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This paper aims to present an impedance control method with mixed H₂/H_∞ synthesis and relaxed passivity for a cable-driven series elastic actuator to be applied for physical human–robot interaction.

To shape the system’s impedance to match a desired dynamic model, the impedance control problem was reformulated into an impedance matching structure. The desired competing performance requirements as well as constraints from the physical system can be characterized with weighting functions for respective signals. Considering the frequency properties of human movements, the passivity constraint for stable human–robot interaction, which is required on the entire frequency spectrum and may bring conservative solutions, has been relaxed in such a way that it only restrains the low frequency band. Thus, impedance control became a mixed H₂/H_∞ synthesis problem, and a dynamic output feedback controller can be obtained.

The proposed impedance control strategy has been tested for various desired impedance with both simulation and experiments on the cable-driven series elastic actuator platform. The actual interaction torque tracked well the desired torque within the desired norm bounds, and the control input was regulated below the motor velocity limit. The closed loop system can guarantee relaxed passivity at low frequency. Both simulation and experimental results have validated the feasibility and efficacy of the proposed method.

This impedance control strategy with mixed H₂/H_∞ synthesis and relaxed passivity provides a novel, effective and less conservative method for physical human–robot interaction control.

The purpose of this paper is to investigate whether or not emotions experienced in customer relationships – linked to actual behavior – could enhance understanding of their future development.

A number of individual‐level relationships between customers and telecom operators are investigated. The empirical data consist of 113 switching stories reported during 81 interviews with telecom customers.

In the analysis, emotional experiences are related to customers' activity or passivity and to the stability (switching or not) in the relationships. The most important research contribution is the identification of different emotions related to actual behavior. Less stable customers are pessimistic about the operators and show nervousness, while stable customers may have initially been depressed in their relationships, becoming more relaxed and optimistic over time. Emotions do not seem to have the capacity in themselves to cause stability or instability, but they confirm through their connection to different types of trigger whether the relationship will be stable or unstable.

The findings of the present study are based on a longitudinal empirical study, but only in one industry. Although, the telecom industry may provide a very fruitful context for the longitudinal study of stability in customer relationships because of the turbulence it has experienced during the last decade, the industry representation is narrow.

Customers do not sever their emotional ties with the previous relationship when they enter the new one. On the contrary, they linger in the switched‐from relationship at least at first, which is indicated in the various emotional expressions they use. The present study takes some initial steps towards enhancing understanding of the dynamism in providing an insight into customers' differing emotional reactions connected to triggers during one and the same relationship.

Taking a longitudinal approach from the customers' perspective produces a set boundaries of customer relationships that may not coincide with the set boundaries seen from the service providers' perspective. According to the findings of the present study, it seems almost impossible to understand customer relationships without following customers on an individual level in both previous and current relationships. Despite the fact that dynamism in customer relationships is widely discussed in previous research, few studies have applied such a perspective.

The purpose of this paper is to explore how children’s work, defined in a broad sense, and the related values and attitudes concerning childhood have evolved in the context of rapid economic growth in South Korea. It discusses how ideas about children’s activities and their status and relationships within the family have changed and how children’s roles and responsibilities are seen by members of different generations. It interrogates the changing ideas of work in contemporary children’s lives and presents data from a relatively under-researched part of the world.

This paper is based on semi-structured interviews with a mixed age group of people, including children, in a rural community in South Korea.

In decisions over their work and schooling during their childhoods, most adults did not appear to have shown any apparent agency with this passivity reflecting the cultural norms of the times. Conversely, rural children today often choose not to work but may not be able to exercise similar agency over their schooling. The research suggests a distinct generational change in the schooling experience with this going from being relatively unimportant, and sometimes unaffordable, to becoming universal and essential.

Interviewing adults and children about what they do now or did in the past poses methodological problems. As the researchers found “child- friendly” or “child-centred” methods impractical in the particular research context, relaxed and semi-structured interviews were used with the children. The adult interviews presented different challenges: a lack of other sources of data meant that primary sources of evidence had to be recollections of past events. This means such recollections of childhoods may be mediated by an “adult” perspective and susceptible to bias. Current life circumstances may also determine the interpretive contexts through which they tell their stories and influence how they view the past.

Internationally published research on South Korean childhoods is limited, with most focusing on the education system and the associated issues. Research of this type also rarely examines children's own views, their lives outside of school and the choices they make in their family contexts. This paper examines these under-researched areas.

The purpose of this paper is to establish a criterion for the global asymptotic stability of fixed-point state–space digital filters using saturation overflow arithmetic.

The method of stability analysis used in this paper is the second method of Lyapunov. The approach in this paper makes use of a precise upper bound of the state vector of the system and a novel passivity property associated with the saturation nonlinearities.

The presented criterion leads to an enhanced stability region in the parameter-space as compared to several existing criteria.

When dealing with the design of fixed-point state–space digital filters, it is desirable to have a criterion for selecting the filter coefficients so that the designed filter becomes free of overflow oscillations. The criterion presented in this paper provides enhanced saturation overflow stability region and therefore facilitates the designer greater flexibility in selecting filter parameters for overflow oscillation-free realization of digital filters.

The approach uses the structural properties of the saturation nonlinearities in a greater detail. The exploitation of upper bound of the system state vector together with a new passivity property of saturation nonlinearities is a unique feature of the present approach. The presented approach may lead to results not covered by several existing approaches.

The purpose of this study is to examine if consumers have substantially common color preferences in hospitality uniforms for destination brands. Employee uniforms with their dimensions of style, material and color are a crucial part of the coordinated brand message of a business or a destination; however, this has been a void in tourism and hospitality literature. Current visitors to Hong Kong were studied using intercept surveys in four different groups controlling for potential confounding factors. Although results reveal the common perception and preference for black-white-formal uniforms for Hong Kong’s hospitality industry across different treatment groups as well as different cultural groups, implications and discussions are provided as a call for further research in this venue of inquiry.

This is a cross-sectional study using a site intercept survey with structured questionnaires on Chinese and international travelers in Hong Kong. Four different surveys were used as different treatments for four groups of respondents that were randomly assigned into each group. Each group was presented with a different default pair of male and female uniform pictures for the initial evaluation on the first page of the survey, followed by a list of uniforms with different colors and styles on the second page of the survey to select and evaluate their own pairs of male and female uniforms.

Results revealed that consumers’ general favorite colors may not apply to their preferences for the employee uniforms for a destination they visit. Also, there were similarities in the favorite color and choice uniform color for the three general culture groups, such as Chinese, Asia-Pacific and Western consumers, included in the study. Besides, findings implied that Hong Kong may be a strong brand with a uniform color preference for hospitality uniforms for different consumer segments.

This study needs to be considered as an exploratory attempt to bring researchers’ attention to the several questions still to be answered by future research. The results and discussions provided in this study are beyond being robust or conclusive; insights about potential brand connotations with employee uniform colors need to be taken as potential leads for future studies because there is a need for further study in this area.

The importance of hotel employee uniforms for quality hotel experience was the highest for the Chinese group, whereas it was the lowest for the Western group. Chinese and Asia-Pacific respondents placed more importance on uniforms as a cue for a quality hotel experience, which signal a higher level of involvement in visible cues in the consumption environment. Hence, hotels as well as destinations catering to these groups need to take their market segment preferences into consideration before making decisions about brand cues for their products.

There is a lack of attention to the color aspect of service encounter in tourism and hospitality literature. Therefore, color needs attention from researchers as a new venue of research in tourism and hospitality, especially in the tourism destination context. This study is a spearhead to generate interest by intriguing questions for future attention from researchers.

Border environments differ as foci for conflict discourse. While classic realist theories are used to account for mechanisms of securitized borders, socially oriented theories are often invoked to characterize relaxed borders. This distinguishing pattern regarding securitization reflects a deeply rooted focus on idealized borders, based on implicit expectations that relaxed borders are a viable option and goal for all. This orientation is prone to mistaken assumptions regarding local, national and regional interests and ultimately threatens delicately balanced states of stability. This paper aims to question this somewhat simplified categorization and posit that securitized borders are longstanding realities which warrant more complex theoretical conceptualization.

The analysis is based on documentary study and qualitative field research, mapping and evaluating Israel–Jordan cross-border interactions conducted during 2006-2014. Local civilian interactions were studied using three tools: interviews, non-participant observations and a sector-based analysis of original and secondary sources. In the course of research, many tours and observations of the border region were conducted, and key actors in Israel and Jordan were interviewed: entrepreneurs, local residents, local and national government officials, security personnel and representatives of non-governmental organizations involved in the administration and funding of normalization-promoting initiatives.

In light of internal and external security threats which challenge states and border regions in conflict environments and in normalized settings, there is increasing value in recognizing multi-level power relations (“bringing the state back in”) that design, inhibit and ultimately control the inevitability, circumstance and social–political effectivity of any cross-border interaction. Cross-border cooperation (CBC), which evolves gradually, monitored by the border regime and reflecting actual levels of inter-state political dialogue, is a slower yet safer option and a more realistic expectation for CBC, especially in regions of minimal communication between cross-border neighbors. In the backdrop of the Middle East turmoil, Israel and Jordan mark 20 years of peaceful relations, enjoying stability based on shared political and security interests, yet displaying no apparent tendency toward increased cross-border interaction. Given the stark differences in regimes and ongoing regional unrest, this securitized border fulfills local and regional needs and is far from a temporary “second-best” reality.

The analysis is based on original fieldwork and documentary study, mapping and evaluating Israel–Jordan cross-border interactions conducted during 2006-2014.

The study aims to explore how segmentation as a methodology can be adapted to the healthcare context to provide a more nuanced understanding of the served population and to facilitate the design of patient-centric services.

The study was based on a collaborative project with a national healthcare organization following the principles of action design research. The study describes the quantitative segmentation performed during the project, followed by a qualitative interview study of how segments correspond with patient behaviors in an actual healthcare setting, and service design workshops facilitated by segments. A number of design principles are outlined based on the learnings of the project.

The segmentation approach increased understanding of patient variability within the service provider organization and was considered an effective foundation for modular service design. Patient characteristics and life circumstances were related to specific patterns of health behaviors, such as avoidance or passivity, or a persistent proactivity. These patterns influenced the patients' preferred value co-creation role and what type of support patients sought from the care provider.

The proposed segmentation approach is immediately generalizable to further healthcare contexts and similar services: improved understanding of patients, vulnerable patients in particular, improves the fit and inclusivity of services.

The segmentation approach to service design was demonstrated to be effective in a large-scale context. The approach allows service providers to design service options that improve the fit with individual patients' needs for support and autonomy. The results illuminate how patient characteristics influence health and value co-creation behaviors.

With the help of Slavoj Žižek's concept of interpassivity, this paper seeks to illustrate the frantic activities performed by employees to maintain a separation between the idea of an authentic self and the idea of a corporate self. Furthermore, this paper aims to illustrate these activities empirically.

The empirical example is based on a case study of three of the largest international consultancy firms. About 50 consultants were interviewed in this study, but this paper primarily focuses on the experiences of one of these consultants, and goes into depth with his experiences to illustrate the frantic mechanisms of interpassivity.

The paper shows how the maintenance of an “authentic self” outside of the corporate culture demands a distinct and frantic activity; that this activity can best be understood as interpassive in the sense that it involves taking over the passive acknowledgement for which someone else is responsible; and how the separation of an authentic from a corporate self, rather than resist the demand to enjoy one's work – prescribed by contemporary management programs – nourishes it.

The paper builds on recent literature on cynicism and normative control in organisations. It introduces interpassivity to this discussion.