A new biped robot with a triangle configuration is presented and it is a planar closed chain mechanism. The scalability of three sides of the triangle is realized by three actuated prismatic joints. The three vertexes...A new biped robot with a triangle configuration is presented and it is a planar closed chain mechanism. The scalability of three sides of the triangle is realized by three actuated prismatic joints. The three vertexes of the triangle are centers of three passive revolute joints coincidently. The biped mechanism for straight walking is proposed and its walking principle and mobility are explained. The static stability and the height and span of one step are analyzed. Kinematic analysis is performed to plan the gaits of walking on an even floor and going upstairs. A prototype is developed and experiments are carried out to validate the straight walking gait. Two additional revolute joints are added to form a modified biped robot which can follow the instruction of turning around. The turning ability is verified by experiments. As a new member of biped robots, its triangle configuration is used to impart geometry knowledge. Because of its high stiffness, some potential applications are on the way.展开更多
目的:探讨分析一期原位回植联合负压封闭引流技术(VSD)和红光治疗四肢皮肤脱套伤的临床疗效,为提高临床治疗四肢皮肤脱套伤效果提供可靠依据。方法:收集四肢皮肤脱套伤患者65例,研究组35例行一期原位回植联合VSD和红光治疗,对照组30例...目的:探讨分析一期原位回植联合负压封闭引流技术(VSD)和红光治疗四肢皮肤脱套伤的临床疗效,为提高临床治疗四肢皮肤脱套伤效果提供可靠依据。方法:收集四肢皮肤脱套伤患者65例,研究组35例行一期原位回植联合VSD和红光治疗,对照组30例行一期原位回植后加压包扎,观察对比两组回植皮肤优良率、术后创面感染率及视觉模拟评分法(VAS)疼痛评分等指标,评估治疗效果。结果:术后随访6~12个月,平均随访(8.91±1.95)个月,研究组35例患者回植皮肤成活效果为优30例、良者3例、差者2例,总体优良率94.29%,对照组30例患者回植皮肤成活效果为优20例、良者4例、差者6例,总体优良率80.00%;研究组术后创面感染4例,感染率11.43%,对照组术后创面感染6例,感染率20.00%;研究组术后24 h VAS疼痛评分为(2.11±0.80)分,术后1周为(1.63±0.65)分,对照组术后24 h VAS疼痛评分为(3.03±0.93)分,术后1周为(2.40±0.67)分,差异均有统计学意义(均P<0.05)。结论:四肢皮肤脱套伤行一期原位回植联合VSD和红光治疗,回植皮肤成活率高,四肢功能恢复佳,感染率低,VAS疼痛评分低,具有很高的临床应用价值。展开更多
基金supported by Geometry Robots for Science and Technology Education Exhibits (Beijing Municipal Commission of Education)Program for New Century Excellent Talents in University (Grant No.NCET-07-0063)+2 种基金National Natural Science Foundation of China (Grant No. 50875018)Beijing Municipal Natural Science Foundation of China (Grant No. 3093025)Science Foundation of Beijing Jiaotong University (Grant No. 2009JBZ001-1)
文摘A new biped robot with a triangle configuration is presented and it is a planar closed chain mechanism. The scalability of three sides of the triangle is realized by three actuated prismatic joints. The three vertexes of the triangle are centers of three passive revolute joints coincidently. The biped mechanism for straight walking is proposed and its walking principle and mobility are explained. The static stability and the height and span of one step are analyzed. Kinematic analysis is performed to plan the gaits of walking on an even floor and going upstairs. A prototype is developed and experiments are carried out to validate the straight walking gait. Two additional revolute joints are added to form a modified biped robot which can follow the instruction of turning around. The turning ability is verified by experiments. As a new member of biped robots, its triangle configuration is used to impart geometry knowledge. Because of its high stiffness, some potential applications are on the way.
文摘目的:探讨分析一期原位回植联合负压封闭引流技术(VSD)和红光治疗四肢皮肤脱套伤的临床疗效,为提高临床治疗四肢皮肤脱套伤效果提供可靠依据。方法:收集四肢皮肤脱套伤患者65例,研究组35例行一期原位回植联合VSD和红光治疗,对照组30例行一期原位回植后加压包扎,观察对比两组回植皮肤优良率、术后创面感染率及视觉模拟评分法(VAS)疼痛评分等指标,评估治疗效果。结果:术后随访6~12个月,平均随访(8.91±1.95)个月,研究组35例患者回植皮肤成活效果为优30例、良者3例、差者2例,总体优良率94.29%,对照组30例患者回植皮肤成活效果为优20例、良者4例、差者6例,总体优良率80.00%;研究组术后创面感染4例,感染率11.43%,对照组术后创面感染6例,感染率20.00%;研究组术后24 h VAS疼痛评分为(2.11±0.80)分,术后1周为(1.63±0.65)分,对照组术后24 h VAS疼痛评分为(3.03±0.93)分,术后1周为(2.40±0.67)分,差异均有统计学意义(均P<0.05)。结论:四肢皮肤脱套伤行一期原位回植联合VSD和红光治疗,回植皮肤成活率高,四肢功能恢复佳,感染率低,VAS疼痛评分低,具有很高的临床应用价值。