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上肢康复机器人力交互控制系统设计
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作者 聂志洋 孟巧玲 +1 位作者 喻洪流 余杰 《软件导刊》 2021年第7期124-128,共5页
为提高患者的康复效果,满足患者在主动康复训练中与机器人的力交互柔顺性需求,改善力交互过程中柔顺性差的问题,结合现代控制技术、伺服电机控制技术、意图识别技术和康复理论,研究设计了一种上肢康复机器人力交互控制系统。通过多传感... 为提高患者的康复效果,满足患者在主动康复训练中与机器人的力交互柔顺性需求,改善力交互过程中柔顺性差的问题,结合现代控制技术、伺服电机控制技术、意图识别技术和康复理论,研究设计了一种上肢康复机器人力交互控制系统。通过多传感器意图检测方式及阈值法触发方案,实现交互过程对轻微的触发力矩的力补偿,满足患者在康复训练中的力交互柔顺性需求。在不同姿态下进行力交互实验,结果表明主动模式提供助力的正向触发力矩仅为0.46Nm,反向触发力矩为0.55Nm,证明在该策略下各关节对患者的运动意图监测良好,且能正确、适时地对患者运动提供力矩助力。 展开更多
关键词 上肢康复机器人 康复训练 运动控制 运动意图检测 力交互 人机交互
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Nosocomial spread of hospital-adapted CC17 vancomycin-resistant Enterococcus faecium in a tertiary-care hospital of Beijing, China 被引量:4
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作者 XU Hong-tao TIAN Rui +5 位作者 CHEN Dong-ke XIAO Fei nie zhi-yang HU Yun-jian ZHANG Xiu-zhen LI Jin-ming 《Chinese Medical Journal》 SCIE CAS CSCD 2011年第4期498-503,共6页
Background The incidence of vancomycin-resistant enterococci (VRE) appeared to be increasing in China, but very few nosocomial outbreaks have been reported. Our hospital had experienced an outbreak of VRE since Marc... Background The incidence of vancomycin-resistant enterococci (VRE) appeared to be increasing in China, but very few nosocomial outbreaks have been reported. Our hospital had experienced an outbreak of VRE since March 2008 to March 2009. The objective of this study was to analyze the molecular features of the isolates and the control measures used to eradicate a VRE outbreak in a tertiary institution in China.Methods We characterized VRE isolates from 21 infected and 11 colonized inpatients from a single hospital by pulsed field gel electrophoresis (PFGE), multilocus sequence typing (MLST), the analysis of Tn 1546-like elements and virulence genes detection. Infection control measures, including more environmental disinfection, screening for VRE colonization,contact precautions, education and strict antibiotic restriction, were implemented to control the outbreak.Results During the outbreak, a total of 32 VRE strains were obtained. There were 21 strains found in Emergency Intensive Care Unit (EICU), 9 isolates from Geriatric Ward, and two from other units. All the isolates harbored the vanA gene, however,four of them exhibited the VanB phenotype. Meanwhile, MLST analysis revealed that all isolates belonged to clonal complex (CC) 17. With the infection-control measures, the epidemic was constrained in two units (EICU and Geriatric Ward). After March 2009, no further case infected with VRE was detected in the following one-year period.Conclusion The outbreak was controlled by continuous implementation of the infection control programme, and more rigorous infection control policy is needed. 展开更多
关键词 vancomycin resistance Enterococcus faecium outbreaks infection control
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