基于神经网络的人工肌非线性控制

运用非线性控制的逆系统方法 ,提出了一种基于神经网络的人工肌非线性控制方案 .由原系统导出 n- m阶逆系统模型 ,并与原系统一起构成具有反馈结构的伪线性系统 ,从而可方便地运用线性控制理论完成对控制系统的设计 .用 BP神经网络逼近逆系统模型 ,并借助于递推预报误差算法来训练神经网络 ,该算法与传统的 BP算法相比具有更好的收敛特性 .设计了一个具有单关节的人工肌试验系统 .给出了人工肌关节跟踪正弦波和矩形波参考信号的试验结果 .与传统的线性控制方案比较 ,基于神经网络的人工肌非线性控制方案能够得到更快的控制速度和更高的控制精度 .

医疗机器人用空气压人工肌线性控制的研究

介绍了空气压人工肌的特点和在医疗机器人中的应用 ,讨论了人工肌线性建模及最小预测误差控制算法 ,给出了自适应控制结果 ,表明该线性控制算法具有实用价值。

人工肌泵治疗下肢淋巴水肿的临床观察

目的:探讨人工肌泵治疗下肢淋巴水肿的作用。方法:总结分析60例下肢淋巴水肿患者分两组分别采用人工肌泵加药物(A组)及单纯给药物(B组)的作用,住院期间观察其自觉症状如疼痛、麻木,肢体肿胀缓解情况;并记录两组患者随访1年期间丹毒及淋巴管炎发作次数。结果:A组患者即药物治疗联合人工肌泵治疗组住院期间患者自觉症状及肢体肿胀的程度及恢复时间均较单一使用药物者好且快。随访1年期间,发现A组丹毒及淋巴管炎发作次数明显少于B组,经秩和检验发现组间差异具有统计学意义(P<0.01)。结论:下肢淋巴水肿患者,坚持人工肌泵治疗可以明显改善肢体肿胀情况,对丹毒及淋巴管炎的防治也起到了积极的作用。

人工肌泵综合治疗急性动脉缺血的应用体会

急性肢体动脉缺血（ALI）即肢体动脉血流灌注突然减少，出现肢体血供不足，循环障碍。ALI为一种较常见而严重的周围血管疾病，其自然病程的截肢率和病死率均高。目前治疗手段虽然多样，但需根据患者的具体病情拟定个体化治疗方案，对挽救患肢、保持肢体功能更具有重要意义。目前临床针对肢体急性动脉缺血患者治疗方法逐步增多并改善，但疗效有待提高。

形状记忆合金驱动的人工逼尿肌系统

针对神经源性、肌源性膀胱缺乏有效治疗手段的现状,从工程学角度提出了一种新的解决方案——人工逼尿肌系统。基于形状记忆合金(SMA)弹簧的形状记忆效应,设计了由无线能量传输模块、控制模块、反馈模块和执行模块组成的系统结构,旨在实现符合人体尿动力学规律的辅助排尿。文中首先建立了人体膀胱的有限元模型,仿真分析了人体膀胱的储尿和辅助排尿过程,在仿真结果的基础上结合SMA弹簧的数学模型,对SMA弹簧致动器的结构参数进行了优化设计;其次,结合实验数据推导了SMA弹簧温度-自由高度方程;然后,结合热力学公式和弹簧数学模型推导了系统控制方程,并在此基础上提出了系统开环控制策略;最后,基于系统的反馈模块,设计了比例积分微分(PID)闭环控制策略,并搭建模拟实验平台研究了系统的尿流率特性。结果表明:系统原理可行,辅助排尿过程连续可控,在应对不同尿液容量时两种控制策略均能实现符合人体尿动力学规律的辅助排尿。文中结果可为设计适用于临床的人工逼尿肌系统提供指导,也可为其他以SMA弹簧作为致动器的植入装置的设计提供借鉴和参考。

骨髓基质成骨细胞-松质骨基质复合人工骨肌袋移植的成骨作用

成年新西兰兔骨髓细胞体外培养、诱导后 ,经混匀、接种、固化形成骨髓基质成骨细胞 藻酸盐 松质骨基质复合人工骨 ,并植回取材兔肌袋内 ,对照组分别植入藻酸盐 松质骨基质复合物和松质骨基质。植入 4、8周取材 ,行X线摄片、组织学检查 ,观察骨形成情况。结果显示 ,骨髓基质成骨细胞 松质骨基质复合人工骨肌袋内成骨效果明显优于藻酸盐 松质骨基质复合物组和松质骨基质组。复合人工骨标本兼有膜内成骨和软骨成骨 ,以膜内成骨为主 ;对照组仅见少量软骨成骨。提示 ,采用组织工程方法形成的复合人工骨肌袋内成骨作用明显 ,用该方法所形成的组织工程骨展现出良好的应用前景。

保留外旋肌群微创人工股骨头置换术治疗股骨颈骨折的疗效分析

目的:探讨保留外旋肌群微创人工股骨头置换术治疗股骨颈骨折的疗效.方法:选取2018年8月-2020年7月60例股骨颈骨折患者,随机分为2组,对照组行后外侧入路全髋关节置换术治疗,观察组行保留外旋肌群微创人工股骨头置换术治疗.比较2组不同点的髋关节功能、疼痛评分.结果:观察组术后1个月、术后3个月的髋关节功能评分均高于对照组(P<0.05);观察组术后3天、术后7天的疼痛评分均低于对照组(P<0.05).结论:股骨颈骨折患者行保留外旋肌群微创人工股骨头置换术治疗,具有后外侧入路髋关节置换术同样的长期效果,且患者短期内优势十分显著,能够实现术后快速康复,术后疼痛程度较轻,值得临床推广.

碳纤维肌腱在手部应用的初步体会

我们于1986年1月至1987年12月,应用碳纤维编织人工肌键,游离移植修复手部屈指肌腱陈旧性损伤(二区)4例5指。全部为男性,农民3例,工人1例。年龄最小21岁,最大29岁。受伤原因:电锯伤2例;斧砍伤1例;钢丝割伤1例。受伤部位:左小指2例;左示指2例,左中指1例。伤后距修复时间最短2个半月;最长6个半月。

论钢琴演奏之力量运用

文章以国内外钢琴学界的有关理论和实践经验为基础,结合物理力学、生物力学等方面的有关知识,从新的视角和维度,对钢琴演奏的动力——自然重力和人工肌力的机理、作用及如何综合运用,进行了深入的研究和论证。

Additional manual thrombus aspiration for ST-segment elevation myocardial infarction during percutaneous coronary intervention： an updated meta- analysis

Background The clinical efficacy and safety of adjunctive thrombus aspiration （TA） in patients with ST-segment elevation myocardial infarction （STEMI） during percutaneous coronary intervention （PCI） remain controversial. Methods Twenty five eligible randomized controlled trials were included to compare the use of thrombus aspiration （TA） with PCI and PCI-only for STEMI. The primary endpoint was all-cause mortality and death. The secondary endpoints were major adverse cardiac events （MACE）, recurrent infarction （RI）, target vessel revascularization （TVR）, stent thrombosis （ST）, perfusion surrogate markers and stroke. Results TIMI flow grade 3 and MBG 2-3 were significantly increased in the TA plus PCI arm compared with the PCI-only arm [relative risk （RR）： 1.05, 95% confidence intervals （CI）： 1.02-1.09, P = 0.004] and （RR： 1.68, 95% CI： 1.40-2.00, P 〈 0.001）, respectively. There were no significant differences in all-cause mortal- ity, MACEs, TVR and ST rates between the two groups. The RI rate was lower in the TA plus PCI arm than that in the PCI-only arm with short-term follow-up duration （RR： 0.60, 95% CI： 0.38-0.96, P = 0.03）, but there was no significant difference in RI incidence over the me- diumor long-term follow-up periods （RR： 1.00, 95% CI： 0.77-1.29, P = 0.98）, and （RR： 0.96, 95% CI： 0.81-1.15, P = 0.69）, respectively. There were statistically significant differences in the rates of crude stroke and stroke over the medium- or long-term follow-up periods and the crude stroke rate in the TA plus PCI （RR： 1.60, 95% CI： 1.08-2.38, P = 0.02） and （RR： 1.43, 95% CI： 1.03-1.98, P = 0.03）, respectively; this was not observed between the two arms during the short-term follow-up period （RR： 1.47, 95% CI： 0.97-2.21, P = 0.07）. Conclusions Routine TA-assisted PCI in STEMI patients can improve myocardial reperfusion and get limited benefits related to the clinical endpoints, which may be associated with stroke risk.

Study on the musculoskeletal body for quadruped robots with spinning gait

The walking creatures' athletic ability is related to their body' s musculoskeletal system.A kind of musculoskeletal body for quadruped robots is developed,which will be used to assist the leg mechanism to achieve spinning gait in order to improve the robot mobility in unstructured environment.A bionic-flexible-spine model driven by pneumatic artificial muscles(PAMs) is proposed.Because the body has the flexible property,the robot can achieve spinning gait quickly,which is similar to walking creatures by coordinated movement between body bending and legs side-swing.The kinematics of the bending of the musculoskeletal body and side-swing of leg mechanism of quadruped robot for spinning gait are studied.According to the stability analysis of spinning gait,the relationship between body bending angle and leg swing angle can be determined.The PID controller is designed to conduct the bending experiment,and the bending characteristic of the musculoskeletal body is studied.Experimental results show that the biggest bending angle of the musculoskeletal body can reach 30°.

Analysis on pivot turning of quadruped robot with bionic flexible body driven by the PAMs

The pivot turning function of quadruped bionic robots can improve their mobility in unstructured environment.A kind of bionic flexible body mechanism for quadruped robot was proposed in this paper,which is composed of one bionic spine and four pneumatic artificial muscles(PAMs).The coordinated movement of the bionic flexible body and the leg mechanism can achieve pivot turning gait.First,the pivot turning gait planning of quadruped robot was analyzed,and the coordinated movement sequence chart of pivot turning was presented.Then the kinematics modeling of leg side swing and body bending for pivot turning was derived,which should meet the condition of the coordinated movement between bionic flexible body and leg mechanism.The PAM experiment was conducted to analyze its contraction characteristic.The study on pivot turning of the quadruped robot will lay a theoretical foundation for the further research on dynamic walking stability of the quadruped robot in unstructured environment.

Development of Multi-Fingered Prosthetic Hand Using Shape Memory Alloy Type Artificial Muscle

A new prosthetic hand with a fixed thumb and four fingers actuated by Shape Memory Alloy （SMA） type artificial muscle has been developed in this paper. Different from typical geared motor, SMA actuator is lightweight and silent, however shows a little short stroke and small attracting force per each unit. In order to achieve enough output force and motion range of each finger, multiple SMA type artificial muscles with special device which facilitates enough length are equipped in the hand. The fundamental properties of the SMA type artificial muscle including output force and electrical response were determined experimentally and considered for the design of hand mechanism. Besides, the structure of each finger and whole system has been designed based on observation of human hand. The electrical hardware to control multiple shape memory alloy type artificial muscles has been also developed. Finally, the usefulness of the prosthetic hand has been investigated through experiments for grasping several types of objects.

A Survey on Pneumatic Muscle Actuators Modeling

The aim of this article is to provide a survey on the most popular modeling approaches for PMAs （pneumatic muscle actuators）. PMAs are highly non-linear pneumatic actuators where their elongation is proportional to the interval pressure. During the last decade, there has been an increase in the industrial and scientific utilization of PMAs, due to their advantages such as high strength and small weight, while various types of PMAs with different technical characteristics have appeared in the literature. This article will： （a） analyse the PMA＇s operation from a mathematical modeling perspective; （b） present their merits and drawbacks of the most common PMAs; and （c） establish the fundamental basis for developing industrial applications and conducting research in this field.

Bionic jumping dynamics of the musculoskeletal leg mechanism for quadruped robots

As the pneumatic artificial muscle （PAM） has flexibility properties similar to biological muscle which is widely used in robotics as one kind of actuators, the bionic mechanism driven by PAMs be- comes a hot spot in robotics. In this paper, a kind of musculoskeletal leg mechanism driven by PAMs is presented, which has three joints driven by four PAMs. The jumping movement is divided into three phases. The forward and inverse kinematics of the leg mechanism in different jumping phases is derived. Considering the ground reaction force between feet and environment, the dynamic in different jumping phases is analyzed by Lagrange method, then the relationship between PAM driving force and the joints angular displacement, angular velocity, angular acceleration during one jumping cycle is obtained, which will lay a foundatiori for the jumping experiment of the musculo- skeletal lez mechanism.

Clinical Study on the Anti-Aging Effect of a Cream Containing Ginseng Root Extract and L-Carnosine

The anti-aging effects of a cream containing L-carnosine and ginseng root extract to provide a reference for the evaluation and development of anti-aging cosmetics were tested. Sixty healthy females, aged 35-60,were grouped into test sample and placebo groups. Skin elasticity, gloss, and wrinkles of the participants were analyzed before use and after use for 8 weeks. Instrument measurement results showed that after 8 weeks,skin elasticity, gloss, and wrinkles in the members of the test sample group obviously improved relative to those of the placebo group. Clinical effect assessment results showed that subjects did not experience adverse skin reactions, and their skin gloss showed obvious improvement. Self-assessment results showed that 87%subjects are satisfied with the test sample. Cream containing L-carnosine and ginseng root extract has a certain anti-aging effect.

Nitric oxide production and inducible nitric oxide synthase protein expression in human abdominal aortic aneurysms and cultured aneurismal smooth muscle cells

Objective：To investigate the production of nitric oxide（NO） and the expression of inducible nitric oxide synthase （iNOS）, and their possible role in abdominal aortic aneurysm （AAA）. Methods： A total of 28 patients with AAA, 10 healthy controls, and 8 patients with arterial occlusive disease were enrolled into this study. Standard colorimetric assay was used to examine NO concentration in plasma from patients with AAA and normal controls, and in cultured smooth muscle cells （SMCs）. Expression of iNOS in aortas and cultured SMCs were detected by immunochemistry. The correlation of iNOS expression with age of the patient, size of aneurysm, and degree of inflammation was also investigated by Cochran-Mantel-Haenszel χ^2 test and Kendall correlation. Results ： Expression of iNOS increased significantly in the wall of aneurism in the patients with AAA compared to the healthy controls （P〈0.05） and the patients with occlusive arteries （P〈0.05）. iNOS protein and media NOx （nitrite＋nitrate） also increased in cultured SMCs from human AAA （n=4, P〈0.05）, while plasma NOx decreased in patients with AAA （n= 25） compared to the healthy controls （n=20）. There was a positive correlation between iNOS protein and the degree of inflammation in aneurismal wall （Kendall coefficient = 0. 5032, P= 0. 0029）. Conclusion： SMCs and inflammatory cells are main cellular sources of increased iNOS in AAA, and NO may play a part in pathogenesis in AAA through inflammation, SMCs and oxidative stress.

人发角蛋白人工腱临床应用的疗效分析

目的探讨人发角蛋白人工腱移植修复四肢肌腱、韧带缺损和周围神经损伤后功能重建的疗效。方法1998年4月至2010年3月对106例患者行人发角蛋白人工肌腱移植修复四肢肌腱、韧带缺损和周围神经损伤后功能重建术，男81例，女25例；年龄16-62岁，平均36岁。术后从切口愈合标准及分级、切口局部反应、患肢功能恢复时间分级、患肢肌力功能测定、关节功能恢复等方面评价疗效。结果术后所有患者随访2-11年。有8例患者切口出现皮下积液，换药7-42d后愈合，其余98例切口均I期愈合，愈合率达92．5％；切口局部均无疼痛、不适等感觉，无排斥反应；术后6-8周均可达到正常功能；94例患者肌力达3级以上，所有患者术后患肢肌力测定：优94例，良9例，可3例，优良率为97．2％；关节功能恢复测定：优92例，良10例，可4例，优良率为96．2％。结论人发角蛋白人工腱材料对机体的刺激性小，多数患者切口可I期愈合，无明显排斥反应，无粘连，术后患肢功能恢复快、效果好，是目前较为理想的肌腱移植替代材料。