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The aim of this paper is to investigate empirically the effects of monetary policy on poverty and income distribution in Iran using the data over the period 1976-2005. Monetary policy is one of the most potent instruments for managing the economy. There is a useful question to ask if the monetary policy is used as an instrument to reduce poverty. Most of the existing literature on monetary policy and poverty focuses on the short run. Monetary policy affects most of the macroeconomic variables such as output, unemployment, and inflation. Moreover, anticipated inflation and unanticipated inflation redistribute differently income from creditors to debtors. If poverty and inequality respond to these macroeconomic variables, monetary policy affects the well-being of the poor. The findings of this study show that monetary policy cannot be used as a poverty alleviation policy in Iran, since the expansionary monetary policy followed commonly by expansionary fiscal policy results in a rise in budget deficits. This policy increases the aggregate demand for all the goods and services in the economy resulting in higher inflation. Furthermore, there is no significant link between monetary policy and investment through interest rate. Consequently, monetary policy has no supply side effects in the economy and just it increases inflation rate. As a result of expansionary monetary policy, the poor would find its real income being gradually eroded by the growth in money supply, and hence the possibility of running into poverty.

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Nowadays the exoskeleton, known as a useful device in robotic rehabilitation and elderly assistance, has been attracted the attention of many researches. One of the most important feathers of the exoskeleton robots are the compliant interaction with patient. The Series Elastic Actuators (SEA) not only interact with human compliantly but also provide several advantaged such as torque measurement and torque control. The pervious researches have used an inner position loop and an outer force loop. In this paper, the motor and power transmission model is also integrated in the controller design. In this paper, the parameters of the SEA, motor and links are identified firstly. Then, two model-based torque control is designed and introduced based on the velocity and current commands. In contrast to previous researched, the controller is proposed for the locked and free condition and the Lyapunov stability analysis is presented. Finally, the experimental validation test on the Sharif lower limb exoskeleton is presented for these controller. The experimental results of the controller show that the accuracy of torque control based on the current and velocity is 1.2 and 0.2 N.m, respectively.