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Empathy is a critical element of subjective well-being and is an important personality trait for undergraduate students. To improve undergraduate students’ empathy, the current study examines the relationship between self-compassion and empathy and the mediating role of self-esteem underlying this relationship. Participants were six hundred and twenty-two (320 males and 302 females) students from five Vietnamese universities, aged 18-21 years ( M age = 19.5; SD age = 0.95 years), who completed self-compassion scale (SCS), empathy scale in adults (BES-A), and self-esteem scale of Toulouse (ETES).The results indicated that (1) self-compassion was positively associated with empathy; (2) and self-esteem mediated the relationship between the two variables. Therefore, enhancing undergraduate students’ self-compassion may be an efficacious way to improve undergraduate students’ empathy. However, additional study is needed to elucidate the roles of self-compassion in the educational context.

ZusammenfassungAdoleszente Mütter und ihre Kinder stellen eine Hochrisikogruppe für ungünstige Entwicklungsverläufe dar. Frühe Gesundheits- und Förderangebote sollen belastete Mutter-Kind-Dyaden unterstützen. Das Ziel der vorliegenden Arbeit ist die Untersuchung und der Vergleich der Inanspruchnahme dieser Angebote durch adoleszente Mutter-Kind-Dyaden im Vergleich zu erwachsenen Müttern und ihren Kindern in einer deutschen Großstadt. N=99 Mütter (Alter der Kinder: 5,3±1,0 Monate) wurden bezüglich der Inanspruchnahme von Interventionen befragt, die drei Gruppen zugeordnet („Interaktionsförderung“, „Mütterliche Förderung“, „Kindliche Förderung“) und nach Kosten unterteilt wurden. Es wurden die Unterschiede zwischen adoleszenten und erwachsenen Müttern untersucht, zudem explorativ Unterschiede bezüglich der vermittelnden Stellen. Angebote der „Interaktionsförderung“ wurden signifikant häufiger von adoleszenten Müttern (U: 605,50, p

Journal of Clinical Medicine (17), 5101 (2022). doi:10.3390/jcm11175101, Published by MDPI, Basel

Adolescent mothers and their children represent a high-risk group for unfavorable developmental outcomes. There are early health and support services for this group. The aim of the current study was to investigate and compare the use of these interventions by adolescent mother-child dyads compared to adult mothers and their children. N=99 mothers (age of children: 5.3±1.0 months) were interviewed regarding early interventions, which were sorted into three groups ("interaction interventions", "child development" and "maternal support interventions") and pooled according to costs. Group differences in utilization and, exploratively, differences in allocation paths between adolescent and adult mothers were investigated. "Interaction interventions" were significantly more frequently used by adolescent mothers (U: 605.50, p0.001). Interventions concerning "child development" (U: 633.50, p0.001) and "maternal support" (U: 477.50, p0.001) and interventions to be paid for (U: 582.00, p0.001) by adult mothers. Social contacts (U: 817.00, p=0.003) and general practitioners (GP)/gynecologists (U: 879.00, p = 0.054) directed the adult mothers significantly more often to interventions, whereas adolescent mothers significantly more frequently were directed to other professional contacts (U: 877.50, p=0.01) and the youth welfare service (U: 962.50, p=0.021) as intermediaries. Early interventions for child and maternal health and interventions with costs were used significantly less frequently by adolescent mothers. Healthcare professionals such as GPs, gynecologists and pediatricians, should expand their counselling services on health interventions and support services in the high-risk group of adolescent mothers.Adoleszente Mütter und ihre Kinder stellen eine Hochrisikogruppe für ungünstige Entwicklungsverläufe dar. Frühe Gesundheits- und Förderangebote sollen belastete Mutter-Kind-Dyaden unterstützen. Das Ziel der vorliegenden Arbeit ist die Untersuchung und der Vergleich der Inanspruchnahme dieser Angebote durch adoleszente Mutter-Kind-Dyaden im Vergleich zu erwachsenen Müttern und ihren Kindern in einer deutschen Großstadt. N=99 Mütter (Alter der Kinder: 5,3±1,0 Monate) wurden bezüglich der Inanspruchnahme von Interventionen befragt, die drei Gruppen zugeordnet („Interaktionsförderung“, „Mütterliche Förderung“, „Kindliche Förderung“) und nach Kosten unterteilt wurden. Es wurden die Unterschiede zwischen adoleszenten und erwachsenen Müttern untersucht, zudem explorativ Unterschiede bezüglich der vermittelnden Stellen. Angebote der „Interaktionsförderung“ wurden signifikant häufiger von adoleszenten Müttern (U: 605,50, p0,001) wahrgenommen, Angebote in den Bereichen „Kindliche Förderung“ ( U: 633,50, p0,001) und „Mütterliche Förderung“ (U: 477,50, p0,001) und kostenpflichtige Angebote (U: 582,00, p0,001) hingegen von erwachsenen Müttern. Soziale Kontakte (U: 817,00 p=0,003) und Hausärzte/Gynäkologen (U: 879,00, p=0,054) vermittelten den erwachsenen Müttern signifikant häufiger Angebote, bei den adoleszenten Müttern andere professionelle Kontakte (U: 877,50, p=0,01) und das Jugendamt (U: 962,50, p=0,021). Frühe Gesundheits- und Förderangebote für das Kind oder die Mutter allein und kostenpflichtige Angebote erreichen die adoleszenten Mütter signifikant seltener. Insbesondere Akteure des Gesundheitswesens wie Hausärzte, Gynäkologen und Pädiater sollten ihr Beratungsangebot zu frühen Gesundheits- und Förderangeboten bei der Hochrisikogruppe der adoleszenten Mütter erweitern.

International audience; The intrinsic interaction of a robotic system that includes two 6-degree-of-freedom cable-driven platforms sharing a common workspace might result in cable interferences for random trajectories. This paper presents and analyzes computational methods for geometrically determining and managing these interferences for any trajectory constrained with variable loads. The algorithms considered determine which cable can be released from an active actuation state while allowing control in a minimal tension state, thereby ensuring that both platforms stay in a controllable workspace. The process of managing cable interferences constitutes a challenge as one must take into account the inherent limitations of the workspace, which not only include the possibility of interference itself, but also the geometry of the cable-driven locomotion interface (CDLI), its dynamics, the nonideal behavior of real cables, and the requirement that both platforms must be completely constrained at any time. As releasing a cable from an active actuation state might generate tension discontinuities in the other cables, this paper also proposes collision prediction schemes that are only applied to redundant actuators in order to reduce or completely eliminate such discontinuities. Finally, a simulation of a CDLI embedded as a peripheral in a virtual environment, in which the load applied on each platform comes from the wrench measured under the foot for a natural gait walking, is thoroughly analyzed.

A Cable-Driven Locomotion Interface employs two independent cable-driven haptic foot platforms constrained in six degrees of freedom (6-DOF). Its control system and its geometry are designed for performing a wide range of trajectories that could generate cable interferences. This paper presents and analyzes computational methods for determining which cable can be released from an active actuation state while allowing control in a minimal tension state, thereby ensuring that both platforms stay in a controllable workspace. One challaging task is to develop light and fast computational algorithms for hard real time processes included in haptic display applications. Seeing that releasing a cable from an active actuation state might generate discontinuities in tension values in the other cables, this paper proposes collision prediction schemes named Interference Estimated Time of Arrival in order to reduce or completely eliminate such discontinuities.

A Cable-Driven Locomotion Interface provides a low inertia haptic interface and is used as a way of enabling the user to walk and interact with virtual surfaces. These surfaces generate Cartesian wrenches which must be optimized for each motorized reel in order to reproduce a haptic sensation in both feet. However, the use of wrench control requires a measure of the cable tensions applied to the moving platform. The latter measure may be inaccurate if it is based on sensors located near the reel. Moreover, friction hysteresis from the reel moving parts needs to be compensated for with an evaluation of low angular velocity of the motor shaft. Also, the pose of the platform is not known precisely due to cable sagging and mechanical deformation. This paper presents a non-ideal motorized reel design with its corresponding control strategy that aims at overcoming the aforementioned issues. A transfert function of the reel based on frequency responses in function of cable tension and cable length is presented with an optimal adaptative PIDF controller. Finally, an hybrid position/tension control is discussed with an analysis of the stability for achieving a complete functionnality of the haptic platform., {"references":["S. Perreault and C. Gosselin, \"Cable-driven parallel mechanisms: application\nto a locomotion interface,\" Journal of Mechanical Design,\nTransactions of the ASME, vol. 130, no. 10, pp. 102 301-1-8, 10 2008.","M. J.-D. Otis, M. Mokhtari, C. Du Tremblay, D. Laurendeau, F.-M.\nDe Rainville, and C. M. Gosselin, \"Hybrid control with multi-contact\ninteractions for 6dof haptic foot platform on a cable-driven locomotion\ninterface,\" in Symposium on Haptics Interfaces for Virtual Environment\nand Teleoperator Systems 2008 - Proceedings, Haptics, Piscataway, NJ\n08855-1331, United States, 2008, pp. 161 - 168.","J. E. Colgate and J. M. 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Optimal tension control in parallel mechanisms for balancing wrench at the end‐effector introduces a complex model of the overall system. Moreover, actuator saturations such as motor current and angular velocity limits impose that a non‐linear system be controlled. Such a system is usually controlled sub‐optimally due to the complexity of its model. In haptic applications where transparency and stability are both critical parameters, optimal performance should be achieved. This paper introduces an enhanced FPID auto‐tuning based on Extremum Seeking‐Tuning (ES‐Tuning) which uses a different cost function to find the local optimal solution for haptic rendering and a correction on noise measurement for a high order complex system. The solution of this optimization gives a direct measure of the reel dynamic transparency evaluated by the proposed cost function.