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实现人身和机器人交流的神经振动子控制算法 被引量:1
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作者 吴德明 谢光辉 王光建 《控制理论与应用》 EI CAS CSCD 北大核心 2015年第5期695-702,共8页
为实现人身和机器人交流时的运动同步,首先提出了一类非线性多关节神经振动子运动控制算法,其输入为机器人和人相互作用所产生的关节扭矩信号,输出为机器人关节期望角度;然后对具有代表性的二关节神经振动子控制算法中各参数的耦合特性... 为实现人身和机器人交流时的运动同步,首先提出了一类非线性多关节神经振动子运动控制算法,其输入为机器人和人相互作用所产生的关节扭矩信号,输出为机器人关节期望角度;然后对具有代表性的二关节神经振动子控制算法中各参数的耦合特性进行了分析;最后,基于7自由度机器人臂平台对该神经振动子控制算法的有效性进行实验.实验结果表明,该控制算法能够实现人和机器人相互运动的同步,通过调节神经振动子的增益参数,同步的程度能够被改变. 展开更多
关键词 神经振动子 人-机身体交流 比例微分(PD)反馈控制 运动同步 算法
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Experimental Study on Mechanical Vibration Massage for Treatment of Brachial Plexus Injury in Rats 被引量:3
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作者 梅荣军 许阳洋 +1 位作者 李旗 王友京 《Journal of Traditional Chinese Medicine》 SCIE CAS CSCD 2010年第3期190-195,共6页
Objective: To investigate the curative effect of the self-made mechanical vibration massage instrument for treatment of brachial plexus injury in rats and to explore its mechanism. Methods: Brachial plexus injury mode... Objective: To investigate the curative effect of the self-made mechanical vibration massage instrument for treatment of brachial plexus injury in rats and to explore its mechanism. Methods: Brachial plexus injury models were made in 144 Wistar rats and one week after natural healing of the wound, they were randomly divided into 3 groups, mechanical vibration treatment group (MV group), nerve growth factor treatment group (NGF group) and model group, 48 rats in each group. Then again, the each group was randomly divided into 4 subgroups, 7-day group, 14-day group, 21-day group and 28-day group, 12 rats in each subgroup. The MV group were treated by mechanical vibration at acupoints on three-yang and three-yin channels of the hand with the mechanical vibration massage instrument; The NGF group were treated with injection of NGF into musculus pectoralis major on the affected side; And the model group were normally fed with no treatment. After treatment for 7, 14, 21 and 28 days, the diameter of both forelimbs were measured, the electrophysiological examination on the brachial plexus in vitro and the ultrastructure observation with electron microscope on the affected side were carried out, the motor nerve conduction velocity (MNCV) and motor nerve action potential (MNAP) of the brachial plexus on the affected side, NGF content of submaxillary gland as well as muscular Na+, K+-ATPase activity were determined respectively. Results: The different rates of the forelimb diameter in the MV group and the NGV group on the 14th d, 21st d and 28th d were better than those in the model group (P<0.05 or P<0.001), and in the MV group were better than those in the NGF group on the 21st d and the 28th d (P<0.05). MNCV in the MV group and the NGV group on the 21st d and 28th d was better than that in the model group (P<0.05 or P<0.001), and in the MV group was better than that in the NGF group on the 28th d (P<0.05). MNAP in the MV group and the NGV group on the 14th d, 21st d and 28th d was better than that in the model group (P<0.05 or P<0.001), and in the MV group was better than that in the NGF group on the 21st d and 28th d (P<0.05). The NGF mean gray index of submaxillary gland in the model group was higher than that in the MV group and the NGF group on the 7th d (P<0.05); in the NGF group and the model group was higher than that in the MV group on the 14th d (P<0.05); and in the NGF group and the MV group was higher than that in the model group on the 21st d and 28th d (P<0.05). Na+, K+-ATPase activity in the model group and the MV group was higher than that in the NGF group (P<0.05) on the 14th d, and in the MV group was higher than that in the model group on the 28th d (P<0.05). Conclusion: As compared with the NGF group and the model group, mechanical vibration treatment can effectively accelerate repair of injured brachial plexus, slow down atrophy of skeletal muscle, and promote secretion of NGF in submaxillary gland. 展开更多
关键词 mechanical vibration massage brachial plexus injury nerve growth factor Na+ K+-ATPase activity
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