured to have hysteresis torques in the positive and negative sides varied by a simple construction, thereby improving the efficiency of production work and preventing an increase in production cost. Friction materials are respectively provided on surfaces of a hub member and the disc plates, the surfaces facing each other in the radial direction when the hub member is twisted in the positive side with respect to the disc plates. The friction materials are to be brought into friction contact with each other when the hub member is twisted by a specific angle with respect to the disc plates.

A system and method is provided for energizing and managing digitally-controlled devices at different levels of granularity, to achieve desired power use characteristics. At the lowest level, a digitally-controlled device is energized using a variable load-sensing adaptive control (VLSAC). Operation of the device is controlled using digital signals input to the device, so that limits on parameters, such as power consumption are met. A plurality of VLSACs can be coupled to a power distribution unit (PDU), which is controlled to achieve desired levels for selected parameters, set for the PDU. Multiple PDUs can be coupled to a power conversion and regulation unit (PCRU), which can be controlled by a master control to achieve a desired power profile for an entire facility, enabling the facility to meet requirements of a utility supplying the power and thus, reducing operational costs. The VLSACs and PCRU include high efficiency power sources having low distortion.

A secondary or “sidebar” display within a process control environment may provide several small applications to allow business managers, engineers, maintenance personnel, or other non-operator personnel to organize and manage process control system information and to display selected diagnostics and summary information or “key operating parameters” for the process control system. Further, sidebar applications may communicate with other applications that are executing on a non-operator user's workstation to, thereby, retrieve information related to tasks that the user is currently completing. The sidebar application may then determine whether certain process control information may be useful for the main task the user is completing and display that process control information within the sidebar.

A sensor system configured for use with an article of apparel includes one or a plurality of sensors formed of a polymeric material having a conductive particulate material dispersed therein and conductive leads connecting the sensors to a port. The leads may also be formed of a polymeric material having a conductive particulate material dispersed therein. The conductive material is dispersed in the sensor(s) at a first dispersion density and the conductive material is dispersed in the leads at a second dispersion density that is higher than the first dispersion density. Each of the sensors is configured to increase in resistance when deformed under pressure, which is detected by a module connected to the port. The second dispersion density is such that each of the leads has sufficient conductivity that the leads are configured to conduct an electronic signal between each sensor and the port in any state of deformation.

An audio navigation device comprising an input means for inputting two or more audio pieces into the navigation device; a spatialization means for allocating a position in the form of a unique spatial co-ordinate to each audio piece and arranging the audio pieces in a multi-dimensional arrangement; a generating means for generating a binaural audio output for each audio piece, wherein the audio output simulates sounds that would be made by one or more physical sources located at the given position of each audio piece; an output means for simultaneously outputting multiple audio pieces as binaural audio output to a user; a navigation means for enabling a user to navigate around the audio outputs in the multi-dimensional arrangement; a selection means for allowing a user to select a single audio output.

Shed formation on a weaving machine (2), which is driven by a main motor (3), with a shedding device (4), which is driven by a shedding motor (5), wherein in each motion cycle (N) of the weaving machine (2), a loom shed (7) formed by warp threads (8) of the weaving machine (2) is opened and closed dependent on a weave pattern, and wherein the synchronicity of the two motors (3, 5) is controlled by signals (10) of a control device (9). During a partial number (Tn1, Tn2) of motion cycles (N), the synchronicity of the two motors (3, 5) is changed in such a manner so that plural shed closure angles (FSW) at which the loom shed (7) in the respective motion cycles (N) is closed, form an increasing or decreasing sequence.

A vision correction method for establishing the position of a tool center point (TCP) for a robot manipulator includes the steps of: defining a preset position of the TCP; defining a preset coordinate system TG with the preset position of the TCP as its origin; capturing a two-dimensional picture of the preset coordinate system TG to establish a visual coordinate system TV; calculating a scaling ratio λ of the vision coordinate system TV relative to the preset coordinate system TG; rotating the TCP relative to axes of the preset coordinate system TG; capturing pictures of the TCP prior to and after rotation; calculating the deviation ΔP between the preset position and actual position of the TCP; correcting the preset position and corresponding coordinate system TG using ΔP, and repeating the rotation through correction steps until ΔP is less than or equal to a maximum allowable deviation of the robot manipulator.

There is provided a method for actuating a first key of a keyboard with a tracer finger of a robot. An exemplary method comprises acquiring parameters of the keyboard and determining a position of the first key as a function of the acquired parameters using a model of the keyboard. The exemplary method also comprises guiding the tracer finger of the robot to the determined position of the first key. The exemplary method additionally comprises actuating the first key with the tracer finger of the robot.